CN116494254A - Industrial robot position correction method and industrial robot - Google Patents
Industrial robot position correction method and industrial robot Download PDFInfo
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- CN116494254A CN116494254A CN202310771130.4A CN202310771130A CN116494254A CN 116494254 A CN116494254 A CN 116494254A CN 202310771130 A CN202310771130 A CN 202310771130A CN 116494254 A CN116494254 A CN 116494254A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012937 correction Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 102
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims description 17
- 238000004088 simulation Methods 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 8
- 238000004378 air conditioning Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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Classifications
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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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- 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
- B25J19/02—Sensing devices
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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
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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]
Abstract
The invention discloses an industrial robot position correction method and an industrial robot, wherein the industrial robot position correction method comprises the following steps: obtaining preset standard attitude parameters; calibrating the preset standard attitude parameters to obtain detection attitude parameters; controlling the robot to move to the detection gesture position according to the detection gesture parameters; acquiring preset standard position parameters and detection position parameters; calculating to obtain a position offset value through the preset standard position parameter and the detection position parameter; and adjusting the installation position of the robot according to the position offset value. The technical scheme of the invention has the advantage of improving the manual work precision of the industrial robot.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot position correction method and an industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom robotic devices widely used in the industrial field, including palletizing robots, handling robots, welding robots, assembly robots, inspection robots, and the like. After the industrial robot is programmed, the robot can stack, carry, weld, assemble and detect the products according to the set steps.
However, most large industrial robots cannot be installed inside equipment, but are installed on the ground on one side of a production line, and the flatness of the ground of a factory building cannot be guaranteed and is difficult to measure, so that the working accuracy of the industrial robots is greatly affected, and engineers are required to continuously debug the robots.
Disclosure of Invention
The invention mainly aims to provide an industrial robot position correction method, which aims to solve the problem that the position accuracy of the existing industrial robot is complicated to debug.
In order to achieve the above object, the present invention provides an industrial robot position correction method, comprising:
obtaining preset standard attitude parameters;
calibrating the preset standard attitude parameters to obtain detection attitude parameters;
controlling the robot to move to the detection gesture position according to the detection gesture parameters;
acquiring preset standard position parameters and detection position parameters;
calculating to obtain a position offset value through the preset standard position parameter and the detection position parameter;
and adjusting the installation position of the robot according to the position offset value.
Optionally, the step of calibrating the preset standard posture parameter to obtain the detected posture parameter includes:
obtaining idle stroke parameters of the robot;
and calibrating the standard attitude parameters according to the idle stroke parameters to obtain detection attitude parameters.
Optionally, the step of obtaining the idle stroke parameter of the robot includes:
the control robot is located in a first posture;
the robot is controlled to move clockwise from a first posture to a second posture, and a first position parameter is obtained;
controlling the robot to move anticlockwise from the first posture to the third posture to obtain second position parameters;
and calculating the idle stroke parameter of the robot through the first position parameter and the second position parameter.
Optionally, the first gesture of the robot is that a mechanical arm of the robot is in a vertical gesture, and equidistant positions of two opposite side walls of the mechanical arm are respectively provided with a first detection point and a second detection point, so as to obtain a distance between the first detection point or the second detection point and the side wall of the mechanical arm;
the step of controlling the robot to move clockwise from the first posture to the second posture to obtain the first position parameter comprises the following steps:
based on the moment T, the mechanical arm is controlled to rotate clockwise from a first posture to a second posture, and the distance value between the first detection point and one side wall of the mechanical arm is a first position parameter alpha 1;
the step of controlling the robot to move anticlockwise from the first posture to the third posture to obtain the second position parameter comprises the following steps:
and controlling the mechanical arm to rotate anticlockwise from the first posture to the third posture based on the moment T, wherein the distance value between the second detection point and the other side wall of the mechanical arm is a second position parameter alpha 2.
