CN114800501B - In-plane automatic calibration method for robot - Google Patents
In-plane automatic calibration method for robot Download PDFInfo
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- CN114800501B CN114800501B CN202210441750.7A CN202210441750A CN114800501B CN 114800501 B CN114800501 B CN 114800501B CN 202210441750 A CN202210441750 A CN 202210441750A CN 114800501 B CN114800501 B CN 114800501B
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an in-plane automatic calibration method for a robot, which comprises the following steps: setting a field, acquiring the coordinate position of the robot, calculating the offset and the like. Through the mode, the in-plane automatic calibration method for the robot can obtain the offset of the robot more accurately and rapidly, and position and adjust the robot according to the offset, so that the working accuracy and efficiency of the robot are improved, the waste of manpower and time is reduced, and the productivity is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an in-plane automatic calibration method for a robot.
Background
In the triaxial system, when the horizontal robot is working, the front end of the tool of the robot, such as a welding gun, a dispensing head, etc., is replaced according to actual processing and production requirements.
After the front end of the robot is replaced, the front ends are different in size and thickness, so that teaching needs to be performed on the center of the front end again manually, but the labor and time are wasted, and productivity is affected.
Disclosure of Invention
The invention mainly solves the technical problem of providing the in-plane automatic calibration method for the robot, which has the advantages of high reliability, accurate positioning, simple operation and the like, and has wide market prospect in the calibration application and popularization of the robot.
In order to solve the technical problems, the invention adopts a technical scheme that:
the method for automatically calibrating the robot in the plane comprises the following steps:
(1) Setting a calibration field frame, and installing an induction calibration assembly on the calibration field frame;
(2) Obtaining a calibration reference point and a calibration reference coordinate in a calibration field frame, and setting a plurality of target calibration points in the calibration field frame;
(2.1) setting one or more pairs of X-axis target calibration points symmetrical about the X-axis in a calibration field frame;
(2.2) disposing one or more pairs of Y-axis target calibration points within the calibration field frame that are symmetrical about the Y-axis;
(3) The robot sequentially moves to a target calibration point, and the front end of the robot faces to a light beam emitted by the induction transmitter; when the sensing calibration component senses the front end of the robot, the robot stops moving and captures the current position coordinate of the robot;
(3.1) the robot sequentially moves to the X-axis target calibration points, and respectively acquires one or more pairs of first current position coordinates corresponding to the X-axis target calibration points;
(3.2) the robot sequentially moves to the Y-axis target calibration points, and respectively acquires one or more pairs of second current position coordinates corresponding to the Y-axis target calibration points;
(4) Calculating the offset of the robot according to the calibration reference coordinates of the calibration reference points and the current position coordinates;
(4.1) calculating to obtain the current X-axis average coordinate of the robot according to one or more pairs of first current position coordinates, and then calculating the difference value between the X-axis average coordinate and the X-axis coordinate in the calibration reference coordinate to obtain the X-axis offset;
(4.2) calculating to obtain the current Y-axis average coordinate of the robot according to one or more pairs of second current position coordinates, and calculating the difference value between the Y-axis average coordinate and the Y-axis coordinate in the calibration reference coordinate to obtain the Y-axis offset;
(5) The offset is compensated for the robot to perform positional verification for the robot.
In a preferred embodiment of the invention, two groups of induction calibration assemblies are arranged on the calibration site frame, one group of induction calibration assemblies is used for measuring the X axis of the calibration site frame, the other group of induction calibration assemblies is used for measuring the Y axis of the calibration site frame, and the two groups of induction calibration assemblies are arranged in a crisscross manner and are respectively positioned on two perpendicular central lines of the calibration site frame.
In a preferred embodiment of the present invention, each set of the sensor calibration assemblies includes a sensor transmitter and a sensor receiver, which are respectively disposed at two intersections of the center line and the calibration field frame, so that the sensor transmitter and the sensor receiver cooperate to detect the position of the horizontal robot.
