CN106017264B - A kind of robot self-calibrating method for lightweight body production-line - Google Patents
A kind of robot self-calibrating method for lightweight body production-line Download PDFInfo
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- CN106017264B CN106017264B CN201610630631.0A CN201610630631A CN106017264B CN 106017264 B CN106017264 B CN 106017264B CN 201610630631 A CN201610630631 A CN 201610630631A CN 106017264 B CN106017264 B CN 106017264B
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- robot
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- coordinate value
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- body clamp
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
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Abstract
The invention discloses a kind of robot self-calibrating methods for lightweight body production-line; it is characterized in that on four different positions that four calibrating blocks are separately mounted in automobile body clamp; using the upper end face central point of the calibrating block in each fixture datum hole as calibration point; coordinate value B1 of each calibration point in the coordinate system of automobile body clamp is obtained using fixture digital-to-analogue, and obtains coordinate value C1 of each calibration point in robot coordinate system；The positional relationship between the coordinate origin of robot and the coordinate origin of automobile body clamp is established with coordinate value B1 and coordinate value C1, is obtained coordinate value of the coordinate origin of robot in the coordinate system of automobile body clamp using positional relationship, is completed robot self-calibration.The method of the present invention can quickly and accurately obtain the relative position coordinates of robot and automobile body clamp, improve debugging progress.
Description
Technical field
The present invention relates to a kind of robot calibration methods, the robot mark being more specifically applied in auto production line
Determine method.
Background technique
With the fast development of automobile industry, the update of vehicle is all the more frequent, automaker's urgent need Gao Rou
The production line of property, high beat.Robot, which participates in, can greatly save manpower in automobile production, improve working efficiency, still
The debugging of robot is that robot formally puts into the indispensable work before production, can after emulation off-line procedure imports robot
Debugging is rapidly completed, positional relationship of the robot with respect to frock clamp is determined in a manner of most most accurately most saving fastly, can just be made
Robot is rapidly put into production.
6 traditional mensurations are to need to operate the mechanical arm of robot into mobile six positions, and measure six respectively
The front end center position of six axis of robot under location status come determine robot with respect to frock clamp positional relationship, this side
Method low efficiency and affecting influences debugging progress, the low later period robot teaching amount of doing over again of measurement accuracy is big.
Summary of the invention
The present invention is provided a kind of for lightweight body production-line to avoid above-mentioned the shortcomings of the prior art place
Robot self-calibrating method, to can quickly and accurately measure the positional relationship of robot and frock clamp so that from
Sequence of threads can quickly complete debugging task after importing, improve productive temp.
The present invention adopts the following technical scheme that in order to solve the technical problem
The present invention be used for lightweight body production-line robot self-calibrating method the characteristics of be to carry out as follows:
Step 1: the upper end of demarcate bar being fixedly connected by transition disc with six shaft flanges of robot, in the demarcate bar
Lower end be fixedly mounted dial indicators rack, measurement pin is fixedly mounted on to the front end of dial indicators rack using gripping block, by machine
People is arranged on zero-bit coordinate, obtains coordinate value A of the front end face central point of measurement pin in robot coordinate system by measurement,
Using the coordinate value A as the dead-center position in amesdial school zero；
Step 2: on dial indicators rack, measurement pin replacement being installed as amesdial, the top using zero piece of school by amesdial
Amesdial is zeroed by stylus alignment at the coordinate value A；
Step 3: a or mode b obtains the calibration point of robot as follows
Mode a: the fixture datum hole on four different positions that four calibrating blocks are separately mounted in automobile body clamp
In, using the upper end face central point of the calibrating block in each fixture datum hole as calibration point, each calibration point is obtained using fixture digital-to-analogue
Coordinate value B1 in the coordinate system of automobile body clamp；
Mode b: on the automobile body clamp, being fixedly installed a changeover base using the mounting hole of a known coordinate,
A scaling board is fixedly mounted in the changeover base；Four calibrating blocks are separately mounted to four different positions in scaling board
On scaling board datum hole in, using the upper end face central point of the calibrating block in each scaling board datum hole as calibration point, utilize folder
Tool digital-to-analogue obtains coordinate value B2 of each calibration point in the coordinate system of automobile body clamp；
Step 4: operation robot makes the thimble protruded out in the amesdial for being mounted on demarcate bar lower end successively contradict each calibration
Calibration point on block obtains in a manner of seat of each calibration point in robot coordinate system in a by this until amesdial reaches zero-bit
Scale value C1, or coordinate value C2 of each calibration point in robot coordinate system in b is obtained in a manner of by this；
Step 5: the coordinate origin of robot is established with coordinate value B1 and coordinate value C1 or with coordinate value B2 and coordinate value C2
Positional relationship between the coordinate origin of automobile body clamp obtains the coordinate origin of robot described using the positional relationship
Coordinate value in the coordinate system of automobile body clamp completes robot self-calibration.
