WO2022048018A1 - 一种自动辅助标定装置及其方法 - Google Patents
一种自动辅助标定装置及其方法 Download PDFInfo
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- WO2022048018A1 WO2022048018A1 PCT/CN2020/128752 CN2020128752W WO2022048018A1 WO 2022048018 A1 WO2022048018 A1 WO 2022048018A1 CN 2020128752 W CN2020128752 W CN 2020128752W WO 2022048018 A1 WO2022048018 A1 WO 2022048018A1
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- calibration
- steel ball
- tool
- tube
- auxiliary
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- 238000000034 method Methods 0.000 title claims abstract description 60
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 74
- 239000010959 steel Substances 0.000 claims abstract description 74
- 238000009616 inductively coupled plasma Methods 0.000 claims description 11
- 235000010384 tocopherol Nutrition 0.000 claims description 11
- 235000019731 tricalcium phosphate Nutrition 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract 1
- 238000004904 shortening Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000004804 winding 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Definitions
- the present disclosure relates to the technical field of medical devices, and in particular, to an automatic auxiliary calibration device and a method thereof.
- the TCP (Tool center point) calibration of the robot arm is a key link in the application of the robot arm, also known as the end tool of the robot arm. It is connected to the flange of the robot arm. It is known that the flange is connected and the flange
- the four-point method can be used to calculate the TCP.
- the end tool is a hollow tubular tool
- auxiliary tools can be used to complete the manual point collection operation.
- the medical robotic arm has high requirements for accuracy.
- the manual point collection is easy to affect its accuracy due to the uneven manpower applied, and the efficiency of manual point collection. lower, prolonging the preoperative preparation time.
- the objects of the present disclosure include, for example, to provide an automatic auxiliary calibration device and a method thereof to solve at least one of the problems raised in the above background art.
- an automatic auxiliary calibration device comprising a calibration steel ball, an auxiliary device is sleeved on the outer surface of the calibration steel ball, and the auxiliary device includes a collar, and the rear surface of the collar is equipped with a a connecting column, the rear end edge of the collar is provided with a chamfer, the outer surface of the connecting column is sleeved with a calibration pipe, the calibration steel ball includes a positioning steel ball, and a sleeve groove is opened on the front surface of the collar , the sleeve groove is sleeved on the outer surface of the steel ball, the outer surface of the positioning steel ball is equipped with a connecting rod, and the outer end of the calibration tube is equipped with a mechanical arm.
- An automatic auxiliary calibration method including the following methods:
- the coordinate coefficient value of the center Ot of the coordinate system at the end of the calibration tube is ⁇ Xt, Yt, Zt ⁇ ;
- the pose data of the flange is collected at a certain angle, and every 4 pose data is a group, and the TCP data is obtained by the four-point method.
- the physical location of the calibration tube TCP point is located coincident with the calibration tube axis O 1 when the aid is not used.
- the physical location of the calibration tube TCP point is located coincident with the calibration tube axis O 1 .
- the center of the spherical surface on the auxiliary device is used as the center point of the tool.
- the cross-section of the inner wall of the auxiliary device is circular.
- the aid is configured to use a concave spherical surface to mate with a calibrated steel ball of the same size to help the tool determine a point not on the tool surface as the tool center.
- the part where the top surface A1 of the calibration tube intersects with the inner wall is a standard circle, and the standard circle is buckled on the spherical surface to ensure that a straight line that passes through the center of the circle and extends to the normal direction of the plane where the circle is located must pass through
- the center of the steel ball is calibrated, and the distance between the center of the ball and the center of the circle is unchanged.
- the calibration tube (2) is a straight-tube calibration tube (2).
- the calibration tube and the calibration steel ball that are fastened to the spherical surface of the calibration steel ball by the auxiliary device are regarded as a whole, which is named as a tool.
- the auxiliary device is installed on the front end of the sleeve, the auxiliary device is attached to the The spherical center of the sphere is used as the tool center point.