In a preferred embodiment of the present invention, the sensing calibration assembly is a fiber optic calibration assembly or a laser calibration assembly.
In a preferred embodiment of the present invention, the calibration floor frame has a rectangular structure.
In a preferred embodiment of the present invention, the X-axis target setpoint and the Y-axis target setpoint are the same setpoint.
The beneficial effects of the invention are as follows: the offset that can be more accurate, quick obtains the robot to carry out the location adjustment to the robot according to the offset, promote the work of robot and fall accuracy and efficiency, reduce the waste of manpower, time, promote the productivity.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a schematic flow chart of a preferred embodiment of an in-plane automatic calibration method for a robot according to the present invention;
FIG. 2 is a schematic diagram of a coordinate layout structure of a first embodiment of an in-plane automatic calibration method for a robot according to the present invention;
fig. 3 is a schematic layout structure of a first embodiment of an in-plane automatic calibration method for a robot according to the present invention.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, an embodiment of the present invention includes:
the in-plane automatic calibration system for the horizontal robot comprises a calibration field frame and two groups of induction calibration components, wherein the calibration field frame can be of a rectangular structure, one group of induction calibration components measure an X axis of the calibration field frame, the other group of induction calibration components measure a Y axis of the calibration field frame, the robot or a three-axis system is in motion fit, the coordinates of the two axes are worth collecting, and finally the offset value is compensated by completing operation.
The two groups of induction calibration assemblies are arranged in a crisscross manner and are respectively positioned on two perpendicular central lines of the calibration field frame, each group of induction calibration assemblies comprises an induction emitter and an induction receiver, namely the induction emitter and the induction receiver are respectively arranged at two intersection points of the central lines and the calibration field frame, and the induction emitter and the induction receiver are matched with each other to detect the position of the horizontal robot.
The sensing calibration assembly can adopt an optical fiber calibration assembly, and can use an optical fiber as a light beam, wherein the measurement precision (+/-0.05 mm) of the sensing calibration assembly can also adopt a laser calibration assembly, and the light beam is finer, the precision is higher, and the theoretical precision can reach (+/-0.01).
An in-plane automatic calibration method for a robot, comprising the steps of:
(1) And setting a calibration field frame, and installing an induction calibration assembly on the calibration field frame.
(2) And obtaining a calibration reference point and a calibration reference coordinate in the calibration field frame, and presetting a plurality of target calibration points in the calibration field frame.
When the area is divided by the calibration field frame, the area coordinates can be set according to actual requirements, for example, when the area is divided into 4 areas, the XY axis coordinates in the upper left area are all +, the X axis coordinates in the upper right area are all +, the Y axis coordinates in the lower left area are all +, the Y axis coordinates are all +, and the XY axis coordinates in the lower right area are all +.
(2.1) providing one or more pairs of X-axis target calibration points within the calibration field frame that are symmetrical about the X-axis.
(2.2) providing one or more pairs of Y-axis target calibration points within the calibration field frame that are symmetrical about the Y-axis.
The X-axis target calibration point and the Y-axis target calibration point can adopt positioning positions with completely non-overlapped coordinates, and one calibration point can also be used as the X-axis target calibration point and the Y-axis target calibration point at the same time.
(3) The robot sequentially moves to a target calibration point, and the front end of the robot faces to a light beam emitted by the induction transmitter; when the sensing calibration component senses the front end of the robot, the robot stops moving and captures the position coordinates of the front end of the robot.
(3.1) the robot sequentially moves to the X-axis target calibration points, and respectively acquires one or more pairs of first current position coordinates corresponding to the X-axis target calibration points.
(3.2) the robot sequentially moves to the Y-axis target calibration points, and respectively acquires one or more pairs of second current position coordinates corresponding to the Y-axis target calibration points.
(4) And calculating the offset of the robot according to the calibration reference coordinates and the current position coordinates of the calibration reference points, and compensating the offset to the robot to complete teaching.