Optionally, the robot includes a plurality of arms, connects through the motion joint between a plurality of arms, every the equidistant position of two opposite lateral walls of arm is equipped with first check point and second check point respectively, the step that control robot is located first gesture includes:
controlling one mechanical arm of the robot to enter a first gesture, and closing the other mechanical arms;
the step of controlling the mechanical arm to rotate clockwise from a first posture to a second posture based on the moment T, wherein the distance value between the first detection point and one side wall of the mechanical arm is a first position parameter α1 comprises the following steps:
based on the moment T, the mechanical arm is controlled to repeatedly rotate clockwise from a first gesture to a second gesture for a preset number of times, and the distance value between the distance between the detection point and the side wall of the mechanical arm is obtained by rotating once and is the number of times that the first position parameter alpha 1i and i are repeated currently;
the step of controlling the mechanical arm to rotate anticlockwise from the first posture to the third posture based on the moment T, wherein the distance value between the second detection point and the other side wall of the mechanical arm is a second position parameter alpha 2 comprises the following steps:
based on the moment T, the mechanical arm is controlled to repeatedly rotate anticlockwise from the first posture to the third posture for a preset number of times, the distance value between the distance between the other detection point and the side wall of the mechanical arm is obtained once every rotation, the distance value is the second position parameter alpha 2j, j is the current number of times of repetition, and i=j;
the step of calculating the idle stroke parameter of the robot through the first position parameter and the second position parameter comprises the following steps:
closing the mechanical arms of the robot, which have calculated the idle stroke parameters, and selecting the mechanical arms, which have not calculated the idle stroke parameters, to enter the first gesture until all the mechanical arms of the robot calculate the corresponding idle stroke parameters.
Optionally, a calculation formula for calculating the first position parameter and the second position parameter to obtain the idle stroke parameter of the robot is as follows:
；
s represents the joint idle stroke calculation result, wherein the unit is arc minutes;
α1i represents a first position parameter in mm when the ith rotation from the first posture to the second posture;
α2j represents the second position parameter in mm when the jth rotation from the first posture to the third posture;
r represents the distance of the first detection point or the second detection point from the axis of the motion joint of the mechanical arm positioned in the first gesture, and the distance is in mm.
Optionally, the step of obtaining the preset standard posture parameter includes:
controlling the robot to move to a standard posture in a simulation system;
and obtaining angle parameters of a plurality of motion joints of the robot in a simulation system as preset standard attitude parameters.
Optionally, a position measurement point is provided at the end of the robot, and the step of acquiring the preset standard position parameter and the detection position parameter includes:
obtaining standard space coordinates P (x 1, y1, z 1) of the position measurement point of the robot in a simulation system from a workpiece as preset standard position parameters;
and obtaining detection space coordinates O (x 2, y2, z 2) of the position measurement point of the robot from the workpiece in actual occasions as detection position parameters.
Optionally, the step of calculating a position offset value according to the preset standard position parameter and the detected position parameter includes:
subtracting P-o= (x 1-x2, y1-y2, z1-z 2) from the detection space coordinates and the standard space coordinates to obtain position offset values |x1-x2|, |y1-y2|, and |z1-z 2|;
the step of adjusting the installation position of the robot according to the position offset value includes:
adjusting the mounting position of the robot according to the |x1-x2|, |y1-y2|, and |z1-z2|, and direction such that P (x 1, y1, z 1) =o (x 2, y2, z 2).
The invention also provides an industrial robot for executing any one of the above industrial robot position correction methods, the industrial robot comprising:
the mechanical arms are connected through motion joints;
the mechanical arm is connected to the mounting base, and the mounting base is used for adjusting the spatial position of the mechanical arm;
the idle stroke detection device is arranged on the side wall of the mechanical arm; a kind of electronic device with high-pressure air-conditioning system
And the position detection device is arranged at the tail end of the mechanical arm.