- the physical position of the tool TCP point coincides with the axis O 1 of the calibration tube, and there is a certain offset from the top surface A 1 of the calibration tube, and the offset direction is a direction away from the tool.
- the offset distance of the physical position of the tool TCP point from the top surface A1 of the calibration pipe is On the side away from the calibration tube, rs is the radius of the inner wall of the sleeve.
- the offset distance between the tool TCP point and the top surface A1 of the calibration pipe is determined by the size La of the auxiliary calibration tool from the top surface A1 of the calibration pipe.
- the distance between the top surface A1 of the rear calibration tube and the center of the concave spherical surface of the auxiliary device is determined by the size La of the auxiliary calibration tool from the top surface A1 of the calibration pipe.
- the robotic arm when in use, applies an appropriate amount of force in the axial direction of the calibration tube, and this direction is set as the Z-axis direction.
- the mechanical arm is set to the impedance mode, at this time, the rotational and translational damping in all directions is reduced, so that it can move more freely.
- the calibration tube and the steel ball that are buckled on the spherical surface of the calibration steel ball by the auxiliary tool can be regarded as a whole, that is, a new tool, and the relative rotation of the calibration tube around the surface of the steel ball can also be regarded as the fixed-point motion of the new tool .
- the relative motion is the rotation around the X and Y axes, and the translation is set to 0.
- the damping of the mechanical arm is small, and with the help of auxiliary tools, the calibration tube is not easy to fall off, so the calibration tube starts to automatically move around the spherical surface without the need for pose data. , and collect the pose data in real time, and use the four-point method to solve the TCP data.
- the motion is stopped and the calculation result is output.
- the beneficial effects of the present disclosure are: the present disclosure provides a fast, easy-to-operate, and accurate method for the TCP calibration of tubular tools, and the use of an auxiliary device can reduce the separation of the tool from the calibration steel ball when moving. Risks, limit its movement, so as to realize the automatic calibration process; the practice of using a tool to buckle the calibration steel ball is easier to operate and implement than the traditional TCP calibration, which requires a certain point to touch the tip accurately; using the automatic calibration method avoids manual labor Errors caused by operation, through automatic calculation and automatic testing, improve the efficiency of transportation and point collection, thereby reducing the preoperative preparation time.
- FIG. 1 is a schematic cross-sectional view of a casing calibration method provided by the present disclosure
- FIG. 2 is a schematic diagram of the calibration steps of the casing calibration method provided by the present disclosure
- FIG. 3 is a schematic diagram of the assembly of the calibration steel ball and the auxiliary device provided by the present disclosure
- FIG. 4 is a schematic diagram of the cut-away structure of the calibration steel ball and the auxiliary device provided by the present disclosure
- FIG. 5 is a schematic structural diagram of an auxiliary device provided by the present disclosure.
- FIG. 6 is a schematic diagram of a cutaway structure of an auxiliary device provided by the present disclosure.
- FIG. 7 is a schematic cross-sectional view of the aid calibration method provided by the present disclosure.
- FIG. 8 is a schematic diagram of a calibration structure provided by the present disclosure.
- the automatic auxiliary calibration device includes a calibration steel ball 1, an auxiliary device 3 is sleeved on the outer surface of the calibration steel ball 1, and the auxiliary device 3 includes a collar 31 , the rear surface of the collar 31 is equipped with a connecting column 33, the rear edge of the collar 31 is provided with a chamfer 32, the outer surface of the connecting column 33 is sleeved with a calibration tube 2, and the calibration steel ball 1 includes a positioning steel ball 11.
- the front surface of the ring 31 is provided with a sleeve groove 34 , which is sleeved on the outer surface of the steel ball 11 , the outer surface of the positioning steel ball 11 is equipped with the connecting rod 12 , and the outer end of the calibration tube 2 is equipped with a mechanical arm 4 .