And (4.1) calculating to obtain the current X-axis average coordinate of the robot according to one or more pairs of first current position coordinates, and then calculating the difference value between the X-axis average coordinate and the X-axis coordinate in the calibration reference coordinate to obtain the X-axis offset.
And (4.2) calculating to obtain the current Y-axis average coordinate of the robot according to one or more pairs of second current position coordinates, and calculating the difference value between the Y-axis average coordinate and the Y-axis coordinate in the calibration reference coordinate to obtain the Y-axis offset.
Detailed description of the preferred embodiments
An in-plane automatic calibration method for a robot, comprising the steps of:
(1) The robot is positioned at the center position in the calibration field frame, two vertical central lines in the calibration field frame are used as XY axes according to a world coordinate (positive coordinate) system, so that the calibration field frame is divided into four areas, and positive and negative directions of coordinates in each area are preset.
(2) Acquiring or setting the coordinates of a robot calibration reference point as 10,15,0, and setting an X-axis target calibration point A, X, an X-axis target calibration point B, Y, and a Y-axis target calibration point B; wherein the X-axis target calibration point A and the Y-axis target calibration point A are the same point, namely the same coordinates.
(3) The automatic calibration button is pressed by the upper computer, the robot moves towards an X-axis target calibration point A in the calibration field frame, the front end of the robot faces towards a light beam emitted by the optical fiber emitter, and when the edge of the front end of the robot shields the light beam, the robot stops moving and captures the current position coordinate (10,15,0).
(4) The robot moves towards the X-axis target calibration point B within the calibration field frame and directs the front end of the robot towards the beam emitted by the fiber optic transmitter, and when the front edge of the robot obstructs the beam, the robot stops moving and captures the current position coordinates (20,15,0).
(5) The robot moves towards a Y-axis target calibration point B in the calibration field frame and directs the front end of the robot towards the beam emitted by the optical fiber emitter, and when the front edge of the robot occludes the beam, the robot stops moving and captures the current position coordinates (10, 20, 0).
(6) The current X-axis coordinate average value is calculated as follows: (10+20)/2=15, i.e., X-axis center point coordinates (15), the current Y-axis coordinate average is: (15+20)/2=17.5, so that the current coordinate of the center point is obtained as (15,17.5,0).
(7) Calculating an offset:
because the reference point coordinate is (10,12,0)
The X-axis offset is: 15-10=5, y-axis offset is: 13-12 = 1 and,
i.e. the final offset is a positive offset (5, 1, 0), the offset is compensated to the robotic positioning system.
The in-plane automatic calibration method for the robot has the beneficial effects that: the offset that can be more accurate, quick obtains the robot to carry out the location adjustment to the robot according to the offset, promote the work of robot and fall accuracy and efficiency, reduce the waste of manpower, time, promote the productivity.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (4)
1. An in-plane automatic calibration method for a robot is characterized by comprising the following steps:
(1) Setting a calibration field frame, and installing an induction calibration assembly on the calibration field frame;
(2) Obtaining a calibration reference point and a calibration reference coordinate in a calibration field frame, and setting a plurality of target calibration points in the calibration field frame;
(2.1) setting one or more pairs of X-axis target calibration points symmetrical about the X-axis in a calibration field frame;
(2.2) disposing one or more pairs of Y-axis target calibration points within the calibration field frame that are symmetrical about the Y-axis;
(3) The robot sequentially moves to a target calibration point, and the front end of the robot faces to a light beam emitted by the induction transmitter; when the sensing calibration component senses the front end of the robot, the robot stops moving and captures the current position coordinate of the robot;
(3.1) the robot sequentially moves to the X-axis target calibration points, and respectively acquires one or more pairs of first current position coordinates corresponding to the X-axis target calibration points;
