CN115816462A - Method, device and equipment for compensating deflection of central shaft of seven-shaft robot turntable - Google Patents
Method, device and equipment for compensating deflection of central shaft of seven-shaft robot turntable Download PDFInfo
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- CN115816462A CN115816462A CN202211728177.4A CN202211728177A CN115816462A CN 115816462 A CN115816462 A CN 115816462A CN 202211728177 A CN202211728177 A CN 202211728177A CN 115816462 A CN115816462 A CN 115816462A
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Abstract
The embodiment of the disclosure provides a method for compensating the deflection of a central shaft of a turntable of a seven-shaft robot. The method comprises the following steps: acquiring a first club instrument height according to the first center deviation, and determining a first robot position coordinate corresponding to the first club instrument height; adjusting the first cue instrument height to obtain a second cue instrument height, and determining second robot position coordinates based on the second center deviation and the second cue instrument height, wherein the second cue instrument height is greater than the first cue instrument height; and determining the central axis of the rotary table according to the position coordinates of the first robot and the position coordinates of the second robot. The central point of the turntable is determined by the real circular track drawn by the ball arm instrument, so that the working shaft of the robot and the circular turntable disk can be conveniently and quickly calibrated. The position coordinates of the robot can be determined by determining that the center deviation meets the preset condition, a large amount of program load is not needed, and the calibration process is simplified. The central axis of the rotary table can be determined according to the determined initial point coordinate and the offset point coordinate, and the calibration precision is improved.
Description
Technical Field
The invention relates to the field of seven-axis robots, in particular to a method, a device and equipment for compensating deflection of a central shaft of a turntable of a seven-axis robot.
Background
In the CNC seven-axis robot and turntable integrated system, due to installation errors between the robot and the turntable, such as high-low inclination of a foundation, not only are the height on a horizontal plane, but also the alignment of the turntable center Z axis and the robot Z axis cannot be accurately ensured in space, and once the alignment is not ensured, a problem of processing errors is caused, the processing precision is reduced, and the purpose of aligning the platform center axis and the robot Z axis is achieved.
In the prior art, a virtual axis is generally introduced, a rotary platform finds a platform central axis, then finds a relation between a robot Z axis and the central axis, and finally calculates and corrects, so that the calibration mode is too complex, a large amount of program load needs to be added, and the calibration process is very tedious.
Disclosure of Invention
The invention aims to solve the problems that the calibration mode in the prior art is complex, a large amount of program load needs to be increased and the calibration process is long, and provides a method, a device and equipment for compensating the deflection of the central shaft of a turntable of a seven-axis robot.
In a first aspect, an embodiment of the present disclosure provides a method for compensating a central axis deflection of a turntable of a seven-axis robot, where the method includes:
s1: acquiring a first club instrument height according to the first center deviation, and determining a first robot position coordinate corresponding to the first club instrument height;
s2: adjusting the first cue instrument height to obtain a second cue instrument height, and determining a second robot position coordinate based on the second center deviation and the second cue instrument height, wherein the second cue instrument height is greater than the first cue instrument height;
s3: and determining the central axis of the rotary table according to the position coordinates of the first robot and the position coordinates of the second robot.
Optionally, step S1 specifically includes:
s11: determining an initial position and an initial cue instrument height of the tail end of the seven-axis robot, adjusting the initial position to obtain an adjusted position, and determining a first center deviation based on the adjusted position and the initial cue instrument height;
s12: when the first center deviation is smaller than a preset threshold value, taking the club instrument height corresponding to the first center deviation as a first club instrument height;
s13: and taking the position corresponding to the height of the first cue instrument as the position of the first robot, and acquiring the position coordinate of the first robot according to the position of the first robot.
Optionally, step S2 specifically includes:
s21: adjusting the designated height of the first cue instrument height to obtain a second cue instrument height;
s22: determining a second center offset based on the second cue instrument height and the adjusted position;
s23: and when the second center deviation is smaller than a preset threshold value, taking the position corresponding to the height of the second ball arm instrument as the position of the second robot, and acquiring the position coordinate of the second robot according to the position of the second robot.
Optionally, step S3 specifically includes:
s31: determining a central axis path based on the first robot position coordinates and the second robot position coordinates;
s32: determining initial point coordinates according to the central axis path, and calculating offset point coordinates corresponding to each initial point;
s32: and determining the central axis of the turntable according to the initial point coordinate and the offset point coordinate.