- an automatic auxiliary calibration method includes the following steps:
- the coordinate coefficient value of the center Of of the flange coordinate system be ⁇ Xf, Yf, Zf ⁇ ,
- the coordinate coefficient value of the center Ot of the coordinate system at the end of the calibration tube 2 is ⁇ Xt, Yt, Zt ⁇ ;
- the pose data of the flange is collected at a certain angle, and every 4 pose data is a group (including, but not limited to, 4 pose data), and
- the TCP data is obtained by the four-point method.
- This method performs automatic calibration by combining force control and auxiliary tools, without manually adjusting the pose of the robotic arm and collecting data.
- the displacement operation is automatically performed by the control equipment of the robotic arm, and the corresponding force feedback data is collected. It is used for the calculation of the four-point method, and the automatic process is used to reduce the error caused by manual operation, reduce the workload, and improve the calibration speed;
- This method uses the principle of the four-point method to calibrate the TCP, but is not limited to collecting data from four points for calibration. Similar structures or methods are used. This method automatically collects and calculates multiple sets of TCP data, and outputs the TCP only when the error is less than the allowable range. Numerical values, using similar structures and methods;
- the present disclosure adopts the method of socketing the auxiliary device 3 and the calibration tube 2 on the outer surface of the steel ball for calibration to perform the calculation of the tool center point for calibrating the manipulator.
- the test methods of the two schemes are the same, and the difference is There are only two ways of using the calibration tube 2 or the auxiliary device 3. This solution can ensure the accuracy of the calibration result as long as the machining accuracy of the parts is guaranteed.
- the physical position of the TCP point of the calibration tube 2 is located to coincide with the axis O 1 of the calibration tube 2 , and the axis of the calibration tube 2 is O 1 , as shown in Figure 1 and Figure 7, and the calibration tube 2
- the top surface is A 1 .
- the auxiliary device 3 when the auxiliary device 3 is used, the physical position of the TCP point of the calibration tube 2 is located to coincide with the axis O 1 of the calibration tube 2.
- the spherical center of the spherical surface on the auxiliary device 3 can be used as the The center point of the tool is shown in Figure 7.
- the auxiliary device 3 is installed and matched with the tool to be calibrated, so the auxiliary device 3 can be but not limited to the case where the inner wall of the tool is circular; the innovation and protection point of the auxiliary device 3 is that it uses a concave spherical surface.
- Cooperating with the calibration steel ball 1 of the same size can help the tool to determine a point not on the tool surface as the tool center.
- the part where the top surface A1 of the calibration tube 2 intersects with the inner wall is a standard circle.
- the standard circle is buckled on the spherical surface to ensure that a straight line that passes through the center of the circle and extends to the normal direction of the plane where the circle is located must pass through the calibration steel ball 1 ball.
- the method can be but not limited to a straight cylinder tool , for other tubular structures where the top surface and the inner wall intersect with a circle, the calibration method of using the calibration steel ball 1 to assist the calibration tube 2 is still applicable.
- the calibration tube 2 and the calibration steel ball 1, which are buckled on the spherical surface of the calibration steel ball by the auxiliary device 3, are regarded as a whole and named as a tool.
- the auxiliary device 3 is installed at the front end of the sleeve, the spherical surface of the auxiliary device 3 is installed The center of the sphere serves as the tool center point.
- the physical position of the tool TCP point coincides with the axis O 1 of the calibration tube 2, and there is a certain offset from the top surface A 1 of the calibration tube (2), and the offset direction is the direction away from the tool.
- the offset distance from the physical position of the tool TCP point to the top surface A1 of the calibration tube 2 is: On the side away from the calibration tube 2, rs is the radius of the inner wall of the sleeve.
- the offset distance between the tool TCP point and the top surface A1 of the calibration tube 2 is determined by the dimension La of the auxiliary calibration tool, which is the auxiliary distance from the top surface A1 of the calibration tube 2 after the auxiliary device 3 is installed on the calibration tube 2 The distance from the center of the device concave sphere.
