TWI805437B - Robot point calculus correction system and correction method - Google Patents

Abstract

The invention relates to a robot point calculus correction system and a correction method. The robot point calculation correction system includes a robot point positioning and calculation correction module, a robot point calculation correction program and a server module. The robot point positioning and calculation correction module is used to calculate an initial point data of a robot for correction and positioning. The robot point calculation correction program and the server module are used to carry complex hardware and complex calculation programs required for calculating the initial point data of the robot. Among them, the robot point positioning and calculation correction module includes but not limited to a robot point positioning module and a robot correction processing center. The robot point positioning module uses pure mathematics to calculate the initial point data of the robot, and the robot correction processing center After receiving the initial point data, the correction calculation is completed by purely mathematical methods; the robot point calculation correction program and server module can pass through the internal operating system of the machine, and at the same time through the control system and interface of the robot itself, Complete the calibration work without additional use of computers or other operating devices.

Description

Robot point calculus correction system and correction method

The present invention relates to a calculus correction system and a correction method, in detail, to a robot point calculus correction system and a correction method.

In a calibration method of a traditional robot, the calibration operation is performed by replacing the mold and the workpiece, so at least 1 hour of working time is required. Another way of robot calibration is through CCD calibration, but its cost is high, so the calibration cost of lower-priced robots is too high after conversion.

In another calibration method for traditional robots, multiple sensors or multiple camera units are used to capture and calibrate robot positioning points, so too many sensors or camera units will also increase the cost of calibration .

In traditional robot calibration, it is necessary to set the initial positioning reference point and move the robot body back and forth by manual operation to complete the point positioning of the robot parts before manual calibration can be performed. Therefore, it is difficult and expensive for professionals to operate manually.

In the existing ROC Invention Patent Publication No. 201915625A, a robot tool center point calibration system is disclosed, which may include a first image sensor, a second image sensor and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis, and the second image central axis and the first image central axis may have an intersection and are not parallel to each other. The controller can control the robot so that the tool center point repeatedly moves between the first image center axis and the second image center axis. Wherein, the controller can record the correction point including the joint coordinates of the robot when the tool center point coincides with the intersection of the first image center axis and the second image center axis, and can move the tool center point, and repeat the above steps to generate A plurality of calibration points, and then calculate the coordinates of the center point of the tool based on these calibration points.

(1) In one embodiment, the robot tool center point calibration system can include a controller and an image sensor, and can automatically correct the tool center point of the robot through visual servo control (Visual Servo Control), so it can reach extremely high Excellent calibration accuracy and can reduce labor costs and time costs.

(2) In one embodiment, the tool center point calibration system of the robot can automatically calibrate the tool center point of the robot through the controller and the image sensor, and does not need to calibrate the position of the image sensor in advance, so the labor cost can be further reduced and time cost.

(3) In one embodiment, the robot tool center point calibration system can achieve extremely high calibration accuracy through one calibration process, so the robot tool center point calibration system can more efficiently calibrate the robot tool center point .

(4) In an embodiment, the robot tool center point calibration system can be applied to various robots, so it is more flexible in use.

The technical field of the previous case 1 is the same as this case. It uses two image sensors and makes the central axes of the two images intersect and are not parallel to control the center point of the machine to move on the central axis. The correction point of joint coordinates automatically corrects the tool center point of the robot through Visual Servo Control. This case can only do pre-work, and the price is too high. A set of robots requires a set of CCDs. It is applied to a robot that requires a very accurate center point and does not need to be re-calibrated again. The invention of this case is a fast calibration method that does not require high-precision calibration.

