CN106017264A

CN106017264A - Robot self-calibration method for light car body production line

Info

Publication number: CN106017264A
Application number: CN201610630631.0A
Authority: CN
Inventors: 刘蕾; 李文浩; 申启乡; 张鸣; 张一鸣; 吴军
Original assignee: Anhui JEE Automation Equipment Co Ltd
Current assignee: Anhui Juyi Technology Co Ltd
Priority date: 2016-08-03
Filing date: 2016-08-03
Publication date: 2016-10-12
Anticipated expiration: 2036-08-03
Also published as: CN106017264B

Abstract

The invention discloses a robot self-calibration method for a light car body production line. The method is characterized in that four calibration blocks are installed at four different positions in a car body fixture, center points of the surfaces of the upper ends of the calibration blocks in all fixture datum holes serve as calibration points, and a fixture digital model is used for obtaining coordinate values B1 of all the calibration points in a coordinate system of the car body fixture and coordinate values C1 of all the calibration points in a coordinate system of a robot; the positional relation between the origin of coordinates of the robot and the origin of coordinates of the car body fixture is determined through the coordinate values B1 and the coordinate values C1, the coordinate value of the origin of coordinates of the robot in the coordinate system of the car body fixture is obtained through the positional relation, and self-calibration of the robot is completed. By means of the method, the position coordinates of the robot relative to the car body fixture can be obtained rapidly and accurately, and the debugging process is promoted.

Description

A kind of robot self-calibrating method for lightweight body production-line

Technical field

The present invention relates to a kind of robot calibration method, be more specifically applied to the robot calibration method in auto production line.

Background technology

Along with the fast development of automobile industry, the update of vehicle is all the more frequent, automaker's urgent needs high flexibility, height The production line of beat.Robot participates in and can greatly save manpower in automobile production, raising work efficiency, but robot Debugging be that robot formally puts into the indispensable work before production, can be rapidly completed after emulation off-line procedure imports robot Debugging, determines the robot position relationship relative to frock clamp in the way of saving most, and Cai Nengshi robot is rapid Put in production.

6 traditional measurement methods are to need to operate the mechanical arm of robot mobile six positions, and measure six position shapes respectively The front end center position of robot six axle under state determines the robot position relationship relative to frock clamp, and this method efficiency is low And have impact on and affect debugging progress, its certainty of measurement low later stage robot teaching amount of doing over again is big.

Summary of the invention

The present invention is the weak point for avoiding above-mentioned prior art to exist, it is provided that a kind of machine for lightweight body production-line People's self-calibrating method, to measuring the position relationship of robot and frock clamp quickly and accurately so that lead in off-line procedure Debugging task can be quickly completed after entering, improve productive temp.

The present invention solves that technical problem adopts the following technical scheme that

The present invention is to carry out as follows for the feature of the robot self-calibrating method of lightweight body production-line:

Step 1: the upper end demarcating bar is connected, under described demarcation bar by transition disc is fixing with six shaft flanges of robot End fixed installation dial indicators rack, utilizes clamping block that measurement pin is fixedly mounted on the front end of dial indicators rack, is arranged by robot On zero-bit coordinate, by measuring the coordinate figure A obtaining the front end face central point measuring pin in robot coordinate system, with described Coordinate figure A is as the dead-center position in amesdial school zero；

Step 2: on dial indicators rack, is installed as amesdial by measurement pin replacement, utilizes zero piece of school by the thimble school of amesdial Accurate at described coordinate figure A, and amesdial is made zero；

Step 3: a or mode b obtain the fixed point of robot as follows

Mode a: in the fixture datum hole on four different positions that four calibrating block are separately mounted in automobile body clamp, with The upper end face central point of the calibrating block in each fixture datum hole is fixed point, utilizes fixture digital-to-analogue to obtain each fixed point and presss from both sides at vehicle body Coordinate figure B1 in the coordinate system of tool；

Mode b: on described automobile body clamp, utilizes the installing hole of a known coordinate to be fixedly installed a changeover base, described A scaling board is fixedly mounted in changeover base；The mark on four different positions that four calibrating block are separately mounted in scaling board Determine in plate datum hole, with the upper end face central point of the calibrating block in each scaling board datum hole as fixed point, utilize fixture digital-to-analogue to obtain Obtain each fixed point coordinate figure B2 in the coordinate system of automobile body clamp；