(3.2) the robot sequentially moves to the Y-axis target calibration points, and respectively acquires one or more pairs of second current position coordinates corresponding to the Y-axis target calibration points;
(4) Calculating the offset of the robot according to the calibration reference coordinates of the calibration reference points and the current position coordinates;
(4.1) calculating to obtain the current X-axis average coordinate of the robot according to one or more pairs of first current position coordinates, and then calculating the difference value between the X-axis average coordinate and the X-axis coordinate in the calibration reference coordinate to obtain the X-axis offset;
(4.2) calculating to obtain the current Y-axis average coordinate of the robot according to one or more pairs of second current position coordinates, and calculating the difference value between the Y-axis average coordinate and the Y-axis coordinate in the calibration reference coordinate to obtain the Y-axis offset;
(5) Compensating the offset to the robot so as to carry out positioning and checking on the robot;
the field frame is provided with two groups of induction calibration components, one group of induction calibration components is used for measuring the X axis of the field frame, the other group of induction calibration components is used for measuring the Y axis of the field frame, the two groups of induction calibration components are arranged in a crisscross manner and are respectively positioned on two perpendicular central lines of the field frame, each group of induction calibration components comprises an induction emitter and an induction receiver, and the induction emitter and the induction receiver are respectively arranged at two intersection points of the central lines and the field frame, so that the induction emitter and the induction receiver are matched to detect the horizontal position of the robot.
2. An in-plane automatic calibration method for a robot according to claim 1, wherein the sensing calibration assembly is an optical fiber calibration assembly or a laser calibration assembly.
3. An in-plane automatic calibration method for a robot according to claim 1, wherein the calibration site frame is of rectangular structure.
4. An in-plane automatic calibration method for a robot according to claim 1, wherein the X-axis target calibration point and the Y-axis target calibration point are the same calibration point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210441750.7A CN114800501B (en) | 2022-04-26 | 2022-04-26 | In-plane automatic calibration method for robot |
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| CN202210441750.7A CN114800501B (en) | 2022-04-26 | 2022-04-26 | In-plane automatic calibration method for robot |
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| CN114800501B true CN114800501B (en) | 2023-09-01 |
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Citations (5)
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| DE102007058293A1 (en) * | 2007-12-04 | 2009-06-10 | Kuka Roboter Gmbh | Calibrating device for adjusting robot coordinate system of industrial robot, has base carrier and multiple markers which are indirectly fastened to base carrier and lie in level |
| CN108015770A (en) * | 2017-12-07 | 2018-05-11 | 王群 | Position of manipulator scaling method and system |
| CN109773786A (en) * | 2018-12-29 | 2019-05-21 | 南京埃斯顿机器人工程有限公司 | A kind of industrial robot plane precision scaling method |
| CN110861091A (en) * | 2019-12-04 | 2020-03-06 | 武汉工程大学 | Industrial robot sharp point type revolving body tool calibration method based on cross laser beams |
| CN112894209A (en) * | 2021-01-19 | 2021-06-04 | 常州英迈乐智能系统有限公司 | Automatic plane correction method for intelligent tube plate welding robot based on cross laser |
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2022
- 2022-04-26 CN CN202210441750.7A patent/CN114800501B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007058293A1 (en) * | 2007-12-04 | 2009-06-10 | Kuka Roboter Gmbh | Calibrating device for adjusting robot coordinate system of industrial robot, has base carrier and multiple markers which are indirectly fastened to base carrier and lie in level |
| CN108015770A (en) * | 2017-12-07 | 2018-05-11 | 王群 | Position of manipulator scaling method and system |
| CN109773786A (en) * | 2018-12-29 | 2019-05-21 | 南京埃斯顿机器人工程有限公司 | A kind of industrial robot plane precision scaling method |
| CN110861091A (en) * | 2019-12-04 | 2020-03-06 | 武汉工程大学 | Industrial robot sharp point type revolving body tool calibration method based on cross laser beams |
| CN112894209A (en) * | 2021-01-19 | 2021-06-04 | 常州英迈乐智能系统有限公司 | Automatic plane correction method for intelligent tube plate welding robot based on cross laser |
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