In the existing ROC Invention Patent Publication No. 201420290A, a robot calibration method is disclosed, which aligns the coordinate system of the bracket module with the coordinate system of the camera system. The method includes using an alignment tool that allows an operator to place a workpiece in a known location on a support module. Images of these workpieces are then captured by the camera system. The controller uses information obtained from the rig module and the camera system to determine the relationship between the two coordinate systems. The controller then determines a transformation equation to convert from one coordinate system to another. According to a first embodiment, a method of calibrating a robot is disclosed. The method comprises: attaching an alignment tool to an end effector of the robot, wherein the end effector is part of a support module, wherein the alignment tool comprises one or more spaces, each space having three respective fingers; moving the end effector to a first position within the field of view of the camera; lowering the end effector; while the end effector is in the first position, placing individual workpieces in one or more spaces and simultaneously pushing each workpiece to against said respective three fingers; storing a first set of coordinate positions for each space at a first position using a coordinate system referenced to the bracket module; moving the end effector within the field of view Move from the first position to the second position without affecting the position of the workpiece; when the end effector is in the second position, place individual workpieces in one or more spaces, and simultaneously push each workpiece to withstand said respective three fingers; storing a second set of coordinate positions for each space at a second position using the coordinate system of the reference bracket module; moving the end effector from the second position out of view position of the workpiece without affecting the position of the workpiece; capturing an image of the workpiece using a camera after the end effector has moved to a position out of view; determining a third set of coordinate positions for each workpiece using a coordinate system referenced to the camera; and A transformation equation is calculated by using the first set of coordinate positions, the second set of coordinate positions and the third set of coordinate positions, so as to transform the coordinate positions in the coordinate system of the reference camera into the coordinate positions in the coordinate system of the reference frame module.

The technical field of the previous case 2 is similar to this case, and this case can only do the pre-work, and it does the coordinate replacement according to the fixture replacement, which is not similar to the present invention.

In the existing ROC Invention Patent Publication No. 201403277A, a robot system is disclosed, which includes: a camera, which photographs the movable part to make a camera image; a memory part, which memorizes the shape model of the movable part; a matching processing part, It detects the position and orientation of the movable part in the camera coordinate system based on the matching of the camera image and the shape model; the control information acquisition part obtains the movable part in the robot coordinate system identified by the motion control part that controls the movement of the movable part information on the position and orientation in the camera coordinate system; and a coordinate correction unit, which associates the camera coordinate system with the robot coordinate system based on the position and orientation of the movable part in the camera coordinate system and the position and orientation of the movable part in the robot coordinate system . In addition, in the above robot system, the matching processing unit may generate a two-dimensional image of the movable part from the three-dimensional shape model, and detect the movable part in the camera image using the generated two-dimensional image. location and orientation. Thereby, the position and orientation of the movable part in the camera image can be reliably detected from the three-dimensional shape model of the movable part. Also, even without installing a plurality of cameras, calibration can be performed with images from one camera. In addition, in the above robot system, the shape model may be CAD (computer aided design) data of the movable part. Thereby, the position and orientation of the said movable part can be detected with high precision. Since the data produced in the design stage of the robot system can be reused, the cost of making the data of the shape model for calibration can be saved. In the aforementioned robot system, the aforementioned movable part may also be an arm, a link of an arm, or an end effector. Thereby, calibration can be surely performed. In addition, in the above-mentioned robot system, the memory unit may also store a plurality of different shape models of the movable part; The position and orientation in the coordinate system; the above-mentioned coordinate system correction unit detects the camera coordinate system through the above-mentioned matching processing unit The position and orientation of the movable part are associated with the above-mentioned camera coordinate system and the above-mentioned robot coordinate system. Thereby, as long as there is a movable part that can be photographed from the position where the camera is installed, calibration can be performed even when other movable parts are located at positions where photographing from the camera cannot be performed. In the above-mentioned robot system, different identification information may be attached to the surface of each of the above-mentioned movable parts, and the above-mentioned matching processing part detects the identification information in the above-mentioned camera image, and uses the movable part corresponding to the detected identification information. The shape model of the part is used to detect the position and orientation of the movable part in the camera coordinate system. Thereby, the shape model of the movable part to be matched can be locked among a plurality of shape models, so that the calibration can be completed more quickly.

The technical field of the previous case 3 is the same as that of this case. This invention is used for the positioning of the part head, which is completed by filing the data of the die head and at the same time through the file construction of CCD+CAD. The invention must be used by professionals. The present invention does not need this means, and the calibration can be completed directly through the software operation on the robot machine.

In the existing ROC Invention Patent Publication No. 201736065A, a method, a limiting device, and a system for determining the geometric properties of a manipulator are disclosed. The four lines of the former case are established on the combination;

- Extensive and innovative use of readily available internal controller signals, especially motor torque.