In the technical scheme, in a simulation system of the robot, the standard posture parameters of the industrial robot designed by an engineer and the preset standard position parameters of the industrial robot from a workpiece are obtained. The standard gesture parameters are input into the industrial robot, so that the industrial robot moves to a detection gesture, and the detection position parameters of the industrial robot from the workpiece under the detection gesture can be obtained. And comparing the preset standard position parameter with the position deviation value obtained by detecting the position parameter, and adjusting the installation position of the industrial robot based on the position deviation value. The relative positions of the industrial robot and the workpiece conform to the design of engineers, so that the influence of the flatness of the floor of a factory building on the industrial robot is reduced, and the position accuracy of the industrial robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram illustrating steps of a method for correcting a position of an industrial robot according to the present invention;
FIG. 2 is a schematic diagram showing steps for correcting attitude parameters in the industrial robot position correction method according to the present invention;
FIG. 3 is a schematic diagram showing steps for calculating idle stroke parameters in the industrial robot position correction method according to the present invention;
FIG. 4 is a schematic diagram of steps for obtaining standard attitude parameters in the industrial robot position correction method according to the present invention;
FIG. 5 is a schematic diagram showing steps of the industrial robot position correction method of the present invention for obtaining preset standard position parameters;
fig. 6 is a schematic diagram showing steps of correcting an installation position of the industrial robot position correction method according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. 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.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Referring to fig. 1 to 6, an embodiment of an industrial robot position correction method according to the present invention includes:
obtaining preset standard attitude parameters;
calibrating the preset standard attitude parameters to obtain detection attitude parameters;
controlling the robot to move to the detection gesture position according to the detection gesture parameters;
acquiring preset standard position parameters and detection position parameters;
calculating to obtain a position offset value through the preset standard position parameter and the detection position parameter;
and adjusting the installation position of the robot according to the position offset value.
Specifically, in the step of obtaining the preset standard posture parameter, the preset standard posture parameter is a posture that needs to be reached when the engineer designs the position of the robot, or a posture that returns to the origin when the robot works. It will be appreciated that the pose relates to the angles of the various joints of the industrial robot and the end distance of the industrial robot.
Specifically, in the step of calibrating the preset standard posture parameter to obtain the detected posture parameter, the standard posture parameter only uses the standard posture parameter to enable the robot to reach an ideal effect designed by an engineer due to the existence of the idle stroke error because the robot has the idle stroke error in actual production, so that the standard posture is required to be calibrated to obtain the calibrated posture parameter.
Specifically, in the step of controlling the robot to move to the detection gesture position according to the detection gesture parameters, the detection gesture parameters are input into a controller of the robot, and the robot is controlled to move to the detection gesture, so that the gesture of the robot approaches to an ideal effect designed by an engineer.
Specifically, in the step of acquiring the preset standard position parameter and the detection position parameter, the preset standard position parameter is the coordinate of the robot end in the space where the workpiece is located in the engineer design. The detection position parameter is the coordinate of the tail end of the robot in the space of the workpiece in practice.
According to the embodiment, in a simulation system of the robot, standard posture parameters of the industrial robot designed by an engineer and preset standard position parameters of the industrial robot from a workpiece are obtained. The standard gesture parameters are input into the industrial robot, so that the industrial robot moves to a detection gesture, and the detection position parameters of the industrial robot from the workpiece under the detection gesture can be obtained. And comparing the preset standard position parameter with the position deviation value obtained by detecting the position parameter, and adjusting the installation position of the industrial robot based on the position deviation value. The relative positions of the industrial robot and the workpiece conform to the design of engineers, so that the influence of the flatness of the floor of a factory building on the industrial robot is reduced, and the position accuracy of the industrial robot is improved.
Referring to fig. 1 to fig. 6, the step of calibrating the preset standard posture parameter to obtain a detected posture parameter includes:
obtaining idle stroke parameters of the robot;
and calibrating the standard attitude parameters according to the idle stroke parameters to obtain detection attitude parameters.
Specifically, the idle stroke parameters comprise parameters of a plurality of joints of the robot, the idle stroke parameters have degrees and directions, and the standard posture parameters are adjusted based on the degrees and the directions, so that ideal detection posture parameters are obtained, and the robot is controlled to move to a detection position based on the detection posture parameters.
By this embodiment, the most accurate position of the robot tip in the spatial coordinates of the workpiece can be obtained by controlling the influence of errors that the industrial robot would produce.
Referring to fig. 1 to 6, the present invention proposes an embodiment, where the step of obtaining the idle stroke parameters of the robot includes:
the control robot is located in a first posture;
the robot is controlled to move clockwise from a first posture to a second posture, and a first position parameter is obtained;
controlling the robot to move anticlockwise from the first posture to the third posture to obtain second position parameters;
and calculating the idle stroke parameter of the robot through the first position parameter and the second position parameter.
