CN105364924A - Zero-scale calibration system and method for robot - Google Patents
Zero-scale calibration system and method for robot Download PDFInfo
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- CN105364924A CN105364924A CN201510973776.6A CN201510973776A CN105364924A CN 105364924 A CN105364924 A CN 105364924A CN 201510973776 A CN201510973776 A CN 201510973776A CN 105364924 A CN105364924 A CN 105364924A
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- point correction
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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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- Robotics (AREA)
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Abstract
The invention discloses a zero-scale calibration system and method for a robot. The zero-scale calibration system for the robot comprises the robot (4) and a calibration device, wherein the calibration device comprises a support plate (3) used for supporting the robot (4), a positioning device arranged on the support plate (3) and used for positioning a base (40) of the robot (4), support columns arranged on the support plate (3), a calibration sensor (2) arranged on the support columns and used for detecting a calibrated part of the robot (4) and a calibration structure (5) arranged at the calibrated part of the robot (4). According to the zero-scale calibration system for the robot provided by the embodiment, the robot (4) can be calibrated automatically through combination of the support plate (3), the positioning device, the calibration sensor (2) and the calibration structure (5) on the robot (4), the calibration system is simple in structure, trouble in manual sequential calibration is avoided, and the calibration efficiency and accuracy are improved.
Description
Technical field
The present invention relates to robotics, particularly a kind of robot zero point correction system and robot zero point correction method.
Background technology
At present, industrial robot has become a kind of standard device and has been used widely in the whole world.In industrial robot practical application, in order to reduce the error in practical operation, robot precision needs suitable method or system carries out calibration raising.
The manipulator motion of industrial robot needs according to the origin coordinates in three dimensions and terminal point coordinate determination movement locus, thus carries out trajectory planning.After trajectory planning, implement module by the action of moving control module for controlling, driven machine people.Mechanical arm can be moved in working space the point of a never teaching by the position of the target that robot works and attitude, is called calculation level.The precision arriving calculation level is the positioning precision of mechanical arm.The positioning precision of mechanical arm is subject to the impact of repeatable accuracy, is also subject to the impact of parameters precision in Robot kinematics equations simultaneously.Error in D-H (Denavit-Hartenberg, matrix) parameter will cause the error of calculation of joint angle in inverse kinematics equation.Therefore, the positioning precision of mechanical arm is usually poor, and change is quite large.
In the practical application of industrial robot, the high-precision applied environment of many needs can be related to, such as microelectronics, medical treatment, Precision Machining etc.In these cases, the calibration of industrial robot positioning precision is even more important.On the one hand, need to utilize calibration technique to do further to improve to industrial robot precision; On the other hand, the coherent detection industrial robot of R & D design being carried out to operating accuracy is needed, to quantize the reliability and stability of industrial robot work.
The zero point correction method of robot mainly contains three kinds of modes.The first, use three-coordinates measuring machine or laser interferometer to carry out coordinate setting, dead-center position calibration is carried out in the calculating then by carrying out more intensive to equation in coordinates and calibration equation, and the precision of measurement is higher, but measuring process is comparatively loaded down with trivial details, efficiency is not high; The second, carries out the design of zero position in each joint, add fastening screw and calibrate, and the method precision is lower; The third, be contained in high-precision sensor on robot body, then carries out the demarcation at zero point, and the method is easy to install, design, but sensor is comparatively accurate, can introduce error and cause dead-center position inaccuracy in installation process.
Therefore, how improving calibration efficiency and precision, is the art personnel problem demanding prompt solutions.
Summary of the invention
In view of this, the invention provides a kind of robot zero point correction system, improve calibration efficiency and precision.The invention also discloses a kind of robot zero point correction method.
For achieving the above object, the invention provides following technical scheme:
A kind of robot zero point correction system, comprises robot, also comprises calibrating installation;
Described calibrating installation comprises the gripper shoe for supporting described robot; Be arranged in described gripper shoe, for locating the positioner of the base position of described robot; Be arranged at the support column in described gripper shoe; Be arranged on described support column, for detecting the calibrating sensors of the calibration site of described robot;
The calibration site of described robot is provided with calibration structure.
Preferably, in above-mentioned robot zero point correction system, described calibration structure is circular cone calibration hole.