- Suitable models and forms enable accurate modeling of small/elastic deviations and dynamic structures to support parametric identification.

- The principle of constraining motion in a mechanistically feasible way makes the method applicable to standard (not a priori instrumented) robots.

- A command and control strategy rather than averaging from existing time-consuming methods, avoiding known and unknown effects: the effect of static friction on non-zero forces and the location of arbitrarily placed clamping points. Equipment and software setup for controller configuration, enabling process calibration to be automated and integrated in the application, even system and programming at the user level. Its method and system for determining the geometrical properties of a manipulator (2) controls a manipulator (2) to perform constrained motions exhibiting force interactions with the environment, or between different linkages of the manipulator (2), with mechanical form a dynamic chain. Chains can include peripherals and external axes of motion. A restraining device is one that enables motion that facilitates the determination of geometric properties. A unified model of the joint and the compliance system of the connecting rod help to determine the stiffness parameters. Force interactions are controlled by friction detection, allowing non-geometric properties to be identified, thereby separating non-geometric effects from geometric effects for improved accuracy.

The technical field of the previous case 4 is similar to that of this case. The invention restricts the operation of the manipulator to make it take a target posture, monitors the motor torque and angle through friction sensing control, and determines the geometric properties according to the identified parameters. Its purpose is to model normalized robot data. This case can only be used for twisting, but not for positioning correction, which is different from this case.

In the existing Republic of China Invention Patent Publication No. 201736069A, a method for calibrating a robot arm is disclosed to improve the shortcomings of the conventional technology. One embodiment thereof provides a mechanism parameter calibration method for a robot arm system. The robot arm system includes a robot arm and a measuring instrument. The mechanism parameter correction method includes controlling the robot arm to perform n operation actions according to n mechanism parameter sets, so that the end of the robot arm moves to the corresponding n predicted positioning points; determining the distance between each of the n predicted positioning points One of the predicted relative displacement equations; when the robot arm performs each operation action, a three-dimensional measurement coordinate corresponding to the end of the robot arm is sensed; according to the n three-dimensional measurement coordinates, it is determined that the robot arm performs each operation During the two operations, one of the ends of the robot arm moves to measure the relative displacement; the robot arm is obtained according to the predicted relative displacement equation and the measured relative displacement. An optimization equation corresponding to the arm, and obtain a mechanism parameter error set of the robot arm according to the optimization equation; and use the mechanism parameter error set to correct the mechanism parameter sets of the robot arm.

One embodiment thereof provides a mechanism parameter calibration method for a robot arm system. The robot arm system includes a robot arm, a calibration block and a measuring instrument. The mechanism parameter calibration method includes setting the measuring instrument at the end of the robot arm; controlling the robot arm to perform nx operations according to the set of mechanism parameters of nx first direction anchor points, so that the end of the robot arm moves to the first direction nx predicted positioning points in the first direction directly in front of the first precision plane; when the robot arm performs each operation action, a first direction quantity between the end of the robot arm and the first precision plane in the first direction is sensed Measuring the amount of displacement; according to the measured displacement of the nx first directions, when the robot arm performs every two operations, the end of the robot arm moves in one of the first directions to measure the relative displacement; determine the nx first directions A first-direction predicted relative displacement equation between each two of the direction-predicted positioning points; according to the first-direction predicted relative displacement equation and the first-direction measured relative displacement, the corresponding robot arm is obtained An optimization equation, and obtain a mechanism parameter error set of the robot arm according to the optimization equation; and use the mechanism parameter error set to correct the mechanism parameter sets of the robot arm.

The technical field of the previous case 5 is similar to that of this case. This invention can only do pre-work, by pulling out the center point box, to grasp the point positioning and correction. This case also does not describe that it is a manual or automatic center point marking operation. The pre-work in this case is to complete the setting of the center point in advance, and it can be corrected by pure mathematical calculation based on the center point, which is not similar to this case.

In view of this, how to provide a robot point calculus calibration system and calibration method, so that it can be used to avoid the difficulty of manual operation by professionals, and at the same time effectively reduce the calibration cost and calibration time, is an urgent need for the industry to solve question.