Specifically, the mechanical arm is manually controlled to a first position, so that the system controls the mechanical arm to rotate clockwise by a preset angle to obtain a first position parameter. And then, manually controlling the mechanical arm to return to the first position, so that the system controls the mechanical arm to rotate anticlockwise by a preset angle, and obtaining a second position parameter. It can be appreciated that inputting a preset angle controls the rotation of the mechanical arm, and often cannot completely rotate the preset angle due to the gap between the robot joints. Therefore, the positional parameters of the two directions are obtained by the two-direction rotation joint, and it is possible to calculate which direction and how much angle the robot joint is oriented.
Further, the first position parameter and the second position parameter are that the distance sensor detects a distance from one side of the mechanical arm to a side wall of the mechanical arm, then the mechanical arm faces the distance sensor when rotating from the first posture, the distance sensor reaches the second posture, and the distance value between the distance sensor and the mechanical arm is smaller at the moment, so that the distance sensor is used as the first position parameter. And the other distance sensor detects the distance from the distance sensor to the side wall of the mechanical arm from the other side of the mechanical arm, and then the mechanical arm faces the distance sensor when rotating from the first posture, and reaches the third posture as the second position parameter. The fine error of the motion of the mechanical arm can be obtained through calculation of the two parameters and is used as a lost motion parameter.
According to the embodiment, the idle stroke parameters of the joints of the mechanical arm are calculated, and the actual gesture parameters of the robot can be better calculated, so that the gesture of the robot is corrected, and the robot is more in accordance with the ideal state designed by an engineer.
Referring to fig. 1 to 6, an embodiment of the present invention is provided, wherein a first gesture of the robot is a gesture in which a mechanical arm of the robot is vertical, equidistant positions of two opposite sidewalls of the mechanical arm are respectively provided with a first detection point and a second detection point, and the first detection point or the second detection point is used for obtaining a distance between the first detection point or the second detection point and the sidewall of the mechanical arm;
the step of controlling the robot to move clockwise from the first posture to the second posture to obtain the first position parameter comprises the following steps:
based on the moment T, the mechanical arm is controlled to rotate clockwise from a first posture to a second posture, and the distance value between the first detection point and one side wall of the mechanical arm is a first position parameter alpha 1;
the step of controlling the robot to move anticlockwise from the first posture to the third posture to obtain the second position parameter comprises the following steps:
and controlling the mechanical arm to rotate anticlockwise from the first posture to the third posture based on the moment T, wherein the distance value between the second detection point and the other side wall of the mechanical arm is a second position parameter alpha 2.
Specifically, the first gesture opportunity machine is a vertical gesture, and the distance sensors on two sides detect the distance from the side wall of the mechanical arm in the horizontal direction. The control of the clockwise rotation of the mechanical arm and the control of the anticlockwise rotation of the mechanical arm are both based on the same torque T.
Through the present embodiment, the first position parameter α1 and the second position parameter α2 are calculated through the torque T and the conversion of the first posture, the second posture, and the third posture. The first posture is a vertical posture, which facilitates the calculation of parameters.
Referring to fig. 1 to fig. 6, an embodiment of the present invention is provided, where the robot includes a plurality of mechanical arms, the plurality of mechanical arms are connected by a motion joint, equidistant positions of two opposite sidewalls of each mechanical arm are respectively provided with a first detection point and a second detection point, and the step of controlling the robot to be located in a first posture includes:
controlling one mechanical arm of the robot to enter a first gesture, and closing the other mechanical arms;
the step of controlling the mechanical arm to rotate clockwise from a first posture to a second posture based on the moment T, wherein the distance value between the first detection point and one side wall of the mechanical arm is a first position parameter α1 comprises the following steps:
based on the moment T, the mechanical arm is controlled to repeatedly rotate clockwise from a first gesture to a second gesture for a preset number of times, and the distance value between the distance between the detection point and the side wall of the mechanical arm is obtained by rotating once and is the number of times that the first position parameter alpha 1i and i are repeated currently;
the step of controlling the mechanical arm to rotate anticlockwise from the first posture to the third posture based on the moment T, wherein the distance value between the second detection point and the other side wall of the mechanical arm is a second position parameter alpha 2 comprises the following steps:
based on the moment T, the mechanical arm is controlled to repeatedly rotate anticlockwise from the first posture to the third posture for a preset number of times, the distance value between the distance between the other detection point and the side wall of the mechanical arm is obtained once every rotation, the distance value is the second position parameter alpha 2j, j is the current number of times of repetition, and i=j;
the step of calculating the idle stroke parameter of the robot through the first position parameter and the second position parameter comprises the following steps:
closing the mechanical arms of the robot, which have calculated the idle stroke parameters, and selecting the mechanical arms, which have not calculated the idle stroke parameters, to enter the first gesture until all the mechanical arms of the robot calculate the corresponding idle stroke parameters.