Step 4: operation robot, makes to be arranged in the amesdial of demarcation bar lower end the thimble protruded out and conflicts successively in each calibrating block Fixed point, until amesdial reaches zero-bit, obtain each fixed point coordinate figure in robot coordinate system in mode a with this C1, or obtain each fixed point coordinate figure C2 in robot coordinate system in mode b with this；

Step 5: with coordinate figure B1 and coordinate figure C1 or with coordinate figure B2 and coordinate figure C2 establish the zero of robot with Position relationship between the zero of automobile body clamp, utilizes described position relationship to obtain the zero of robot at described vehicle body Coordinate figure in the coordinate system of fixture, completes robot self-calibration.

The present invention lies also in for the feature of the robot self-calibrating method of lightweight body production-line: described scaling board is to utilize support Bar is supported in changeover base, makes described scaling board be in the top of automobile body clamp, to avoid the dry of other component in automobile body clamp Disturb.

Compared with the prior art, the present invention has the beneficial effect that:

1, the inventive method can obtain the relative position coordinates of robot and automobile body clamp quickly and accurately, improves debugging progress；

2, the inventive method can adapt to more robot and different types of fixture, has wide applicability；

4, the use of the inventive method can reduce the participation measuring commissioning staff in a large number, reduces and measures cost.

5, the parts related to during the inventive method makes measurement are few, easy to operate.

Accompanying drawing explanation

Fig. 1 is the inventive method schematic diagram；

Fig. 2 is another embodiment schematic diagram of the inventive method；

Fig. 3 is demarcation plate structure schematic diagram in the present invention；

Fig. 4 is amesdial school zero schematic diagram in the present invention；

Label in figure: 1 robot, 2 transition discs, 3 demarcate bar, 4 dial indicators racks, 5 amesdials, and 6 clamping blocks, 7 demarcate Block, 8 automobile body clamps, 9 measure pin, 10 zero piece of schools, 11 changeover base, 12 scaling boards, 13 scaling board datum holes, 14 supports Bar.

Detailed description of the invention

Seeing Fig. 1 and Fig. 2, the present embodiment is carried out as follows for the robot self-calibrating method of lightweight body production-line:

Step 1: the upper end demarcating bar 3 is connected by transition disc 2 is fixing with six shaft flanges of robot 1, is demarcating bar 3 Lower end fixed installation dial indicators rack 4, utilize clamping block 6 to be fixedly mounted on the front end of dial indicators rack 4 by measuring pin 9, Robot is arranged on zero-bit coordinate, by measuring the seat obtaining the front end face central point measuring pin 9 in robot coordinate system Scale value A, using coordinate figure A as the dead-center position in amesdial school zero.

Step 2: on dial indicators rack 4, is first butted on the front end face measuring pin 9, shape by the end plate in zero piece 10 of " L " school Become the form shown in Fig. 4；Again measurement pin 9 is replaced and be installed as amesdial 5, utilize zero piece 10 of school by the thimble school of amesdial 5 Accurate at coordinate figure A, and amesdial 5 is made zero.

Step 3: a or mode b obtain the fixed point of robot as follows

Mode a: as it is shown in figure 1, on four different positions that four calibrating block 7 are separately mounted in automobile body clamp 8 In fixture datum hole, with the upper end face central point of the calibrating block 7 in each fixture datum hole as fixed point, fixture digital-to-analogue is utilized to obtain Obtain each fixed point coordinate figure B1 in the coordinate system of automobile body clamp 8.

Mode b: structure on automobile body clamp 8 is complicated when meeting, and makes the position in the fixture datum hole on automobile body clamp be not easy to carry out Demarcating, can be on automobile body clamp 8 to use demarcation mode as shown in Figure 2, the installing hole utilizing a known coordinate be solid One changeover base 11 is set surely, changeover base 11 fixedly mounts a scaling board 12；Four calibrating block 7 are separately mounted to In the scaling board datum hole 13 on four different positions in scaling board 12, with the calibrating block 7 in each scaling board datum hole 13 Upper end face central point be fixed point, utilize fixture digital-to-analogue obtain each fixed point coordinate figure in the coordinate system of automobile body clamp 8 B2。

Step 4: operation robot 1, makes to be arranged on and demarcates the thimble protruded out in the amesdial 5 of bar 3 lower end and conflict successively each demarcation Fixed point on block 7, until amesdial 5 reaches zero-bit, obtains in mode a each fixed point in robot coordinate system with this Coordinate figure C1, or obtain each fixed point coordinate figure C2 in robot coordinate system in mode b with this.