In order to solve the above-mentioned deficiencies in the prior art, the main purpose of the present invention is to provide a robot point calculation calibration system and calibration method, which can directly complete the calibration of robot positioning with software, without the need to replace equipment or calibrate through CCD. The calibration cost can be reduced, and no matter whether the robot is high-priced or low-priced, it can complete the calibration work.

Another object of the present invention is to provide a robot point calculus calibration system and calibration method, which does not require a sensor or camera unit, after directly inputting robot parameters, the robot's point can be captured by software, and the software can Run the correction formula to directly complete the correction job.

Another object of the present invention is to provide a robot point calculation calibration system and calibration method, which can eliminate the difficulty and high cost of manual operation by professionals.

To achieve the above-mentioned purpose, the robot point calculation correction system of the present invention includes a robot point positioning and calculation correction module, a robot point calculation correction program and a server module. The robot point positioning and calculation correction module is used to calculate an initial point data of a robot for correction and positioning. The robot point calculation correction program and the server module are used to carry complex hardware and complex calculation programs required for calculating the initial point data of the robot. Among them, the robot point positioning and calculation correction module includes but not limited to a robot point positioning module and a robot correction processing center. The robot point positioning module uses pure mathematics to calculate the initial point data of the robot, and the robot correction processing center After receiving the initial point data, complete the correction calculation with pure mathematics; the robot point calculation correction program and The server module can complete the calibration operation through the robot's internal operating system, and at the same time through the robot's own control system and its interface, without additional use of computers or other operating devices.

In order to achieve the above-mentioned purpose, the robot point position positioning and calculation correction module of the robot point position calculation correction system of the present invention further includes a hardware sensing device, and the hardware sensing device includes but is not limited to a video lens for Multiple reference points for shooting multiple points and initial job processing.

In order to achieve the above-mentioned purpose, the robot point positioning module of the robot point calculation and correction system of the present invention includes but not limited to an algorithm point positioning and a hardware sensory positioning, and the algorithm point positioning is completed through pure mathematics Calculation of all positioning points of the robot, hardware sensing positioning is used to complete parameter input or separate positioning, and define the relative position for correction.

In order to achieve the above purpose, the robot point positioning module of the robot point calculation and correction system of the present invention further includes a detailed parameter correction module to fine-tune and correct individual parameters of the robot.

In order to achieve the above-mentioned purpose, the robot calibration processing center of the robot point calculation calibration system of the present invention completes calibration through multiple formulas, or completes calibration through multiple parameter combinations of a single formula.

In order to achieve the above-mentioned purpose, the robot of the robot point calculation and correction system of the present invention is an industrial robot.

In order to achieve the above-mentioned purpose, the robot point calculation calibration program and the server module of the robot point calculation calibration system of the present invention carry out the calibration operation of the robot through the multiple calibration programs carried by an industrial computer.

In order to achieve the above-mentioned purpose, the robot point calculation correction method of the present invention includes the following steps: Provide a robot; initialize the positioning point and input parameters of the robot; provide a robot point positioning and calculation correction module to calculate the initial point data of the robot; provide a robot point calculation correction program and server module With complex hardware and complex calculation programs required for calculating the initial point data of the robot; through a robot point positioning module with a robot point positioning and calculation correction module, the initial point position of the robot is calculated purely mathematically data; and a robot calibration processing center through the robot point positioning and calculation calibration module, after receiving the initial point data, complete the calibration calculation with pure mathematics; the robot point calculation calibration program and the server module can be used through The operating system inside the robot can also complete the calibration work through the control system and interface of the robot itself without additional use of computers or other operating devices.

In order to achieve the above-mentioned purpose, the robot point positioning and calculation correction module of the robot point calculation correction method of the present invention further includes a hardware sensing device, and the hardware sensing device includes but is not limited to a video lens for shooting Multiple points and multiple reference points for initial job processing.

In order to achieve the above-mentioned purpose, the robot point positioning module of the robot point calculation correction method of the present invention includes but is not limited to an algorithm point positioning and a hardware sensory positioning, and the algorithm point positioning is completed by pure mathematics. For the calculation of all positioning points, the hardware sensor positioning is used to complete the parameter input or separate positioning, and the relative position is defined for correction.