Preferably, in above-mentioned robot zero point correction system, described positioner comprises and is arranged at support column in described gripper shoe and alignment sensor;
The position location of described pedestal is provided with location structure.
Preferably, in above-mentioned robot zero point correction system, described location structure is circular cone locating hole.
Preferably, in above-mentioned robot zero point correction system, the quantity of described alignment sensor is two, is respectively orthogonal first alignment sensor and the second alignment sensor;
The quantity of described location structure is two, is respectively the first location structure for being oppositely arranged with described first alignment sensor and the second location structure for being oppositely arranged with described second alignment sensor.
Preferably, in above-mentioned robot zero point correction system, described alignment sensor and described support column one_to_one corresponding.
Preferably, in above-mentioned robot zero point correction system, described robot also comprises the first connecting rod, second connecting rod, third connecting rod, double leval jib, the 5th connecting rod (45) and the end flange that are connected by axle joint successively, and described first connecting rod is connected with described base via shaft joint;
Described calibration structure comprises the first calibration structure be arranged on described second connecting rod and the second calibration structure be arranged on described double leval jib;
Described calibrating sensors comprises first calibrating sensors that arrange corresponding to described first calibration structure and second calibrating sensors that arrange corresponding to described second calibration structure.
Preferably, in above-mentioned robot zero point correction system, the location auxiliary block be arranged on described end flange is also comprised;
Described calibration structure also comprises and is arranged at the 3rd calibration structure in the auxiliary block of described location and the 4th calibration structure, and described 3rd calibration structure is mutually vertical with the center line of described 4th calibration structure;
Described calibrating sensors comprises three calibrating sensors that arrange corresponding to described 3rd calibration structure and four calibrating sensors that arrange corresponding to described 4th calibration structure.
Preferably, in above-mentioned robot zero point correction system, described calibrating sensors and described support column one_to_one corresponding.
Present invention also offers a kind of robot zero point correction method, apply the robot zero point correction system as described in above-mentioned any one; Comprise step:
1) guarantee that the gripper shoe of calibrating installation is horizontally disposed with, robot localization is arranged in described gripper shoe;
2) regulate calibrating sensors to predetermined calibration position, the center line of described calibrating sensors is horizontally disposed with;
3) regulate the joint of described robot along the direction away from described pedestal successively, and detected the distance of the calibration structure arriving described robot by described calibrating sensors;
4) when detecting distance arrives dead-center position distance, record the anglec of rotation in this joint, and the described anglec of rotation is saved in the controller of robot, as the deviation angle of the dead-center position of robot.
Preferably, in above-mentioned robot zero point correction method, described positioner comprises and is arranged at support column in described gripper shoe and alignment sensor; The position location of described pedestal is provided with location structure;
Described step 1) in, detected the distance arriving described location structure by described alignment sensor, adjust the position of described pedestal in described gripper shoe, when detecting distance arrives orientation distance, locate described pedestal.
As can be seen from above-mentioned technical scheme, robot provided by the invention zero point correction system, in robot zero point correction process, guarantees that the gripper shoe of calibrating installation is horizontally disposed with, and is arranged in gripper shoe by robot by positioner location; By the level height of support column adjustment calibrating sensors, then calibrating sensors is adjusted to predetermined calibration position, the center line of calibrating sensors is horizontally disposed with; By regulating the joint of robot to regulate calibration structure relative to the distance of calibrating sensors, when distance meets dead-center position distance, complete the adjustment of this joint, apart from the anglec of rotation in this joint and the deviation angle of the dead-center position as robot.Robot provided by the invention zero point correction system, in conjunction with the calibration structure in gripper shoe, positioner, calibrating sensors and robot, can carry out automatic calibration to robot, calibrating installation structure is simple, avoid manually calibrate successively loaded down with trivial details, improve calibration efficiency and precision.
Present invention also offers a kind of robot zero point correction method, there is the technique effect same with above-mentioned robot zero point correction system, introduce no longer in detail at this.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The structural representation of the robot zero point correction system that Fig. 1 provides for the embodiment of the present invention;
The calibrating principle schematic diagram of the robot zero point correction system that Fig. 2 provides for the embodiment of the present invention;
First structural representation of the robot that Fig. 3 provides for the embodiment of the present invention;
Second structural representation of the robot that Fig. 4 provides for the embodiment of the present invention.
