CN110375688A - A kind of industrial robot tool coordinates system posture calibration system and method - Google Patents
A kind of industrial robot tool coordinates system posture calibration system and method Download PDFInfo
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Abstract
The invention belongs to auto parts and components to produce tooling robotic technology field, provide a kind of industrial robot tool coordinates system posture calibration system and method, including probe module, joint arm module, CPU module and human-computer interface module, tool coordinates system y-axis is demarcated first, secondly tool coordinates system z-axis is demarcated, by repeating to obtain ten groups of data, calibrated and calculated adjusts x-axis rotation angle [alpha] and z-axis rotates angle beta, industrial robot is rotated around x axis into angle [alpha], angle beta is rotated around z-axis, it calculates adjustment y-axis and rotates angle γ, industrial robot is rotated into angle γ around y-axis.The advantage of the invention is that convenient and efficient, manpower and time is greatly saved, it can be achieved that tool coordinates system attitude misalignment calculates automatically, improves productivity.
Description
Technical field
The invention belongs to auto parts and components to produce tooling robotic technology field, and in particular to a kind of industrial robot tool
Coordinate system pose calibration system and method.
Background technique
It is machined occasion in milling, drilling, polishing etc., industrial robot is widely used, usually in industrial machine
Installation executes the tool of specific manufacturing operation on the actuator of device people, because the tool of industrial robot executor tail end is direct
It is in contact with the target object of processing, so the path accuracy of industrial robot end and industrial robot end-of-arm tooling coordinate
Precision is highly relevant, therefore to improve the path accuracy of industrial robot end-of-arm tooling, needs to industrial robot tool coordinates
System is demarcated.The tool coordinates system calibration of industrial robot is divided into location position and posture calibration, and location position is exactly to add
It after the tool for having added specific manufacturing operation, is planned for the certain point of tool, usual this point is referred to as in tool
Heart point (TCP:Tool Center Point) i.e. tool coordinates system origin determines the method comparative maturity of TCP at present, there is at 4 points
Method (multipoint method), laser tracking measurement, vision tracking measurement etc., can reach higher precision, and the posture of tool coordinates system is work
Have direction of the coordinate system relative to earth coordinates, at present by manually adjusting or carrying out digital-to-analogue emulation by robot software
The tool coordinates system posture and actual posture obtained afterwards there are deviation, this deviation be to machining occasion it is unfavorable, because
This, needs the posture to industrial robot tool coordinates system to demarcate.
Summary of the invention
The technical problem to be solved by the invention for the present situation of prior art is to provide a kind of industrial robot tools
Coordinate system pose calibration system and method can solve the attitude misalignment problem of industrial robot tool coordinates system.
The technical scheme of the invention to solve the technical problem is: a kind of industrial robot tool coordinates posture mark
Determine system, including probe module, joint arm module, CPU module and human-computer interface module, the probe module are electrically connected to
Joint arm module, the probe module are used for the three-dimensional coordinate of measurement point, and joint arm module is electrically connected in CPU module and is used in combination
In the probe module is moved to any point within the scope of certain space, CPU module is electrically connected in human-computer interface module simultaneously
For reading and handling the three-dimensional coordinate of measurement point, human-computer interface module is used to show the coordinate of measurement point and does to coordinate points
Various processing, and data communication is carried out with the CPU module.
This patent additionally provides a kind of industrial robot tool coordinates system posture scaling method, which is characterized in that right first
The calibration of tool coordinates system y-axis, secondly demarcates tool coordinates system z-axis, wherein as follows to tool coordinates system y-axis demarcating steps:
Determine industrial robot tool coordinates system posture calibration system origin system；
Industrial robot is moved into a distance L along y-axis under tool coordinates system, and measures industrial robot tool coordinates
It is coordinate at origin, after the probe module reading tool movement of the industrial robot tool coordinates posture calibration system
Industrial robot tool coordinates system origin coordinate, the human-computer interface module by the point (a1, b1, c1) record and show
Repetition obtains ten groups of data；
CPU module calculates the average value of ten groups of data, obtains (a0, b0, c0), the human-computer interface module records the point
And it shows；
It calculates adjustment x-axis rotation angle [alpha] and z-axis rotates angle beta, and by α, β in the man-machine interface module；
Under tool coordinates system, industrial robot is rotated around x axis into angle [alpha], rotates angle beta around z-axis.