In order to achieve the above-mentioned purpose, the robot point positioning module included in the robot point calculation correction method of the present invention further includes a detailed parameter correction module to fine-tune and correct individual parameters of the robot.

In order to achieve the above-mentioned purpose, the robot calibration processing center of the robot point calculus calibration method of the present invention completes calibration through complex formulas, or completes calibration through multiple parameter combinations of a single formula.

100: Robot point calculation correction system

200: Robot point positioning and calculation correction module

210:Robot point positioning module

212: Algorithm point positioning

214: Hardware somatosensory positioning

216: Detailed parameter correction module

220: Robot Calibration Processing Center

230: hardware sensing device

300: Robot point calculation correction program and server module

310: industrial computer

Fig. 1 is a schematic diagram of the robot point calculus correction system of the present invention; Fig. 2 is a flow chart of the robot point calculus correction method of the present invention; and Fig. 3 is a robot correction interface provided by the robot point calculus correction system of the present invention schematic diagram.

The present invention is hereby combined with the accompanying drawings and described in detail as follows in terms of embodiments. The drawings used in this article are only for illustration and auxiliary description, and may not be the true proportion and precise configuration of the present invention after implementation, so the present invention should not be limited by the proportion and arrangement of the attached drawings. The scope of the patent in practice is described first.

As shown in FIG. 1 , a robot point calculation calibration system 100 of the present invention includes a robot point positioning and calculation calibration module 200 and a robot point calculation calibration program and server module 300 . The robot point positioning and calculation correction module 200 is used for calculating an initial point data of a robot for correction and positioning. The robot point calculation correction program and the server module 300 are used to carry complex hardware and complex calculation programs required for calculating the initial point data of the robot. Wherein, the robot point positioning and calculation correction module 200 includes but not limited to a robot point positioning module 210 and a robot calibration module 210 The processing center 220 ; the robot point positioning module 210 calculates the initial point data of the robot with a purely mathematical method, and the robot correction processing center 220 completes the correction calculation with a purely mathematical method after receiving the initial point data.

The aforementioned robot point positioning and calculation calibration module 200 further includes a hardware sensing device 230 . The hardware sensing device 230 includes, but is not limited to, an image lens, which is used to capture a plurality of points and a plurality of reference points for initial processing, thereby defining relative positions for correction.

As shown in Figure 2, the present invention further provides a method for correcting robot point calculations, including the following steps: as shown in step 410, a robot is provided; as shown in step 420, the positioning point and input parameters of the robot are initialized; As shown in step 430, a robot point positioning and calculation correction module is provided to calculate an initial point data of the robot; as shown in step 440, a robot point calculation correction program and a server module are provided to carry the calculation mechanism The complex hardware and complex calculation programs required by the initial point data of people; as shown in step 450, through a robot point positioning module possessed by the robot point positioning and calculation correction module, the initial calculation of the robot is performed purely mathematically point data; and as shown in step 460, through a robot calibration processing center provided by the robot point positioning and calculation calibration module, after receiving the initial point data, the calibration calculation is completed by a purely mathematical method.

Among them, in step 420, the positioning points and input parameters of the initialization robot include but are not limited to: initial operations such as initial calibration positioning points and robot parameter input. The positioning point basis for the initial calibration is performed, and the initial operation processing before the calibration is completed.

In step 430 of providing the robot point positioning and calculation correction module 200 to calculate the initial point data of the robot, the robot point positioning and calculation correction module 200 is used to provide a robot point positioning and calculation correction method, the The robot point positioning and calculation correction method refers to the method of the overall program operation of the system from inputting the parameters of the existing robot and performing point positioning to completing the point correction processing. It includes but is not limited to the above-mentioned robot point positioning module 210, robot calibration processing center 200, etc. The robot point positioning and calculation correction method is applicable to robots including but not limited to industrial articulated robots and other types of robots.