Detailed description of the invention
The invention discloses a kind of robot zero point correction system, improve calibration efficiency and precision.The invention also discloses a kind of robot zero point correction method.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Please refer to Fig. 1-Fig. 4, the structural representation of the robot zero point correction system that Fig. 1 provides for the embodiment of the present invention; The calibrating principle schematic diagram of the robot zero point correction system that Fig. 2 provides for the embodiment of the present invention; First structural representation of the robot that Fig. 3 provides for the embodiment of the present invention; Second structural representation of the robot that Fig. 4 provides for the embodiment of the present invention.
Embodiments provide a kind of robot zero point correction system, comprise robot 4 and also comprise calibrating installation; Calibrating installation comprises the gripper shoe 3 for supporting robot 4; Be arranged in gripper shoe 3, for the positioner of pedestal 40 position of positioning robot 4; Be arranged at the support column in gripper shoe 3; Be arranged on support column, for the calibrating sensors 2 of the calibration site of measuring robots 4; The calibration site of robot 4 is provided with calibration structure 5.
The robot zero point correction system that the embodiment of the present invention provides, in robot zero point correction process, guarantees that the gripper shoe 3 of calibrating installation is horizontally disposed with, and is arranged in gripper shoe 3 by robot by positioner location; By the level height of support column adjustment calibrating sensors 2, then calibrating sensors 2 is adjusted to predetermined calibration position, the center line of calibrating sensors 2 is horizontally disposed with; By regulating the joint of robot to regulate calibration structure 5 relative to the distance of calibrating sensors 2, when distance meets dead-center position distance, complete the adjustment of this joint, apart from the anglec of rotation in this joint and the deviation angle of the dead-center position as robot.The robot zero point correction system that the embodiment of the present invention provides, in conjunction with the calibration structure 5 in gripper shoe 3, positioner, calibrating sensors 2 and robot 4, automatic calibration can be carried out to robot 4, calibrating installation structure is simple, avoid manually calibrate successively loaded down with trivial details, improve calibration efficiency and precision.
Preferably, calibration structure 5 is circular cone calibration hole.As shown in Figure 2, when calibration structure 5 aligns with calibrating sensors 2, the dead-center position distance L of circular cone calibration hole is maximum, and when calibration structure 5 occurs to offset with calibrating sensors 2, non-zero points positional distance L ' is less than dead-center position distance L.This improves accuracy of detection.Also calibration structure 5 can be set to circular cone alignment protrusion, then dead-center position distance L is minimum.Calibration structure 5 can also be set to arc groove or arc convex structure, introduce no longer one by one and all within protection domain at this.
For the ease of the position of positioning robot 4 in gripper shoe 3, positioner comprises and is arranged at support column in gripper shoe 3 and alignment sensor 7; The position location of pedestal 40 is provided with location structure 6.Regulated the level height of alignment sensor 7 by support column, and reach by adjustment robot the relative position regulating alignment sensor 7 and location structure 6.
In like manner, location structure 6 is circular cone locating hole.With calibration structure 5 and calibrating sensors 2 in like manner, when location structure 6 aligns with alignment sensor 7, the dead-center position distance L of circular cone calibration hole is maximum, and when location structure 6 occurs to offset with alignment sensor 7, non-zero points positional distance L ' is less than dead-center position distance L.This improves accuracy of detection.Also location structure 6 can be set to circular cone alignment protrusion, then dead-center position distance L is minimum.Location structure 6 can also be set to arc groove or arc convex structure, introduce no longer one by one and all within protection domain at this.
The quantity of alignment sensor 7 is two, is respectively orthogonal first alignment sensor 71 and the second alignment sensor 72; The quantity of location structure 6 is two, is respectively the first location structure 61 for being oppositely arranged with the first alignment sensor 71 and the second location structure 62 for being oppositely arranged with the second alignment sensor 72.By adopting orthogonal first alignment sensor 71 and the second alignment sensor 72 positioning pedestal 40, effectively improve the Position location accuracy to robot 4.
In the robot zero point correction system that the embodiment of the present invention provides, alignment sensor 7 and support column one_to_one corresponding.As shown in Figure 1, the first alignment sensor 71 is connected with the first support column 11, and the second alignment sensor 72 is connected with the first support column 12.By above-mentioned setting, facilitate the first alignment sensor 71 and the second alignment sensor 72 adjusts respectively.