In above-mentioned a kind of industrial robot tool coordinates system posture calibration system and method, to tool coordinates system z-axis
Demarcating steps are as follows:
Determine industrial robot tool coordinates system posture calibration system origin system；
Industrial robot is moved along the z-axis a distance L under tool coordinates system, and measures industrial robot tool coordinates
It is coordinate at origin, after the probe module reading tool movement of the industrial robot tool coordinates posture calibration system
Industrial robot tool coordinates system origin coordinate, the human-computer interface module by the point (d1, e1, f1) record and show；
Repetition obtains ten groups of data；
CPU module calculates the average value of ten groups of data in third step, obtains (d0, e0, f0), and the human-computer interface module will
The point is recorded and is shown；
It calculates adjustment y-axis and rotates angle γ, and by γ in the man-machine interface module；
Under tool coordinates system, industrial robot is rotated into angle γ around y-axis.
In a kind of above-mentioned industrial robot tool coordinates system posture calibration system, method, to tool coordinates system y-axis mark
Periodically, industrial robot is adjusted to origin position, and establishes the industrial robot tool at tool coordinates system origin and sits
Mark the coordinate system of posture calibration system, the posture and ideal of the coordinate system of the industrial robot tool coordinates posture calibration system
Robot tool coordinate system it is identical, use the industrial robot tool coordinates posture calibration system probe module read work
The point is set (0,0,0) by the coordinate of industry robot tool coordinate origin, the human-computer interface module.
In a kind of above-mentioned industrial robot tool coordinates system posture scaling method, demarcated to tool coordinates system y-axis
When, industrial robot is adjusted to origin position, and the industrial robot tool coordinates are established at tool coordinates system origin
The coordinate system of posture calibration system, the posture of the coordinate system of the industrial robot tool coordinates posture calibration system and ideal
Robot tool coordinate system is identical, reads industry using the probe module of the industrial robot tool coordinates posture calibration system
The point is set (0,0,0) by the coordinate of robot tool coordinate origin, the human-computer interface module.
In a kind of above-mentioned industrial robot tool coordinates system posture scaling method, when being demarcated to tool coordinates system y-axis
Repetition obtain ten groups of data (a1, b1, c1), (a2, b2, c2), (a3, b3, c3), (a4, b4, c4), (a5, b5, c5), (a6,
B6, c6), (a7, b7, c7), (a8, b8, c8), (a9, b9, c9), (a10, b10, c10).
In a kind of above-mentioned industrial robot tool coordinates system posture scaling method, when being demarcated to tool coordinates system z-axis
Repetition obtain ten groups of data (d1, e1, f1), (d2, e2, f2), (d3, e3, f3), (d4, e4, f4), (d5, e5, f5), (d6,
E6, f6), (d7, e7, f7), (d8, e8, f8), (d9, e9, f9), (d10, e10, f10).
In a kind of above-mentioned industrial robot tool coordinates system posture scaling method, the CPU module calculates adjustment work
When having coordinate system y-axis, x-axis rotates angle [alpha]=arcsin (c0/L), and z-axis rotates angle beta=arcsin (a0/L).
In a kind of above-mentioned industrial robot tool coordinates system posture scaling method, the CPU module calculates adjustment work
When having coordinate system z-axis, y-axis rotates angle γ=arcsin (d0/L).
Compared with the prior art, the advantages of the present invention are as follows at present by manually adjusting or by robot software
It carries out the tool coordinates system posture obtained after digital-to-analogue emulation and ideal posture has deviation, propose a kind of industrial machine
Artificial tool coordinate system pose caliberating device and method.The present invention is convenient and efficient, is greatly saved manpower and time, it can be achieved that work
Tool coordinate system pose deviation calculates automatically, improves productivity.
Detailed description of the invention
Fig. 1 is industrial robot tool coordinates system posture calibration system schematic diagram；
Fig. 2 is industrial robot tool to tool coordinates system y-axis scaling method schematic diagram；
Fig. 3 is industrial robot tool to tool coordinates system z-axis scaling method schematic diagram.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
In figure, probe module 101；Joint arm module 102；CPU module 103；Human-computer interface module 104.
As shown in Figure 1, this Fig. 1 shows the present invention to solve technical solution used by its technical problem: Yi Zhonggong
Industry robot tool coordinate posture calibration system, including probe module 101, joint arm module 102, CPU module 103, man-machine boundary
Face mould block 104, probe module 101 are electrically connected to joint arm module 102, and joint arm module 102 is electrically connected in CPU module 103,
CPU module 103 is electrically connected in human-computer interface module 104, and wherein probe module 101 is used for the three-dimensional coordinate of measurement point, joint
Arm module 102 is used to for probe module 101 being moved to any point within the scope of certain space, and CPU module 103 is for reading and locating
The three-dimensional coordinate of measurement point is managed, human-computer interface module 104 is used to show the coordinate of measurement point and does various processing to coordinate points,
And data communication is carried out with CPU module 103.