Optionally, determining a first center offset based on the adjusted position and the initial cue stick height comprises: and determining the circle center of the height change track of the first pole instrument based on the adjustment position and the initial height of the ball arm instrument, and taking the distance from the circle center of the length change track of the first pole instrument to the central platform of the turntable disc as a first center deviation.
Optionally, determining a second center offset based on the second cue instrument height and the adjusted position comprises: and determining the circle center of the height change track of the second cue instrument based on the adjusting position and the height of the second cue instrument, and taking the distance from the circle center of the length change track of the second cue instrument to the central platform of the turntable disc as a second center deviation.
In a second aspect, embodiments of the present disclosure further provide a device for compensating for a central axis deflection of a turntable of a seven-axis robot, where the device includes:
the first robot position coordinate determination module is used for acquiring a first cue instrument height according to the first center deviation and determining a first robot position coordinate corresponding to the first cue instrument height;
the second robot position coordinate determination module is used for adjusting the height of the first cue instrument to obtain the height of a second cue instrument, and determining the position coordinate of the second robot based on the second center deviation and the height of the second cue instrument, wherein the height of the second cue instrument is greater than the height of the first cue instrument;
and the rotary table central shaft determining module is used for determining the rotary table central shaft according to the position coordinates of the first robot and the position coordinates of the second robot.
In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
when the memory stores a computer program executable by the at least one processor, the computer program is executed by the at least one processor to enable the at least one processor to perform a method of compensating for a central axis deflection of a turntable of a seven-axis robot according to any of the embodiments of the present disclosure.
In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a method for compensating for a center axis skew of a turntable of a seven-axis robot according to any of the embodiments of the present disclosure.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Therefore, the invention has the following beneficial effects:
1. the central point of the turntable is determined by the real circular track drawn by the ball arm instrument, so that the working shaft of the robot and the circular turntable disk can be conveniently and quickly calibrated.
2. The position coordinates of the robot can be determined by determining that the center deviation meets the preset condition, a large amount of program load is not needed, and the calibration process is simplified.
3. The central axis of the rotary table can be determined according to the determined initial point coordinate and the offset point coordinate, and the calibration precision is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for compensating for a central axis deflection of a turntable of a seven-axis robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a compensation device for central axis deflection of a turntable of a seven-axis robot according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a method for compensating for a deflection of a central axis of a turntable of a seven-axis robot according to an embodiment of the present invention. The method can be executed by the device for compensating the deflection of the central shaft of the seven-shaft robot turntable provided by the embodiment of the disclosure, and the device can be realized in a software and/or hardware manner and can be generally integrated in computer equipment. The method of the embodiment of the disclosure specifically comprises the following steps:
s1: and acquiring a first club instrument height according to the first center deviation, and determining a first robot position coordinate corresponding to the first club instrument height.
The working principle is that two ends of the ball bar instrument are respectively arranged on a main shaft and a workbench of the machine tool, circular tracks formed by interpolation motion of two shafts are measured, and the tracks are compared with standard circular tracks, so that the types and the amplitude of errors generated by the machine tool are evaluated.
Optionally, step S1 specifically includes: s11: determining an initial position and an initial cue instrument height of the tail end of the seven-axis robot, adjusting the initial position to obtain an adjusted position, and determining a first center deviation based on the adjusted position and the initial cue instrument height; s12: when the first center deviation is smaller than a preset threshold value, taking the club instrument height corresponding to the first center deviation as a first club instrument height; s13: and taking the position corresponding to the height of the first cue instrument as the position of the first robot, and acquiring the position coordinate of the first robot according to the position of the first robot.
For example, the user may fix one end of the ball bar instrument near the outer side of the turntable disc and fix the other end near the center point of the turntable rotation according to the range of the ball bar instrument, the center point moves from the end of the robot to a supposed turntable rotation center point a, open the detection software of the ball bar instrument to set the length and feed rate of the ball bar instrument, start the turntable disc to use the feed rate set on the detection software to drive the ball bar instrument to rotate and start the detection software to start recording the length change of the ball bar instrument, obtain the X and Y values thereof, the result of recording is a circle of which the length of the ball bar instrument changes continuously with the rotation of the turntable, if the supposed center a and the actual turntable rotation center have obvious error, readjust the XY position of the end of the robot according to the center error obtained by the ball bar instrument software and restart the recording software of the ball bar instrument and start the recording and the rotation by CNC, repeat the above steps until the error of the center of the ball bar instrument is less than 5 μm, and the first calibration of the ball bar instrument is the first height of the first coordinate instrument and the first calibration of the ball bar instrument is completed.