Robot 4 also comprises the first connecting rod 41, second connecting rod 42, third connecting rod 43, double leval jib 44, the 5th connecting rod 45 and the end flange 46 that are connected by axle joint successively, and first connecting rod 41 is connected by axle joint with pedestal 40.Wherein, calibration structure 5 comprises the first calibration structure 53 be arranged on second connecting rod 42 and the second calibration structure 54 be arranged on double leval jib 44; Calibrating sensors 2 comprises first calibrating sensors 23 that arrange corresponding to the first calibration structure 53 and second calibrating sensors 24 that arrange corresponding to the second calibration structure 54.By above-mentioned setting, make calibrating sensors 2 pairs of second connecting rods 42 and double leval jib 44 carry out dead-center position calibration, while guaranteeing calibration accuracy, reduce amount of parts, the structure of simplification device.
Further, the location auxiliary block 47 be arranged on end flange 46 is also comprised; Calibration structure 5 also comprise be arranged at location auxiliary block 47 on the 3rd calibration structure 55 and the 4th calibration structure the 56, three calibration structure 55 mutually vertical with the center line of the 4th calibration structure 56; Calibrating sensors 2 comprises three calibrating sensors 25 that arrange corresponding to the 3rd calibration structure 55 and four calibrating sensors 26 that arrange corresponding to the 4th calibration structure 56.By above-mentioned setting, effectively improve and the dead-center position of end flange 46 is calibrated, further increase calibration accuracy.
Calibrating sensors 2 and support column one_to_one corresponding.As shown in Figure 1, the first calibrating sensors 23 is connected with the 3rd support column 13, and the second calibrating sensors 24 is connected with the 4th support column 14, and the 3rd calibrating sensors 25 is connected with the 5th support column 15, and the 4th calibrating sensors 26 is connected with the 6th support column 16.By above-mentioned setting, facilitate the first calibrating sensors 23, second calibrating sensors 24, the 3rd calibrating sensors 25 and the 4th calibrating sensors 26 and adjust respectively.
Present invention also offers a kind of robot zero point correction method, application is as any one robot zero point correction system above-mentioned; Comprise step:
S1: guarantee that the gripper shoe 3 of calibrating installation is horizontally disposed with, is arranged in gripper shoe 3 by robot 4 location; By above-mentioned setting, robot 4 is in place relative to calibrating installation.
S2: regulate calibrating sensors 2 to predetermined calibration position, the center line of calibrating sensors 2 is horizontally disposed with; By above-mentioned setting, so that the calibration structure 5 of robot 4 be arranged in parallel with calibrating sensors 2 when dead-center position.
S3: the joint regulating robot along the direction away from pedestal 40 successively, detects the distance of the calibration structure arriving robot by calibrating sensors; For six-joint robot, the joint of the joint of the joint of the joint of pedestal 40 and first connecting rod 41, first connecting rod 41 and second connecting rod 42, second connecting rod 42 and third connecting rod 43, third connecting rod 43 and double leval jib 44, double leval jib 44 and the joint of the 5th connecting rod 45 and the joint of the 5th connecting rod 45 and end flange 46 adjust successively, calibrate successively to the first calibration structure 53, second calibration structure 54, the 3rd calibration structure 55 and the 4th calibration structure 56.
S4: when detecting distance arrives dead-center position distance, record the anglec of rotation in this joint, and the anglec of rotation is saved in the controller of robot, as the deviation angle of the dead-center position of robot.That is, by adjusting joint, the distance of calibrating sensors 2 and calibration structure 5 is regulated.Be circular cone calibration hole for calibration structure 5, the ultimate range detected is dead-center position distance L.
Positioner comprises and is arranged at support column in gripper shoe 3 and alignment sensor 7; The position location of pedestal 40 is provided with location structure 6; In step S1, detected the distance arriving described location structure 6 by alignment sensor 7, adjust the described position of pedestal 40 in gripper shoe 3, when detecting distance arrives orientation distance, positioning pedestal 40.Reach and the effect be arranged in gripper shoe 3 is located by robot 4.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (11)
1. a robot zero point correction system, comprises robot (4), it is characterized in that, also comprise calibrating installation;
Described calibrating installation comprises the gripper shoe (3) for supporting described robot (4); Be arranged in described gripper shoe (3), for locating the positioner of pedestal (40) position of described robot (4); Be arranged at the support column in described gripper shoe (3); Be arranged on described support column, for detecting the calibrating sensors (2) of the calibration site of described robot (4);
The calibration site of described robot (4) is provided with calibration structure (5).