After the location position to the tool coordinates system of industrial robot, the posture of tool coordinates system is marked
Fixed, a kind of industrial robot tool coordinates posture scaling method, shows that tool coordinates system y-axis is demarcated to Fig. 2 first here, secondly right
Fig. 3 shows that tool coordinates system z-axis is demarcated, and tool coordinates system y-axis is demarcated specifically includes the following steps: step S21, determines industrial machine
Artificial tool coordinate system pose calibration system origin system, is adjusted to origin position for industrial robot, and in tool coordinates system
The coordinate system of industrial robot tool coordinates posture calibration system, industrial robot tool coordinates posture calibration system are established at origin
The posture of the coordinate system of system is identical as ideal robot tool coordinate system, demarcates system using industrial robot tool coordinates posture
The probe module 101 of system reads the coordinate of industrial robot tool coordinates system origin, and human-computer interface module 104 sets the point to
(0,0,0)；Industrial robot is moved a distance L along y-axis under tool coordinates system, and measures industrial robot by step S22
Coordinate at tool coordinates system origin reads tool using the probe module 101 of industrial robot tool coordinates posture calibration system
The coordinate of industrial robot tool coordinates system origin after movement, human-computer interface module 104 record the point (a1, b1, c1)
And it shows；Step S23, repeat first step second step obtain ten groups of data (a1, b1, c1), (a2, b2, c2), (a3, b3, c3),
(a4, b4, c4), (a5, b5, c5), (a6, b6, c6), (a7, b7, c7), (a8, b8, c8), (a9, b9, c9), (a10, b10,
c10)；Step S24, CPU module 103 calculate the average value of ten groups of data in third step, obtain (a0, b0, c0), man-machine interface mould
The point is recorded and is shown by block 104；Step S25 is calculated and is adjusted the angle, when CPU module 103 calculates adjustment tool coordinates system y-axis,
X-axis rotates angle [alpha]=arcsin (c0/L), and z-axis rotates angle beta=arcsin (a0/L).And by α, β in human-computer interface module
104 displays；Industrial robot is rotated around x axis angle [alpha] under tool coordinates system by step S26, rotates angle beta around z-axis.
Tool coordinates system z-axis is demarcated specifically includes the following steps: step S31, determines industrial robot tool coordinates system appearance
Industrial robot is adjusted to origin position by state calibration system origin system, and industry is established at tool coordinates system origin
The coordinate system of robot tool coordinate posture calibration system, the appearance of the coordinate system of industrial robot tool coordinates posture calibration system
State is identical as ideal robot tool coordinate system, uses the probe module of industrial robot tool coordinates posture calibration system
101 read the coordinate of industrial robot tool coordinates system origin, and the point is set (0,0,0) by human-computer interface module 104；Step
Industrial robot is moved along the z-axis a distance L by S32 under tool coordinates system, and it is former to measure industrial robot tool coordinates system
Coordinate at point reads the work after tool movement using the probe module 101 of industrial robot tool coordinates posture calibration system
The point (d1, e1, f1) is recorded and is shown by the coordinate of industry robot tool coordinate origin, human-computer interface module 104；Step
S33, repeat first step second step obtain ten groups of data (d1, e1, f1), (d2, e2, f2), (d3, e3, f3), (d4, e4, f4),
(d5, e5, f5), (d6, e6, f6), (d7, e7, f7), (d8, e8, f8), (d9, e9, f9), (d10, e10, f10)；Step S34,
CPU module 103 calculates the average value of ten groups of data in third step, obtains (d0, e0, f0), human-computer interface module 104 remembers the point
It records and shows；Step S35 is calculated and is adjusted the angle.When CPU module 103 calculates adjustment tool coordinates system z-axis, y-axis rotates angle γ
=arcsin (d0/L), and γ is shown in human-computer interface module 104；Step S36, under tool coordinates system, by industrial machine
People rotates angle γ around y-axis；It is convenient and efficient through the above industrial robot tool coordinates system posture calibration system, people is greatly saved
Power and time, it can be achieved that tool coordinates system attitude misalignment calculates automatically, improve productivity.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
Generation, defined range that however, it does not deviate from the spirit of the invention.
Claims (9)
1. a kind of industrial robot tool coordinates posture calibration system, including probe module, joint arm module, CPU module and
Human-computer interface module, the probe module are electrically connected to joint arm module, and the probe module is used for the three-dimensional of measurement point
Coordinate, joint arm module are electrically connected in CPU module and for the probe module to be moved to appointing within the scope of certain space
A bit, CPU module is electrically connected to the three-dimensional coordinate in human-computer interface module and for reading and handling measurement point, man-machine interface mould
Block is used to show the coordinate of measurement point and does various processing to coordinate points, and carries out data communication with the CPU module.