In step 440 of providing the robot point calculation correction program and the server module 500 to carry the complex hardware and complex calculation programs required for the initial point data of the calculation robot, the robot point calculation correction program and the server module 500 refers to the operation of all programs in this case and its pure mathematical formula calculations, as well as the servers and databases used for platform operation. Among them, the above-mentioned servers and databases can be singular or multiple servers and database hardware devices, and the equipment forms can be local physical equipment, cloud virtual servers and databases, etc., and all hardware forms are not limited. According to the specification requirements of the system, it can correspond to the appropriate number of servers and databases and the configuration of the structure, and can be used for the operation of the system.

All the aforementioned program operations may include, but are not limited to, programs that carry calibration operations that can be run by the system. The aforementioned pure mathematical formula algorithm may include but not limited to the algorithm point positioning and calibration formula built in the robot point positioning module 20 and the robot calibration processing center 220 .

The robot point positioning module 210 refers to all modes that can complete all positioning points after inputting existing robot parameters. The robot point positioning module 210 includes but not limited to an algorithm point positioning 212 and a hardware sensory positioning 214 . Among them, the algorithm point positioning 212 is completed through pure mathematics The calculation of all positioning points of the robot is completed, and the hardware sensory positioning 214 is used to complete parameter input or separate positioning.

In detail, the algorithm point positioning 212 is to complete the calculation of all the positioning points of the existing robot through pure mathematics. It is input through the robot parameters, including but not limited to all the parameters such as the different parts and the size of the finished product, according to which it is inserted into the formula to complete Calculation of all positioning points of the existing robot. The logic of the formula in one embodiment is as follows: robot part reference = robot part appearance size - robot part clamping size + robot part other dimensions (such as: pad height, thickening, etc.)

In this way, the calculation of the position of each component of the robot is completed. According to the logic of the formula, the calculation formula used in other practical embodiments is as follows: material soft jaw reference = material soft jaw size - material clamping size

Finished soft jaw benchmark = finished soft jaw size - finished product clamping size

Material claw position calculation = material workpiece height + material soft claw size - material clamping size + height column plus plate thickness

Finished claw position calculation = finished workpiece height + finished soft claw size - finished product clamping size

NC finished product 1 position calculation = finished product jaw position calculation + NC soft jaw 1 size - NC soft jaw 1 repair jaw depth

NC finished product 2 position calculation = finished product jaw position calculation + NC soft jaw 2 size - NC soft jaw 2 repair jaw depth

NC material 1 position calculation = material jaw position calculation + NC soft jaw 1 size - NC soft jaw 1 repair jaw depth + NC1 position correction - heightening column plus plate thickness

NC material 2 position calculation = material jaw position calculation + NC soft jaw 2 size - NC soft jaw 2 repair jaw depth + NC2 position correction - heightening column plus plate thickness

The above formulas are only examples, and do not represent all the application formulas of the present invention or all variations thereof.

The hardware sensing positioning 214 is through auxiliary tools, which may include but not limited to camera units or devices (such as: CCD), etc., to complete parameter input or separate positioning.

The robot calibration processing center 220 refers to completing the calibration of the existing robot positioning through the formula through the pure mathematical calculation formula and the program calculation formula. One example of formula implementation: there are multiple key parameters such as A (processing machine), B (workpiece), and C (robot) in the calibration formula, and the formal parameters of A~C are already available before calibration (such as: A=1, B=2 , C=3), through a pure mathematical formula, the sum of the A~C parameters of the robot to be calibrated is compared with the official parameters of the calibration source, and the A~C parameters are supplemented or decremented according to the correction to make it consistent with the official parameters of the calibration source. That is, the calibration is directly completed. Therefore, this case can be directly applied to all types of robots, and can be calibrated through multiple formulas, or through a combination of multiple parameters in a single formula.

In an extended application, the robot point calculus correction method of the present invention can perform point positioning correction through pure mathematical methods, so regardless of the type or purpose of the industrial robot, this method can be applied to the calibration of all industrial robots Operation.

In addition, the robot point positioning module 210 of the robot point calculation correction system 100 of the present invention further includes a detailed parameter correction module 216 . The detailed parameter correction module 216 is used to provide a detailed parameter correction method, which can perform fine corrections for different robots after the system completes the correction (such as: software that can manually adjust various positioning parameters and its operating system and interface) , so that a Different robots can fine-tune and correct the individual parameters of the robot according to specific production requirements, precision, or the needs of the factory area and production products.