Specifically, the industrial robot comprises a plurality of mechanical arm joints, and the other mechanical arm joints are closed from the first mechanical arm joint at the tail end, so that only the idle stroke parameters of the mechanical arm joints are measured. And the steps of calculating the first position parameter α1 and the second position parameter α2 are repeated for a plurality of times by the moment T and the conversion of the first posture, the second posture and the third posture, wherein the clockwise times are i, the counterclockwise times are j, and i=j. After the joint of the first mechanical arm is measured, the joint is turned off, the next mechanical arm joint is turned on, calculation is performed again, and the idle stroke parameters of all the mechanical arm joints are calculated in sequence.
According to the embodiment, the error in the calculation process is reduced by repeated calculation for a plurality of times, so that more accurate idle stroke parameters are obtained, and the calculation accuracy is improved.
Referring to fig. 1 to 6, an embodiment of the present invention is provided, wherein the calculation formula for calculating the first position parameter and the second position parameter to obtain the idle stroke parameter of the robot is as follows:
；
s represents the joint idle stroke calculation result, wherein the unit is arc minutes;
α1i represents a first position parameter in mm when the ith rotation from the first posture to the second posture;
α2j represents the second position parameter in mm when the jth rotation from the first posture to the third posture;
r represents the distance of the first detection point or the second detection point from the axis of the motion joint of the mechanical arm positioned in the first gesture, and the distance is in mm.
Specifically, since the difference between the first position parameter and the second position parameter is too small, it can be approximately regarded as an arc, and thus a value of the arc is obtained according to the distance of the first detection point or the second detection point from the axis of the motion joint of the mechanical arm located in the first posture.
Referring to fig. 1 to 6, the present invention proposes an embodiment, where the step of obtaining the preset standard posture parameter includes:
controlling the robot to move to a standard posture in a simulation system;
and obtaining angle parameters of a plurality of motion joints of the robot in a simulation system as preset standard attitude parameters.
Specifically, the preset standard pose parameter is a pose that needs to be reached when the engineer designs the robot position, or a pose that returns to the origin when the robot works. The robot model may be controlled to move to the engineer designed robot position within a simulation system. It will be appreciated that the pose relates to the angles of the various joints of the industrial robot and the end distance of the industrial robot.
Through the embodiment, the optimal attitude parameters of the robot can be obtained on a simulation system and used as a reference for adjustment.
Referring to fig. 1 to 6, an embodiment of the present invention is provided, wherein a position measurement point is disposed at an end of the robot, and the steps of obtaining a preset standard position parameter and detecting the position parameter include:
obtaining standard space coordinates P (x 1, y1, z 1) of the position measurement point of the robot in a simulation system from a workpiece as preset standard position parameters;
and obtaining detection space coordinates O (x 2, y2, z 2) of the position measurement point of the robot from the workpiece in actual occasions as detection position parameters.
Specifically, the preset standard position parameter is the coordinate of the end of the robot in the space where the workpiece is located in the engineering design, and the distance value of the end of the robot from the X, Y, Z axis of the workpiece can be measured in the simulation system and used as the standard space coordinate P (x 1, y1, z 1) of the end of the robot. It will be appreciated that the detected position parameter is the actual coordinates O (x 2, y2, z 2) of the robot tip in the space in which the workpiece is located.
It will be appreciated that the position of the workpiece processing in the line is fixed, and thus the position of the industrial robot tip relative to the workpiece is fixed, or there is an optimal position. And establishing a coordinate system by using the position of the workpiece, and detecting the parameters of the tail end in the coordinate system of the workpiece, so that the position parameters of the tail end of the robot, which are away from the workpiece, can be determined.
By the embodiment, the optimal position parameters of the robot can be obtained on a simulation system and used as a reference for adjustment.