2. a kind of industrial robot tool coordinates system posture scaling method, which is characterized in that first to tool coordinates system y-axis mark
It is fixed, secondly tool coordinates system z-axis is demarcated, wherein as follows to tool coordinates system y-axis demarcating steps:
Determine industrial robot tool coordinates system posture calibration system origin system；
Industrial robot is moved into a distance L along y-axis under tool coordinates system, and it is former to measure industrial robot tool coordinates system
Coordinate at point reads the work after tool movement using the probe module of the industrial robot tool coordinates posture calibration system
The point (a1, b1, c1) is recorded and is shown by the coordinate of industry robot tool coordinate origin, the human-computer interface module
Repetition obtains ten groups of data；
CPU module calculates the average value of ten groups of data, obtains (a0, b0, c0), which is recorded and shown by the human-computer interface module
Show；
It calculates adjustment x-axis rotation angle [alpha] and z-axis rotates angle beta, and by α, β in the man-machine interface module；
Under tool coordinates system, industrial robot is rotated around x axis into angle [alpha], rotates angle beta around z-axis.
3. a kind of industrial robot tool coordinates system posture scaling method according to claim 2, which is characterized in that work
It is as follows to have coordinate system z-axis demarcating steps:
Determine industrial robot tool coordinates system posture calibration system origin system；
Industrial robot is moved along the z-axis a distance L under tool coordinates system, and it is former to measure industrial robot tool coordinates system
Coordinate at point reads the work after tool movement using the probe module of the industrial robot tool coordinates posture calibration system
The point (d1, e1, f1) is recorded and is shown by the coordinate of industry robot tool coordinate origin, the human-computer interface module；
Repetition obtains ten groups of data；
CPU module calculates the average value of ten groups of data in third step, obtains (d0, e0, f0), and the human-computer interface module is by the point
It records and shows；
It calculates adjustment y-axis and rotates angle γ, and by γ in the man-machine interface module；
Under tool coordinates system, industrial robot is rotated into angle γ around y-axis.
4. a kind of industrial robot tool coordinates system posture scaling method according to claim 2, which is characterized in that right
When tool coordinates system y-axis is demarcated, industrial robot is adjusted to origin position, and the work is established at tool coordinates system origin
The coordinate system of industry robot tool coordinate posture calibration system, the coordinate of the industrial robot tool coordinates posture calibration system
The posture of system is identical as ideal robot tool coordinate system, uses the industrial robot tool coordinates posture calibration system
Probe module reads the coordinate of industrial robot tool coordinates system origin, the human-computer interface module set the point to (0,0,
0)。
5. a kind of industrial robot tool coordinates system posture scaling method according to claim 3, which is characterized in that right
When tool coordinates system y-axis is demarcated, industrial robot is adjusted to origin position, and the work is established at tool coordinates system origin
The coordinate system of industry robot tool coordinate posture calibration system, the coordinate of the industrial robot tool coordinates posture calibration system
The posture of system is identical as ideal robot tool coordinate system, uses the industrial robot tool coordinates posture calibration system
Probe module reads the coordinate of industrial robot tool coordinates system origin, the human-computer interface module set the point to (0,0,
0)。
6. a kind of industrial robot tool coordinates system posture scaling method according to claim 4, which is characterized in that work
Tool coordinate system y-axis calibration when repeat obtain ten groups of data (a1, b1, c1), (a2, b2, c2), (a3, b3, c3), (a4, b4, c4),
(a5, b5, c5), (a6, b6, c6), (a7, b7, c7), (a8, b8, c8), (a9, b9, c9), (a10, b10, c10).
7. a kind of industrial robot tool coordinates system posture scaling method according to claim 5, which is characterized in that work
Tool coordinate system z-axis calibration when repeat obtain ten groups of data (d1, e1, f1), (d2, e2, f2), (d3, e3, f3), (d4, e4, f4),
(d5, e5, f5), (d6, e6, f6), (d7, e7, f7), (d8, e8, f8), (d9, e9, f9), (d10, e10, f10).
8. a kind of industrial robot tool coordinates system posture scaling method according to claim 6, which is characterized in that described
When CPU module calculates adjustment tool coordinates system y-axis, x-axis rotates angle [alpha]=arcsin (c0/L), and z-axis rotation angle beta=
arcsin(a0/L)。
9. a kind of industrial robot tool coordinates system posture scaling method according to claim 7, which is characterized in that described
When CPU module calculates adjustment tool coordinates system z-axis, y-axis rotates angle γ=arcsin (d0/L).
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