The robot point calculus calibration program and the server module 300 of the robot point calculus calibration system 100 of the present invention can carry out robot calibration operations through the multiple calibration programs carried by an industrial computer 310 . In detail, the multiple calibration programs can be installed on external devices including but not limited to the industrial computer 310, and connected to the robot to perform calibration operations, thereby increasing the scope of application. Therefore, the present invention can be applied to robots that do not have an operation screen. Perform calibration work.

The robot point calculation correction system and correction method of the present invention can further have the following functions:

1. Short-term calibration completed:

Since the robot point positioning and calculation correction method of the present invention can directly calculate and complete point correction through the correction program software, it does not need to use traditional manual correction, and can complete the correction in a short time (1 minute).

2. The point record is corrected by purely mathematical method

In the robot point positioning module 210 and the robot calibration processing center 220, after inputting the robot parameters, the existing robot point calculation is completed, and until the correction formula is imported and the calibration point is completed, all the calibration can be completed with purely mathematical formulas and formulas action.

3. The method of one-time positioning of all robot parts

In the robot point positioning module 210, its algorithm point positioning 212 is based on a purely mathematical algorithm, so there is no need for traditional manual calibration. It is necessary to complete the calibration of one point before proceeding to the next one. Point correction. In this way, the method can calculate and complete the point positioning of all robot parts at one time.

4. Calibrate directly through the robot interface

The robot point calculation calibration program and the server module 300 can complete the calibration operation through the robot's internal operating system, and at the same time through the robot's own control system and its interface, without additional use of computers or other operating devices.

5. Robot Calibration Interface

The robot point calculation calibration program and the server module 300 can provide a calibration interface operated by personnel. Taking the aforementioned calibration directly through the robot interface as an example, the display of the calibration interface directly through the robot interface can be shown in FIG. 3 .

In Fig. 3, the upper, lower and left sides of this embodiment are the contents of the regular menu of the robot (including but not limited to the function menu, display of running status, etc.), and the right side is the calibration interface of the system. Taking this robot as an example, it needs to input robot parameters on the interface (including but not limited to material height, mold height, hand soft claw height, lathe soft claw height, tray setting count X, tray setting count Y, material clamping times setting, material clamping times, etc.), after the parameter input is completed, press the button "Start Calibration Operation" on the interface, and the parameter will be handed over to the robot point positioning module 210 of this system to complete the point positioning, and the point information will be sent by this system The calibration formula of the robot calibration processing center 220 is completed.

The display mode and content of this robot calibration interface provide an adaptive or specialized interface based on the robot’s specifications, uses, or components. Therefore, this embodiment is not the only interface form of this system. The interface is not limited to display directly through the robot interface, or other external computers, websites, and programs for interface presentation.

To sum up, as one of the traditional robot calibration methods is to perform calibration operations by replacing molds and workpieces, it requires at least 1 hour of working time. another machine The human calibration method is through CCD calibration, but its cost is relatively high, so the calibration cost of lower-priced robots is too high. The robot point positioning module 210 and the robot calibration processing center 220 of the present invention can directly complete the calibration of the robot positioning with software, without the need to replace equipment or perform calibration through the CCD. At the same time, it can also reduce the calibration cost, regardless of high-priced or low-priced robots. Calibration work can be completed.

On the other hand, in another calibration method of the traditional robot, the positioning point of the robot is grasped and corrected through the setting of multiple sensors or multiple camera units, so too many sensors or camera units are also will increase the cost of correction. Therefore, another object of the present invention is to provide a robot point calculus calibration system and calibration method, which does not require a sensor or a camera unit. After directly inputting robot parameters, the robot’s point can be captured by software, and The correction formula is run by the software to directly complete the correction job.

On the other hand, the traditional robot calibration needs to set the initial positioning reference point and move the robot body back and forth through manual operation to complete the point positioning of the robot parts before manual calibration can be performed. Therefore, it is difficult and difficult for professionals to operate manually. High cost, on the contrary, the robot point calculus correction system and correction method of the present invention can eliminate the difficulty of requiring manual operation by professionals, and at the same time reduce the high cost of professionals.