Referring to fig. 1 to fig. 6, the step of calculating a position offset value according to the preset standard position parameter and the detected position parameter includes:
subtracting P-o= (x 1-x2, y1-y2, z1-z 2) from the detection space coordinates and the standard space coordinates to obtain position offset values |x1-x2|, |y1-y2|, and |z1-z 2|;
the step of adjusting the installation position of the robot according to the position offset value includes:
adjusting the mounting position of the robot according to the |x1-x2|, |y1-y2|, and |z1-z2|, and direction such that P (x 1, y1, z 1) =o (x 2, y2, z 2).
Specifically, the position offset values |x1-x2|, |y1-y2|, and |z1-z2| are obtained by p—o= (x 1-x2, y1-y2, z1-z 2). The position deviation value represents a position deviation value of a base of the robot, and the base of the robot is adjusted based on the position deviation value, so that the spatial coordinates of the robot tip at the workpiece in the detection position of the robot can be made identical to the spatial coordinates of the ideal robot tip at the workpiece in the engineering design.
Through this embodiment, through the position of calibration robot end in the space coordinates of work piece, the mounting position of reverse regulation robot for the robot can be in actual production accurate carry out operations such as processing, transport to the work piece.
The invention also proposes an industrial robot comprising:
the mechanical arms are connected through motion joints;
the mechanical arm is connected to the mounting base, and the mounting base is used for adjusting the spatial position of the mechanical arm;
the idle stroke detection device is arranged on the side wall of the mechanical arm; a kind of electronic device with high-pressure air-conditioning system
And the position detection device is arranged at the tail end of the mechanical arm.
Specifically, the mounting base has a fine adjustment structure of X, Y, Z axis and rotation axis, and the mounting position of the entire robot can be adjusted. The idle stroke detection device is connected or detachably connected to the mechanical arm and comprises two distance sensors, and the distance between the distance sensors and the mechanical arm can be detected. The position detection means includes three distance sensors for detecting the position of the position detection means in the spatial coordinates of the workpiece from the direction X, Y, Z. It will be appreciated that the workpiece may be a part to be welded, a part to be machined, a part to be handled or a part to be assembled, etc., which part has a certain position design on the jig, and a positioning mechanism having at least three mutually perpendicular surfaces may be detachably attached to the jig as a spatial coordinate system of the workpiece, and the position detecting device recognizes the position of the robot tip in the spatial coordinate system.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (10)
1. An industrial robot position correction method, characterized in that the industrial robot position correction method comprises:
obtaining preset standard attitude parameters;
calibrating the preset standard attitude parameters to obtain detection attitude parameters;
controlling the robot to move to the detection gesture position according to the detection gesture parameters;
acquiring preset standard position parameters and detection position parameters;
calculating to obtain a position offset value through the preset standard position parameter and the detection position parameter;
and adjusting the installation position of the robot according to the position offset value.
2. The method according to claim 1, wherein the step of calibrating the preset standard posture parameters to obtain the detected posture parameters includes:
obtaining idle stroke parameters of the robot;
and calibrating the standard attitude parameters according to the idle stroke parameters to obtain detection attitude parameters.
3. The method of claim 2, wherein the step of obtaining the lost motion parameters of the robot comprises:
the control robot is located in a first posture;
the robot is controlled to move clockwise from a first posture to a second posture, and a first position parameter is obtained;
controlling the robot to move anticlockwise from the first posture to the third posture to obtain second position parameters;
and calculating the idle stroke parameter of the robot through the first position parameter and the second position parameter.
4. The method for correcting the position of an industrial robot according to claim 3, wherein the first posture of the robot is that a mechanical arm of the robot is in a vertical posture, and equidistant positions of two opposite side walls of the mechanical arm are respectively provided with a first detection point and a second detection point, so as to obtain the distance between the first detection point or the second detection point and the side wall of the mechanical arm;
the step of controlling the robot to move clockwise from the first posture to the second posture to obtain the first position parameter comprises the following steps:
based on the moment T, the mechanical arm is controlled to rotate clockwise from a first posture to a second posture, and the distance value between the first detection point and one side wall of the mechanical arm is a first position parameter alpha 1;
the step of controlling the robot to move anticlockwise from the first posture to the third posture to obtain the second position parameter comprises the following steps:
and controlling the mechanical arm to rotate anticlockwise from the first posture to the third posture based on the moment T, wherein the distance value between the second detection point and the other side wall of the mechanical arm is a second position parameter alpha 2.