S2: adjusting the first cue profile height to obtain a second cue profile height, and determining second robot position coordinates based on the second center offset and the second cue profile height, wherein the second cue profile height is greater than the first cue profile height.
Optionally, step S2 specifically includes: s21: adjusting the height of the first cue instrument to a designated height to obtain a second cue instrument height; s22: determining a second center offset based on the second cue instrument height and the adjusted position; 23: and when the second center deviation is smaller than a preset threshold value, taking the position corresponding to the height of the second ball arm instrument as the position of the second robot, and acquiring the position coordinate of the second robot according to the position of the second robot.
Optionally, determining a first center offset based on the adjusted position and the initial cue meter height comprises: and determining the circle center of the height change track of the first pole instrument based on the adjustment position and the initial height of the ball arm instrument, and taking the distance from the circle center of the length change track of the first pole instrument to the central platform of the turntable disc as a first center deviation.
Specifically, the turntable disc is started again to drive the ball rod instrument to rotate, the rotating height corresponding to the height of the second ball rod instrument is required to be obviously different (at least different by 2 cm) from the rotating height corresponding to the height of the first ball rod instrument, the change situation of the length of the ball rod instrument of which the vibration end surrounds the center of the turntable disc is recorded, the circle center obtained by the track of the change of the length of the ball rod instrument for the second time is closer to the center A of the turntable disc by adjusting the fixed end of the ball rod instrument, the detection data on the workbench is checked and recorded at the moment, when the distance error between the circle center obtained by the track of the change of the length of the ball rod instrument and the center platform of the turntable disc is smaller than 5 mu m for the second time (the absolute values of the center offset X and the center offset Y of the workbench data are smaller than 5 mu m), the height of the ball rod instrument at the moment is the height of the second ball rod instrument after the second time is calibrated, and the position coordinate of the second robot corresponding to the height of the second ball rod instrument is determined.
S3: and determining the central axis of the rotary table according to the position coordinates of the first robot and the position coordinates of the second robot.
Optionally, step S3 specifically includes: s31: determining a central axis path based on the first robot position coordinates and the second robot position coordinates; s32: determining initial point coordinates according to the central axis path, and calculating offset point coordinates corresponding to each initial point; s32: and determining the central axis of the rotary table according to the initial point coordinate and the offset point coordinate.
Optionally, determining a second center offset based on the second cue instrument height and the adjusted position, comprising: and determining the circle center of the height change track of the second cue instrument based on the adjusting position and the height of the second cue instrument, and taking the distance from the circle center of the length change track of the second cue instrument to the central platform of the turntable disc as a second center deviation.
Specifically, whether the calibration is successful or not can be verified through a preset simulation model, an RTC parameter can be input through a computer Numerical Control Machine (CNC), when the RTC parameter is set to be 0, the RTC is turned off, a Table coordinate system parameter is called, then, G5X of TC (Table Center) is turned on to directly copy X-axis and Y-axis data of the Table coordinate system parameter, and the Table Center parameter copies X-axis, Y-axis and Z-axis data of the Table coordinate system parameter, so that the cutting condition can be wrong. When the RTC parameter is set to 1, G5X, which turns on TC (Table Center), obtains an X-axis and Y-axis value (i.e. X and Y of RTC _ DATA) from RTC _ DATA, which is calculated by using their height Z-axis DATA based on RTC DATA, and each parameter in G5X, which is in operation, is converted into X, Y and Z-axis values in the world coordinate system, so that the cutting condition is qualified.
Furthermore, a path from the position coordinate of the first robot to the position coordinate of the second robot is a standard Z-axis path, a plurality of initial points on the standard Z-axis path are selected during calculation, then offset points corresponding to the initial points on the actual Z-axis are calculated through an algorithm, so that the position of the actual Z-axis is verified and determined, and the actual Z-axis is applied as the Z-axis of the robot.