- the mechanical arm 4 When in use, the mechanical arm 4 applies an appropriate amount of force in the axial direction of the calibration tube 2, and this direction is set as the Z-axis direction. At the same time, the mechanical arm 4 is set to the impedance mode. At this time, the rotational and translational damping in all directions is reduced, so that it can move more freely. Next, start relative motion on the spherical surface according to the pre-set trajectory. At this time, the calibration tube 2 and the steel ball that are buckled on the spherical surface of the calibration steel ball 1 by the auxiliary tool can be regarded as a whole, that is, a new tool, and the relative rotation of the calibration tube 2 around the surface of the steel ball can also be regarded as a new tool. fixed-point motion.
- the relative motion is the rotation around the X and Y axes, and the translation is set to 0.
- the damping of the mechanical arm 4 is small, and with the help of the auxiliary tool, the calibration tube 2 is not easy to fall off, so the calibration tube 2 starts winding without the need for pose data.
- the present disclosure provides a fast, easy-to-operate, and accurate method for TCP calibration of tubular tools, and the use of an auxiliary device can reduce the risk of the tool being detached from the calibration steel ball when moving, and limit its movement, thereby realizing an automatic calibration process; using the tool Compared with the traditional TCP calibration, the method of clasping the calibration steel ball needs to precisely touch the tip at a certain point, which is easier to operate and implement; the fully automatic calibration method avoids the error caused by manual operation, The test improves the efficiency of transportation and point collection, which in turn reduces the preoperative preparation time.
Abstract
Description
Claims (15)
- 一种自动辅助标定装置,包括标定钢球(1),其特征在于:所述标定钢球(1)的外表面套接有辅助器(3),所述辅助器(3)包括套环(31),所述套环(31)的后表面装配有连接柱(33),所述套环(31)的后端边缘处开设有倒角(32),所述连接柱(33)的外表面套接有标定管(2),所述标定钢球(1)包括定位钢珠(11),所述套环(31)的前表面开设有套槽(34),所述套槽(34)套接在钢珠(11)的外表面,所述定位钢珠(11)的外表面装配有连接杆(12),所述标定管(2)的外侧端装配有机械臂(4)。