5. The method for correcting position of industrial robot according to claim 4, wherein the robot comprises a plurality of mechanical arms, the plurality of mechanical arms are connected by a motion joint, a first detection point and a second detection point are respectively arranged at equidistant positions of two opposite side walls of each mechanical arm, and the step of controlling the robot to be located at the first gesture comprises:
controlling one mechanical arm of the robot to enter a first gesture, and closing the other mechanical arms;
the step of controlling the mechanical arm to rotate clockwise from a first posture to a second posture based on the moment T, wherein the distance value between the first detection point and one side wall of the mechanical arm is a first position parameter α1 comprises the following steps:
based on the moment T, the mechanical arm is controlled to repeatedly rotate clockwise from a first gesture to a second gesture for a preset number of times, and the distance value between the distance between the detection point and the side wall of the mechanical arm is obtained by rotating once and is the number of times that the first position parameter alpha 1i and i are repeated currently;
the step of controlling the mechanical arm to rotate anticlockwise from the first posture to the third posture based on the moment T, wherein the distance value between the second detection point and the other side wall of the mechanical arm is a second position parameter alpha 2 comprises the following steps:
based on the moment T, the mechanical arm is controlled to repeatedly rotate anticlockwise from the first posture to the third posture for a preset number of times, the distance value between the distance between the other detection point and the side wall of the mechanical arm is obtained once every rotation, the distance value is the second position parameter alpha 2j, j is the current number of times of repetition, and i=j;
the step of calculating the idle stroke parameter of the robot through the first position parameter and the second position parameter comprises the following steps:
closing the mechanical arms of the robot, which have calculated the idle stroke parameters, and selecting the mechanical arms, which have not calculated the idle stroke parameters, to enter the first gesture until all the mechanical arms of the robot calculate the corresponding idle stroke parameters.
6. The method according to claim 5, wherein the calculation formula for calculating the first position parameter and the second position parameter to obtain the idle stroke parameter of the robot is as follows:
；
s represents the joint idle stroke calculation result, wherein the unit is arc minutes;
α1i represents a first position parameter in mm when the ith rotation from the first posture to the second posture;
α2j represents the second position parameter in mm when the jth rotation from the first posture to the third posture;
r represents the distance of the first detection point or the second detection point from the axis of the motion joint of the mechanical arm positioned in the first gesture, and the distance is in mm.
7. The method for correcting a position of an industrial robot according to claim 1, wherein the step of obtaining the preset standard posture parameter comprises:
controlling the robot to move to a standard posture in a simulation system;
and obtaining angle parameters of a plurality of motion joints of the robot in a simulation system as preset standard attitude parameters.
8. The method for correcting the position of an industrial robot according to claim 7, wherein the end of the robot is provided with a position measuring point, and the step of acquiring the preset standard position parameter and detecting the position parameter comprises:
obtaining standard space coordinates P (x 1, y1, z 1) of the position measurement point of the robot in a simulation system from a workpiece [1] as preset standard position parameters;
and obtaining detection space coordinates O (x 2, y2, z 2) of the position measurement point of the robot from the workpiece in actual occasions as detection position parameters.
9. The method according to claim 8, wherein the step of calculating a position offset value from the preset standard position parameter and the detected position parameter comprises:
subtracting P-o= (x 1-x2, y1-y2, z1-z 2) from the detection space coordinates and the standard space coordinates to obtain position offset values |x1-x2|, |y1-y2|, and |z1-z 2|;
the step of adjusting the installation position of the robot according to the position offset value includes:
adjusting the mounting position of the robot according to the |x1-x2|, |y1-y2|, and |z1-z2|, and direction such that P (x 1, y1, z 1) =o (x 2, y2, z 2).
10. An industrial robot performing the industrial robot position correction method of any one of claims 1 to 9, characterized in that the industrial robot comprises:
the mechanical arms are connected through motion joints;
the mechanical arm is connected to the mounting base, and the mounting base is used for adjusting the spatial position of the mechanical arm;
the idle stroke detection device is arranged on the side wall of the mechanical arm; a kind of electronic device with high-pressure air-conditioning system
And the position detection device is arranged at the tail end of the mechanical arm.
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