The present invention be used for lightweight body production-line robot self-calibrating method the characteristics of lie also in: the scaling board is
It is supported in changeover base using strut, the scaling board is made to be in the top of automobile body clamp, to avoid other in automobile body clamp
The interference of component.
Compared with the prior art, the invention has the advantages that:
1, the method for the present invention can quickly and accurately obtain the relative position coordinates of robot and automobile body clamp, raising debug into
Degree；
2, the method for the present invention can adapt to more robots and different types of fixture, have wide applicability；
4, the use of the method for the present invention can largely reduce the participation of measurement commissioning staff, reduce measurement cost.
5, the method for the present invention keeps component involved in measurement process few, easy to operate.
Detailed description of the invention
Fig. 1 is the method for the present invention schematic diagram；
Fig. 2 is another embodiment schematic diagram of the method for the present invention；
Fig. 3 is scaling board structural schematic diagram in the present invention；
Fig. 4 is zero schematic diagram of amesdial school in the present invention；
Figure label: 1 robot, 2 transition discs, 3 demarcate bars, 4 dial indicators racks, 5 amesdials, 6 gripping blocks, 7
Calibrating block, 8 automobile body clamps, 9 measurement pins, 10 zero piece of schools, 11 changeover bases, 12 scaling boards, 13 scaling board datum holes, 14
Strut.
Specific embodiment
Referring to Fig. 1 and Fig. 2, the present embodiment is used for the robot self-calibrating method of lightweight body production-line as follows
It carries out:
Step 1: the upper end of demarcate bar 3 being fixedly connected by transition disc 2 with six shaft flanges of robot 1, in demarcate bar 3
Lower end be fixedly mounted dial indicators rack 4, measurement pin 9 is fixedly mounted on to the front end of dial indicators rack 4 using gripping block 6, will
Robot is arranged on zero-bit coordinate, obtains seat of the front end face central point of measurement pin 9 in robot coordinate system by measurement
Scale value A, using coordinate value A as the dead-center position in amesdial school zero.
Step 2: on dial indicators rack 4, the end plate in zero piece 10 of school " L " being butted on to the front end face of measurement pin 9 first, formed
Form shown in Fig. 4；The replacement of measurement pin 9 is installed as amesdial 5 again, zero piece 10 the thimble calibration of amesdial 5 is existed using school
At coordinate value A, and amesdial 5 is zeroed.
Step 3: a or mode b obtains the calibration point of robot as follows
Mode a: as shown in Figure 1, on four different positions that four calibrating blocks 7 are separately mounted in automobile body clamp 8
Fixture datum hole in, using the upper end face central point of the calibrating block 7 in each fixture datum hole as calibration point, utilize fixture digital-to-analogue
Obtain coordinate value B1 of each calibration point in the coordinate system of automobile body clamp 8.