- 一种自动辅助标定装置的标定方法,该方法应用于权利要求1中的一种自动辅助标定装置中,其特征在于以下方法:A.将标定管(2)安装在机械臂(4)末端法兰外表面;令法兰坐标系的中心Of的坐标系数值为{Xf,Yf,Zf},同理,令机械臂(4)基坐标系的中心Or的坐标系数值为{Xr,Yr,Zr},同理,标定管(2)末端的坐标系的中心Ot的坐标系数值为{Xt,Yt,Zt};B.在机械臂(4)坐标系中固定一个半径为r b的标定钢球(1),即标定钢球(1)与机械臂(4)需要保持严格的相对固定,同时将标定管(2)安装在机械臂(4)末端法兰的外表面;C.将辅助器(3)安装在标定管(2)的内表面,并将辅助器(3)扣在标定钢球(1)外表面,此时以标定管(2)的轴线O 1为高线,标定钢球(1)的球心为顶点,生成一顶角为120°的圆锥曲面,该圆锥曲面与标定钢球(1)球面的交线即为标定管(2)的运动路线;D.将机械臂(4)设置为阻抗模式,并沿着标定管(2)轴线O 1朝向钢球的方向施加一定的力,标定管(2)即被扣在钢球表面,此时以标定管(2)轴线O 1为L 1,圆锥曲面的母线为L 2;由于两直线在球心相交,看作位于同一位置,但是方向不同,所以机械臂(4)执行的运动量为T3=T2 -1*T1;E.在机械臂(4)的运动轨迹上,每间隔一定的角度采集一次法兰的位姿数据,每4个位姿数据为一组,并通过四点法求得TCP数据。当两组TCP的误差小于容许值后,计算停止,否则重复以上自动运动步骤A-D。
- 根据权利要求2所述的一种自动辅助标定装置的标定方法,其特征在于:未使用辅助器(3)时,标定管(2)TCP点的物理位置位于重合于标定管(2)轴线O 1。
- 根据权利要求2所述的一种自动辅助标定装置的标定方法,其特征在于:使用了辅助器(3)时,标定管(2)TCP点的物理位置位于重合于标定管(2)轴线O 1。
- 根据权利要求4所述的一种自动辅助标定装置的标定方法,其特征在于:所述辅助器(3)安装在标定管(2)前端后将辅助器(3)上的球面的球心作为工具中心点。
- 根据权利要求5所述的一种自动辅助标定装置的标定方法,其特征在于:所述辅助器(3)的内壁截面为圆形。
- 根据权利要求4-6中任一项所述的一种自动辅助标定装置的标定方法,其特征在于:所述辅助器(3)被配置为使用凹球面与同尺寸的标定钢球(1)配合以帮助工具确定一个不在工具表面的点作为工具中心。
- 根据权利要求3或4所述的一种自动辅助标定装置的标定方法,其特征在于:标定管(2)的顶面A 1与内壁相交的部分为标准圆,标准圆扣在球面上可以保证经过圆心,向圆所在平面的法向延伸的直线,必定通过标定钢球(1)球心,且球心与圆心距离不变。
- 根据权利要求8所述的一种自动辅助标定装置的标定方法,其特征在于:所述标定管(2)为直筒类的标定管(2)。
- 根据权利要求9所述的一种自动辅助标定装置的标定方法,其特征在于:将通过辅助器(3)扣在标定钢球球面的标定管(2)和标定钢球(1)看作一个整体,命名为工具,所述辅助器(3)安装在套筒前端后将辅助器(3)上的球面的球心作为工具中心点。
- 根据权利要求10所述的一种自动辅助标定装置的标定方法,其特征在于:工具TCP点的物理位置与标定管(2)的轴线O 1相重合,距离标定管(2)顶面A 1存在一定偏移,偏移 方向为远离工具的方向。
- 根据权利要求11所述的一种自动辅助标定装置的标定方法,其特征在于:工具TCP点距离标定管(2)顶面A 1的偏移距离,由辅助标定工具尺寸L a决定,L a为标定管(2)装上辅助器(3)后标定管(2)顶面A 1距离辅助装置凹球面球心的距离。
- 根据权利要求2-13中任一项所述的一种自动辅助标定装置的标定方法,其特征在于:在使用时,所述机械臂(4)在所述标定管(2)的轴向方向施加适当大小的力,并设此方向为Z轴方向;同时,将所述机械臂(4)设置为阻抗模式,此时各方向的转动和平移阻尼减小,使其可以较为自由地运动;接下来根据提前设定好的轨迹开始在球面上进行相对运动;此时可以将通过辅助工具扣在所述标定钢球(1)球面的标定管(2)和钢球看作一个整体,也就是一个新的工具,那所述标定管(2)绕钢球表面的相对转动也可以看作新工具的定点运动,其中相对运动为绕X,Y轴方向的转动,并且将平移量设置为0;此时,由于存在沿所述标定管(2)的力,所述机械臂(4)阻尼较小,并且在辅助工具的帮助下,所述标定管(2)不容易脱落,所以所述标定管(2)在不需要位姿数据的情况下开始做绕球面的自动运动,并实时采集位姿数据,采用四点法解算TCP数据。
- 根据权利要求14所述的一种自动辅助标定装置的标定方法,其特征在于:当多个TCP数据之间的差值小于允许误差时,运动停止,输出计算结果。
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- 2020-11-13 JP JP2022581513A patent/JP2023532936A/ja active Pending
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CN115521077B (zh) * | 2022-10-28 | 2023-09-22 | 佛山市晶玻科技有限公司 | 曲面淋漆工艺 |
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