The above-described embodiments are only to illustrate the technical ideas and characteristics of the present invention, and its purpose is to enable those skilled in this art to understand the content of the present invention and implement it accordingly, and should not limit the patent scope of the present invention. That is to say, all equivalent changes or modifications made according to the spirit disclosed in the present invention should still be covered by the patent scope of the present invention.

100: Robot point calculation correction system

200: Robot point positioning and calculation correction module

210:Robot point positioning module

212: Algorithm point positioning

214: Hardware somatosensory positioning

216: Detailed parameter correction module

220: Robot Calibration Processing Center

230: hardware sensing device

300: Robot point calculation correction program and server module

310: industrial computer

Claims (11)

A robot point calculation correction system, which includes: a robot point positioning and calculation correction module, used to calculate an initial point data of a robot for correction and positioning; and a robot point calculation correction program and a server The module is used to carry complex hardware and complex calculation programs required to calculate the initial point data of the robot; wherein, the robot point positioning and calculation correction module includes but is not limited to a robot point positioning module and a robot calibration processing center, the robot point positioning module calculates the initial point data of the robot by pure mathematical method, and the robot calibration processing center completes the calibration calculation by pure mathematical method after receiving the initial point data; the robot The point calculation calibration program and the server module can complete the calibration operation through the robot's internal operating system and the robot's own control system and interface without additional use of computers or other operating devices. The robot point calculation correction system as described in claim 1, wherein the robot point positioning and calculation correction module further includes a hardware sensing device, and the hardware sensing device includes but is not limited to a video lens for Multiple reference points for shooting multiple points and initial job processing. The robot point calculation correction system as described in claim 1, wherein the robot point positioning module includes but not limited to an algorithm point positioning and a hardware sensing positioning, and the algorithm point positioning is completed through pure mathematics The calculation of all positioning points of the robot, the hardware sensing positioning is used to complete parameter input or individual positioning, and define the relative position for correction. The robot point calculation correction system as described in claim 3, wherein the robot point positioning module further includes a detailed parameter correction module to fine-tune and correct individual parameters of the robot. The robot point calculus calibration system as described in claim 1, wherein the robot calibration processing center completes the calibration through multiple formulas, or completes the calibration through a combination of multiple parameters of a single formula. The robot point calculation calibration system as described in Claim 1, wherein the robot point calculation calibration program and the server module perform the calibration operation of the robot through a plurality of calibration programs carried by an industrial computer. A robot point calculation correction method, comprising the following steps: providing a robot; initializing the positioning point and input parameters of the robot; providing a robot point positioning and calculation correction module to calculate an initial point data of the robot ;Provide a robot point calculation correction program and server module to carry complex hardware and complex calculation programs required to calculate the initial point data of the robot; through the robot point positioning and calculation correction module. A robot point positioning module, which calculates the initial point data of the robot by a purely mathematical method; and a robot calibration processing center provided by the robot point positioning and calculation correction module, after receiving the initial point data, The calibration calculation is completed by pure mathematics; the robot’s point calculation calibration program and server module can be used through the robot’s internal operating system, and at the same time through the robot’s own control system and its interface, without the need for additional use of computers or other operations Device, complete the calibration work. The robot point calculation correction method as described in claim 7, wherein the robot point positioning and calculation correction module further includes a hardware sensing device, and the hardware sensing device includes but is not limited to an image lens for Multiple reference points for shooting multiple points and initial job processing. The robot point calculation correction method as described in claim 7, wherein the robot point positioning module includes but is not limited to an algorithm point positioning and a hardware sensory positioning, and the algorithm point positioning is completed through pure mathematics The calculation of all positioning points of the robot, the hardware sensing positioning is used to complete parameter input or individual positioning, and define the relative position for correction. The robot point calculation correction method as described in Claim 7, wherein the robot point positioning module further includes a detailed parameter correction module to fine-tune and correct individual parameters of the robot. The robot point calculation calibration method as described in Claim 7, wherein the robot calibration processing center completes the calibration through multiple formulas, or completes the calibration through a combination of multiple parameters of a single formula.

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