2. robot as claimed in claim 1 zero point correction system, it is characterized in that, described calibration structure (5) is circular cone calibration hole.
3. robot as claimed in claim 1 zero point correction system, is characterized in that, described positioner comprises and is arranged at support column in described gripper shoe (3) and alignment sensor (7);
The position location of described pedestal (40) is provided with location structure (6).
4. robot as claimed in claim 3 zero point correction system, it is characterized in that, described location structure is circular cone locating hole.
5. the robot zero point correction system as described in claim 3 or 4, it is characterized in that, the quantity of described alignment sensor (7) is two, is respectively orthogonal first alignment sensor (71) and the second alignment sensor (72);
The quantity of described location structure (6) is two, is respectively the first location structure (61) for being oppositely arranged with described first alignment sensor (71) and the second location structure (62) for being oppositely arranged with described second alignment sensor (72).
6. robot as claimed in claim 5 zero point correction system, is characterized in that, described alignment sensor (7) and described support column one_to_one corresponding.
7. robot as claimed in claim 1 zero point correction system, it is characterized in that, described robot (4) also comprises the first connecting rod (41), second connecting rod (42), third connecting rod (43), double leval jib (44), the 5th connecting rod (45) and the end flange (46) that are connected by axle joint successively, and described first connecting rod (41) is connected by axle joint with described pedestal (40);
Described calibration structure (5) comprises the first calibration structure (53) be arranged on described second connecting rod (42) and the second calibration structure (54) be arranged on described double leval jib (44);
Described calibrating sensors (2) comprises first calibrating sensors (23) that arrange corresponding to described first calibration structure (53) and second calibrating sensors (24) that arrange corresponding to described second calibration structure (54).
8. robot as claimed in claim 7 zero point correction system, is characterized in that, also comprise the location auxiliary block (47) be arranged on described end flange (46);
Described calibration structure (5) also comprises and is arranged at the 3rd calibration structure (55) on described location auxiliary block (47) and the 4th calibration structure (56), and described 3rd calibration structure (55) is mutually vertical with the center line of described 4th calibration structure (56);
Described calibrating sensors (2) comprises three calibrating sensors (25) that arrange corresponding to described 3rd calibration structure (55) and four calibrating sensors (26) that arrange corresponding to described 4th calibration structure (56).
9. robot as claimed in claim 7 or 8 zero point correction system, is characterized in that, described calibrating sensors and described support column one_to_one corresponding.
10. a robot zero point correction method, is characterized in that, applies the robot zero point correction system as described in any one of claim 1-9; Comprise step:
1) guarantee that the gripper shoe (3) of calibrating installation is horizontally disposed with, robot localization is arranged in described gripper shoe (3);
2) regulate calibrating sensors (2) to predetermined calibration position, the center line of described calibrating sensors (2) is horizontally disposed with;
3) regulate the joint of described robot along the direction away from described pedestal (40) successively, and detected the distance of the calibration structure arriving described robot by described calibrating sensors;
4) when detecting distance arrives dead-center position distance, record the anglec of rotation in this joint, and the described anglec of rotation is saved in the controller of robot, as the deviation angle of the dead-center position of robot.
11. robot as claimed in claim 10 zero point correction methods, is characterized in that, described positioner comprises and is arranged at support column in described gripper shoe (3) and alignment sensor (7); The position location of described pedestal (40) is provided with location structure (6);
Described step 1) in, the distance arriving described location structure (6) is detected by described alignment sensor (7), adjust the position of described pedestal (40) in described gripper shoe (3), when detecting distance arrives orientation distance, locate described pedestal (40).
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| CN108582047A (en) * | 2018-06-30 | 2018-09-28 | 天津大学 | A kind of six degree of freedom series-parallel connection polishing robot pose accuracy calibrating installation and method |
| CN109249392A (en) * | 2018-08-31 | 2019-01-22 | 先临三维科技股份有限公司 | Calibration method, calibration element, device, equipment and the medium of workpiece grabbing system |
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| CN114227657A (en) * | 2021-12-27 | 2022-03-25 | 北京子牛亦东科技有限公司 | Method for calibrating transmission position of manipulator |
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