Step 5: with coordinate figure B1 and coordinate figure C1 or the zero establishing robot 1 with coordinate figure B2 and coordinate figure C2 And the position relationship between the zero of automobile body clamp, utilizes position relationship to obtain the zero of robot 1 at automobile body clamp Coordinate figure in the coordinate system of 8, completes robot self-calibration.

It is to utilize transformation matrix principle, therefore this enforcement owing to solving the coordinate figure of the robot coordinate initial point under automobile body clamp coordinate Arranging four in example and demarcate fast, wherein three calibrating block are used for solving transformation matrix, and the 4th calibrating block is for testing error.

In being embodied as, as shown in Figures 2 and 3, scaling board 12 is to utilize strut 14 to be supported in changeover base 11, makes mark Determine plate 12 and be in the top of automobile body clamp 8, to avoid the interference of other component in automobile body clamp 8.

It is embodied as using Trafo software to realize turning of the zero of robot coordinate figure in the coordinate system of automobile body clamp Change, it is achieved robot self-calibration.

Claims

1., for a robot self-calibrating method for lightweight body production-line, it is characterized in that carrying out as follows:

Step 1: the upper end that will demarcate bar (3) is connected, in described demarcation by transition disc (2) is fixing with six shaft flanges of robot (1) Lower end fixed installation dial indicators rack (4) of bar (3), before utilizing clamping block (6) that measurement pin (9) is fixedly mounted on dial indicators rack (4) End, is arranged on robot on zero-bit coordinate, measures the front end face central point of pin (9) in robot coordinate system by measuring to obtain Coordinate figure A, using described coordinate figure A as the dead-center position in amesdial school zero；

Step 2: on dial indicators rack (4), replaces measurement pin (9) and is installed as amesdial (5), utilize zero piece of school (10) by thousand points The thimble of table (5) is calibrated at described coordinate figure A, and is made zero by amesdial (5)；

Step 3: a or mode b obtain the fixed point of robot as follows

Mode a: four calibrating block (7) are separately mounted in the fixture datum hole on four different positions in automobile body clamp (8), With the upper end face central point of the calibrating block (7) in each fixture datum hole as fixed point, fixture digital-to-analogue is utilized to obtain each fixed point at car Coordinate figure B1 in the coordinate system of body fixture (8)；

Mode b: on described automobile body clamp (8), utilizes the installing hole of a known coordinate to be fixedly installed a changeover base (11), Described changeover base (11) upper fixed installation one scaling board (12)；Four calibrating block (7) are separately mounted to four in scaling board (12) In scaling board datum hole on different positions, with the upper end face central point of the calibrating block (7) in each scaling board datum hole for demarcating Point, utilizes fixture digital-to-analogue to obtain each fixed point coordinate figure B2 in the coordinate system of automobile body clamp (8)；

Step 4: operation robot (1), makes to be arranged on and demarcates the thimble protruded out in the amesdial (5) of bar (3) lower end and conflict successively each mark Determine the fixed point on block (7), until amesdial (5) reaches zero-bit, obtain in mode a each fixed point robot coordinate system with this In coordinate figure C1, or obtain each fixed point coordinate figure C2 in robot coordinate system in mode b with this；

Step 5: with coordinate figure B1 and coordinate figure C1 or the zero establishing robot (1) with coordinate figure B2 and coordinate figure C2 And the position relationship between the zero of automobile body clamp, utilizes described position relationship to obtain the zero of robot (1) described Coordinate figure in the coordinate system of automobile body clamp (8), completes robot self-calibration.

Robot self-calibrating method for lightweight body production-line the most according to claim 1, is characterized in that: described Scaling board (12) is to utilize strut to be supported in changeover base (11), makes described scaling board (12) be in the top of automobile body clamp (8), with Avoid the interference of other component in automobile body clamp (8).