Mode b: structure is complicated when meeting on automobile body clamp 8, is not easy to the position in the fixture datum hole on automobile body clamp
It is demarcated, calibration mode as shown in Figure 2 can be used, be to utilize the mounting hole of a known coordinate on automobile body clamp 8
A changeover base 11 is fixedly installed, a scaling board 12 is fixedly mounted in changeover base 11；Four calibrating blocks 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 calibration point, obtain coordinate of each calibration point in the coordinate system of automobile body clamp 8 using fixture digital-to-analogue
Value B2.
Step 4: operation robot 1 contradicts the thimble protruded out in the amesdial 5 for being mounted on 3 lower end of demarcate bar successively respectively
Calibration point in calibrating block 7 obtains in a manner of in a each calibration point in robot coordinate system by this until amesdial 5 reaches zero-bit
In coordinate value C1, or coordinate value C2 of each calibration point in robot coordinate system in b is obtained in a manner of by this.
Step 5: the coordinate origin of robot 1 is established with coordinate value B1 and coordinate value C1 or with coordinate value B2 and coordinate value C2
Positional relationship between the coordinate origin of automobile body clamp is pressed from both sides using the coordinate origin that positional relationship obtains robot 1 in vehicle body
Coordinate value in the coordinate system of tool 8 completes robot self-calibration.
Coordinate value due to solving the robot coordinate origin under automobile body clamp coordinate is to utilize transformation matrix principle,
It is fast that four calibration are set, wherein three calibrating blocks are for solving transformation matrix, the 4th calibrating block is for examining in the present embodiment
Error.
In specific implementation, as shown in Figures 2 and 3, scaling board 12 is supported in changeover base 11 using strut 14, makes to mark
Fixed board 12 is in the top of automobile body clamp 8, to avoid the interference of other components in automobile body clamp 8.
Coordinate of the coordinate origin in the coordinate system of automobile body clamp in specific implementation using Trafo software realization robot
Robot self-calibration is realized in the conversion of value.
Claims (2)
1. a kind of robot self-calibrating method for lightweight body production-line, it is characterized in that carrying out as follows:
Step 1: the upper end of demarcate bar (3) being fixedly connected by transition disc (2) with six shaft flanges of robot (1), described
Dial indicators rack (4) are fixedly mounted in the lower end of demarcate bar (3), and measurement pin (9) is fixedly mounted on amesdial using gripping block (6)
The front end of bracket (4), robot is arranged on the zero-bit coordinate of robot coordinate system, obtains measurement pin (9) by measurement
Coordinate value A of the front end face central point in robot coordinate system, using the coordinate value A as the dead-center position in amesdial school zero；
Step 2: on dial indicators rack (4), measurement pin (9) replacement being installed as amesdial (5), using zero piece of school (10) by thousand
Divide the thimble of table (5) to calibrate at the coordinate value A, and amesdial (5) are zeroed；
Step 3: a or mode b obtains the calibration point of robot as follows
Mode a: the fixture datum four calibrating blocks (7) being separately mounted on four different positions in automobile body clamp (8)
Kong Zhong obtains each mark using fixture digital-to-analogue using the upper end face central point of the calibrating block (7) in each fixture datum hole as calibration point
Pinpoint the coordinate value B1 in the coordinate system of automobile body clamp (8)；
Mode b: on the automobile body clamp (8), being fixedly installed a changeover base (11) using the mounting hole of a known coordinate,
A scaling board (12) are fixedly mounted on the changeover base (11)；Four calibrating blocks (7) are separately mounted to scaling board (12)
In four different positions on scaling board datum hole in, with the upper end face of the calibrating block (7) in each scaling board datum hole
Central point is calibration point, obtains coordinate value B2 of each calibration point in the coordinate system of automobile body clamp (8) using fixture digital-to-analogue；
Step 4: operation robot (1) contradicts the thimble protruded out in the amesdial (5) for being mounted on demarcate bar (3) lower end successively
Calibration point on each calibrating block (7) obtains in a manner of in a each calibration point in robot by this until amesdial (5) reach zero-bit
Coordinate value C1 in coordinate system, or coordinate value C2 of each calibration point in robot coordinate system in b is obtained in a manner of by this；
Step 5: with coordinate value B1 and coordinate value C1 or with coordinate value B2 and coordinate value C2 establish the coordinate origin of robot (1) with
Positional relationship between the coordinate origin of automobile body clamp obtains the coordinate origin of robot (1) in institute using the positional relationship
The coordinate value in the coordinate system of automobile body clamp (8) is stated, robot self-calibration is completed.