According to the technical scheme of the embodiment of the invention, the height of a first ball bar instrument is obtained through the first center deviation, and the position coordinate of a first robot corresponding to the height of the first ball bar instrument is determined; adjusting the first cue instrument height to obtain a second cue instrument height, and determining second robot position coordinates based on the second center deviation and the second cue instrument height, wherein the second cue instrument height is greater than the first cue instrument height; the rotary table central shaft is determined according to the position coordinates of the first robot and the second robot, so that the working shaft of the robot and the circular rotary table disc can be conveniently and quickly calibrated, a large amount of program load is not needed, the calibration process is simplified, and the calibration precision is improved.
Example two
Fig. 2 is a schematic structural diagram of a compensation apparatus for central axis deflection of a seven-axis robot turntable according to a second embodiment of the present invention. The apparatus may be implemented in software and/or hardware and may generally be integrated in an electronic device performing the method. As shown in fig. 2, the apparatus includes: a first robot position coordinate determination module 310, configured to obtain a first cue instrument height according to the first center deviation, and determine a first robot position coordinate corresponding to the first cue instrument height;
a second robot position coordinate determination module 320, configured to adjust the first cue stick height to obtain a second cue stick height, and determine a second robot position coordinate based on the second center deviation and the second cue stick height, where the second cue stick height is greater than the first cue stick height;
a turntable center axis determining module 330, configured to determine a turntable center axis according to the first robot position coordinate and the second robot position coordinate.
Optionally, the first robot position coordinate determining module 310 is specifically configured to determine an initial position and an initial cue instrument height of the end of the seven-axis robot, adjust the initial position to obtain an adjusted position, and determine a first center deviation based on the adjusted position and the initial cue instrument height; when the first center deviation is smaller than a preset threshold value, taking the club instrument height corresponding to the first center deviation as a first club instrument height; and taking the position corresponding to the height of the first cue instrument as the position of the first robot, and acquiring the position coordinate of the first robot according to the position of the first robot.
Optionally, the second robot position coordinate determining module 320 is specifically configured to perform height adjustment on the first cue instrument height to obtain a second cue instrument height; determining a second center offset based on the second cue instrument height and the adjusted position; and when the second center deviation is smaller than a preset threshold value, taking the position corresponding to the height of the second ball arm instrument as the position of the second robot, and acquiring the position coordinate of the second robot according to the position of the second robot.
Optionally, the turntable center axis determining module 330 is specifically configured to determine a center axis path based on the first robot position coordinate and the second robot position coordinate; determining initial point coordinates according to the central axis path, and calculating offset point coordinates corresponding to each initial point; and determining the central axis of the turntable according to the initial point coordinate and the offset point coordinate.
According to the technical scheme of the embodiment of the invention, the height of a first ball arm instrument is obtained through the first center deviation, and a first robot position coordinate corresponding to the height of the first ball arm instrument is determined; adjusting the first cue instrument height to obtain a second cue instrument height, and determining second robot position coordinates based on the second center deviation and the second cue instrument height, wherein the second cue instrument height is greater than the first cue instrument height; the rotary table central shaft is determined according to the position coordinates of the first robot and the second robot, so that the working shaft of the robot and the circular rotary table disc can be conveniently and quickly calibrated, a large amount of program load is not needed, the calibration process is simplified, and the calibration precision is improved.
The device for compensating the central shaft deflection of the seven-axis robot turntable provided by the embodiment of the invention can execute the method for compensating the central shaft deflection of the seven-axis robot turntable provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an electronic device 400 according to a third embodiment of the present invention. The electronic device in the embodiment of the present disclosure may be a device corresponding to a backend service platform of an application program, and may also be a mobile terminal device installed with an application program client. In particular, the electronic device may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle-mounted terminal (e.g., a car navigation terminal), etc., and a stationary terminal such as a digital TV, a desktop computer, etc. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 3, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 3 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 409, or from the storage device 408, or from the ROM 402. The computer program performs the above-described functions defined in the methods of the embodiments of the present disclosure when executed by the processing device 401.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may be separate and not incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the internal processes of the electronic device to perform: acquiring a first club instrument height according to the first center deviation, and determining a first robot position coordinate corresponding to the first club instrument height; adjusting the first cue instrument height to obtain a second cue instrument height, and determining second robot position coordinates based on the second center deviation and the second cue instrument height, wherein the second cue instrument height is greater than the first cue instrument height; and determining the central axis of the rotary table according to the position coordinates of the first robot and the position coordinates of the second robot.
Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other combinations of features described above or equivalents thereof without departing from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.
Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (9)
1. A method for compensating the deflection of a central shaft of a seven-shaft robot turntable is characterized by comprising the following steps:
s1: acquiring a first club instrument height according to the first center deviation, and determining a first robot position coordinate corresponding to the first club instrument height;
s2: adjusting the first cue profile height to obtain a second cue profile height, determining second robot position coordinates based on a second center offset and the second cue profile height, wherein the second cue profile height is greater than the first cue profile height;
s3: and determining the central axis of the rotary table according to the position coordinates of the first robot and the position coordinates of the second robot.
2. The method for compensating the central shaft deflection of the seven-axis robot turntable according to claim 1, wherein the step S1 specifically comprises:
s11: determining an initial position and an initial cue instrument height of the tail end of the seven-axis robot, adjusting the initial position to obtain an adjusted position, and determining the first center deviation based on the adjusted position and the initial cue instrument height;
s12: when the first center deviation is smaller than a preset threshold value, taking the club instrument height corresponding to the first center deviation as the first club instrument height;
s13: and taking the position corresponding to the height of the first ball arm instrument as a first robot position, and acquiring the position coordinate of the first robot according to the first robot position.
3. The method for compensating the central shaft deflection of the seven-axis robot turntable according to claim 2, wherein the step S2 specifically comprises:
s21: performing a designated height adjustment on the first cue instrument height to obtain the second cue instrument height;
s22: determining the second center offset based on the second club head height and the adjusted position;
s23: and when the second center deviation is smaller than a preset threshold value, taking a position corresponding to the height of the second ball arm instrument as a second robot position, and acquiring a position coordinate of the second robot according to the second robot position.
4. The method for compensating the central shaft deflection of the seven-axis robot turntable according to claim 1, wherein the step S3 specifically comprises:
s31: determining a central axis path based on the first robot position coordinates and the second robot position coordinates;
s32: determining initial point coordinates according to the central axis path, and calculating offset point coordinates corresponding to the initial points;
s32: and determining the central shaft of the rotary table according to the initial point coordinate and the offset point coordinate.
5. The method of claim 2, wherein the determining the first center bias based on the adjusted position and the initial cue stick height comprises: and determining the circle center of a first bar instrument height change track based on the adjusting position and the initial ball rod instrument height, and taking the distance from the circle center of the first bar instrument length change track to the turntable disc center platform as the first center deviation.
6. The method of claim 3, wherein the determining the second center deviation based on the second cue instrument height and the adjusted position comprises: and determining the circle center of a height change track of the second cue instrument based on the adjusting position and the height of the second cue instrument, and taking the distance from the circle center of the length change track of the second cue instrument to the center platform of the turntable disc as the second center deviation.
7. A seven-axis robot turntable center shaft deflection compensation device is characterized by comprising:
the first robot position coordinate determination module is used for acquiring a first cue instrument height according to the first center deviation and determining a first robot position coordinate corresponding to the first cue instrument height;
a second robot position coordinate determination module to adjust the first cue instrument height to obtain a second cue instrument height, and determine a second robot position coordinate based on a second center deviation and the second cue instrument height, wherein the second cue instrument height is greater than the first cue instrument height;
and the rotary table central shaft determining module is used for determining the rotary table central shaft according to the position coordinates of the first robot and the position coordinates of the second robot.
8. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of claims 1-6.
9. A computer storage medium, characterized in that it stores computer instructions for causing a processor to carry out the method of claims 1-6 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211728177.4A CN115816462A (en) | 2022-12-30 | 2022-12-30 | Method, device and equipment for compensating deflection of central shaft of seven-shaft robot turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211728177.4A CN115816462A (en) | 2022-12-30 | 2022-12-30 | Method, device and equipment for compensating deflection of central shaft of seven-shaft robot turntable |
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| Publication Number | Publication Date |
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| CN115816462A true CN115816462A (en) | 2023-03-21 |
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|---|---|---|---|
| CN202211728177.4A Pending CN115816462A (en) | 2022-12-30 | 2022-12-30 | Method, device and equipment for compensating deflection of central shaft of seven-shaft robot turntable |
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| Country | Link |
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| CN (1) | CN115816462A (en) |
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- 2022-12-30 CN CN202211728177.4A patent/CN115816462A/en active Pending
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