2. the robot self-calibrating method according to claim 1 for lightweight body production-line, it is characterized in that: described
Scaling board (12) is supported on changeover base (11) using strut, and the scaling board (12) is made to be in the upper of automobile body clamp (8)
Side, to avoid the interference of other components in automobile body clamp (8).
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| CN201610630631.0A CN106017264B (en) | 2016-08-03 | 2016-08-03 | A kind of robot self-calibrating method for lightweight body production-line |
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| CN201610630631.0A CN106017264B (en) | 2016-08-03 | 2016-08-03 | A kind of robot self-calibrating method for lightweight body production-line |
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| CN106017264A CN106017264A (en) | 2016-10-12 |
| CN106017264B true CN106017264B (en) | 2018-12-11 |
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| CN107855708A (en) * | 2017-10-10 | 2018-03-30 | 上海晓奥享荣汽车工业装备有限公司 | One kind, which is welded, always spells multi-vehicle-type switching alignment system |
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| EP0223862A1 (en) * | 1985-05-31 | 1987-06-03 | Fanuc Ltd. | Apparatus for setting industrial robot in reference position |
| CN101968341A (en) * | 2010-08-31 | 2011-02-09 | 南京理工大学 | Industrial robot zero-position self-calibration method and device |
| CN202952272U (en) * | 2012-11-19 | 2013-05-29 | 安徽埃夫特智能装备有限公司 | Zero point calibrating device for welding robot |
| CN103659806A (en) * | 2012-09-06 | 2014-03-26 | 沈阳新松机器人自动化股份有限公司 | Industrial robot zero position defining method |
| CN105091807A (en) * | 2014-04-30 | 2015-11-25 | 鸿富锦精密工业（深圳）有限公司 | Robot tool coordinate system correction method |
| CN105690423A (en) * | 2014-11-11 | 2016-06-22 | 沈阳新松机器人自动化股份有限公司 | Robot zero position calibrating device and method |
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| EP0223862A1 (en) * | 1985-05-31 | 1987-06-03 | Fanuc Ltd. | Apparatus for setting industrial robot in reference position |
| CN101968341A (en) * | 2010-08-31 | 2011-02-09 | 南京理工大学 | Industrial robot zero-position self-calibration method and device |
| CN103659806A (en) * | 2012-09-06 | 2014-03-26 | 沈阳新松机器人自动化股份有限公司 | Industrial robot zero position defining method |
| CN202952272U (en) * | 2012-11-19 | 2013-05-29 | 安徽埃夫特智能装备有限公司 | Zero point calibrating device for welding robot |
| CN105091807A (en) * | 2014-04-30 | 2015-11-25 | 鸿富锦精密工业（深圳）有限公司 | Robot tool coordinate system correction method |
| CN105690423A (en) * | 2014-11-11 | 2016-06-22 | 沈阳新松机器人自动化股份有限公司 | Robot zero position calibrating device and method |
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| 机器人末端工具参数自动标定方法;李瑞峰等;《哈尔滨工业大学学报》;19980630;第30卷(第3期);第74-76页 * |
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Address after: Baohe District of Hefei City, Anhui province 230051 Baohe Industrial Park Jianghuai heavy industry base Patentee after: Anhui Juyi Technology Co., Ltd Address before: Shanghai road in Baohe District of Hefei city of Anhui Province, No. 8 230051 Patentee before: ANHUI JEE AUTOMATION EQUIPMENT Co.,Ltd. |
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