CN117226679A - Workpiece coordinate system positioning method for polishing industrial robot - Google Patents
Workpiece coordinate system positioning method for polishing industrial robot Download PDFInfo
- Publication number
- CN117226679A CN117226679A CN202311281939.5A CN202311281939A CN117226679A CN 117226679 A CN117226679 A CN 117226679A CN 202311281939 A CN202311281939 A CN 202311281939A CN 117226679 A CN117226679 A CN 117226679A
- Authority
- CN
- China
- Prior art keywords
- industrial robot
- coordinate system
- measuring head
- workpiece
- tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000005498 polishing Methods 0.000 title claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 238000013519 translation Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 abstract description 5
- 238000000691 measurement method Methods 0.000 abstract 1
- 101000666730 Homo sapiens T-complex protein 1 subunit alpha Proteins 0.000 description 5
- 102100038410 T-complex protein 1 subunit alpha Human genes 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a workpiece coordinate system positioning method of a polishing industrial robot, which relates to the technical field of automatic polishing of industrial robots, and is characterized in that: offset calibration in the Z direction is achieved through the robot flange being close to a calibration object with known thickness, offset calibration in the XY two directions is achieved through concentricity of the end flange of the robot and a measuring head tool, accurate calibration of the position of the workpiece measuring head relative to the end flange of the robot is achieved, measurement and calculation of a workpiece coordinate system are achieved according to the workpiece measuring head, and finally positioning of the workpiece coordinate system is achieved. The method realizes the accurate calibration of the position of the workpiece measuring head relative to the flange at the tail end of the robot, realizes the measurement and calculation of a workpiece coordinate system according to the workpiece measuring head, finally completes the positioning of the workpiece coordinate system, and solves the problem of the relative position of the workpiece measuring head relative to the industrial robotThe problem of low positioning precision and long time consumption of the positioning measurement method 。
Description
Technical Field
The invention relates to the technical field of automatic polishing of industrial robots, in particular to a method for positioning a workpiece coordinate system of a polishing industrial robot.
Background
In recent years, with the orderly implementation of China in the national important projects such as high resolution earth observation system, manned space and lunar exploration engineering, and the like, the technologies such as space astronomical observation, earth observation, deep space exploration, space strategic equipment and the like enter a high-speed development period, the requirements of a space optical system on a large-caliber reflecting mirror are more and more, the manufacturing efficiency of an optical element becomes one of the bottlenecks for restricting the development space optics of China, and the manufacturing task of the optical element is rapidly, efficiently and highly accurately completed.
The digital optical polishing technology based on the industrial robot is a development trend in the field of optical manufacturing in recent years, the robot polishing technology has the advantages of low cost, small occupied area and the like, and the polishing system based on the industrial robot is used for realizing automatic measurement of workpiece positioning by adding a workpiece measuring head at present, but because the workpiece measuring head belongs to an external device, the relative accurate position of the workpiece measuring head under the coordinate system of the industrial robot is difficult to obtain, and the situation of inaccurate workpiece measuring head positioning exists.
The existing industrial robot manufacturers adopt workpiece measuring head positioning methods such as a three-point method or a six-point method, but the method takes visual observation as a judgment basis, and the workpiece measuring head still has the problem of poor positioning precision.
Therefore, based on the above-mentioned problems, the applicant has discovered a method for positioning the workpiece coordinate system of a polishing industrial robot.
Disclosure of Invention
The invention aims to provide a workpiece coordinate system positioning method of a polishing industrial robot, which realizes the accurate calibration of the position of a workpiece measuring head relative to a flange at the tail end of the robot, realizes the measurement and calculation of the workpiece coordinate system according to the workpiece measuring head, finally completes the positioning of the workpiece coordinate system, and solves the problems of low positioning precision and long time consumption of the workpiece measuring head relative to the industrial robot.
The technical aim of the invention is realized by the following technical scheme: the method for positioning the workpiece coordinate system of the polishing industrial robot specifically comprises the following steps:
s1: defining a default tool coordinate system of the industrial robot system, and offsetting initial relative position deviation (X, Y, Z, R) of a workpiece measuring head relative to the center of a flange plate at the tail end of the industrial robot x ,R y ,R z ) Inputting the coordinate system bias of the industrial robot tool and defining a measuring head coordinate system;
s2: fixing a measuring head calibration tool, and ensuring that the measuring head calibration tool is parallel to an industrial robot geodetic coordinate system;
s3: setting a calibration object with known thickness H on the measuring head calibration tool, switching to an industrial robot system default tool coordinate system, dismantling an industrial robot polishing tool and a workpiece measuring head under the industrial robot system default tool coordinate system, adjusting an industrial robot tail end flange to be clung to the calibration object in a gesture parallel to the end face of the calibration tool, inputting the value of the known thickness H into the industrial robot system default tool coordinate system and defining the value in the Z direction, namely, the Z coordinate value of the end face of the tool under the industrial robot system default tool coordinate system is H;
s4: adjusting the horizontal position of the flange at the tail end of the industrial robot, ensuring that the concentricity of the flange and the outer circle of the measuring head calibration tool is within a specified error, and recording the origin of coordinates in the XY direction under the default tool coordinate system of the industrial robot system as the circle center of the calibration tool;
s5: installing the industrial robot polishing tool and the workpiece measuring head on an end flange of the industrial robot, simultaneously switching to the workpiece measuring head coordinate system, programming and controlling the workpiece measuring head to respectively measure the outer circle and the end face of the calibration tool, and calculating the position coordinates (Dx, dy, dz) of the circle center of the end face of the calibration tool according to the measurement result, so as to obtain the circle center position coordinates (Dx, dy, dz+R) of the end face of the tool under the workpiece measuring head coordinate system, wherein R is the radius value of the workpiece measuring head;
s6: defining X-direction translation deviation of the workpiece measuring head coordinate system relative to a default tool coordinate system of the industrial robot system as X+Dx, Y-direction translation deviation as Y+Dy and Z-direction translation deviation as Z+Dz+R-H, and rewriting the three values into the industrial robot system;
s7: and switching to the workpiece measuring head coordinate system, and measuring the position of the workpiece to be polished by using the workpiece measuring head, namely determining the workpiece coordinate system of the workpiece to be polished, which is finally calculated, under the industrial robot polishing system.
By adopting the technical scheme, the offset of the workpiece measuring head relative to the default tool coordinate system of the industrial robot is calibrated firstly, offset calibration in the Z direction is realized by the robot flange being close to a calibration object with known thickness, offset calibration in the XY two directions is realized by adjusting concentricity of the tail end flange of the robot and the measuring head tool by the dial indicator, accurate calibration of the position of the workpiece measuring head relative to the tail end flange of the robot is completed, measurement and calculation of the workpiece coordinate system are realized according to the workpiece measuring head, and finally, positioning of the workpiece coordinate system is completed.
The invention is further provided with: the S1 obtains initial relative position deviation (X, Y, Z, R) of the workpiece measuring head relative to the center of the flange plate at the tail end of the industrial robot x ,R y ,R z ) The method comprises a three-point method, a six-point method and a three-dimensional modeling method for integrating the workpiece measuring head with the industrial robot, wherein the three-point method and the six-point method are built in the traditional industrial robot.
By adopting the technical scheme, when the relative position deviation of the workpiece measuring head relative to the center of the flange at the tail end of the industrial robot is obtained from the model, the built-in three-point method, the built-in six-point method and the integral three-dimensional modeling method of the workpiece measuring head and the industrial robot of the traditional industrial robot can be adopted, the precise motion control of the robot can be realized, and the precise calibration of the workpiece measuring head relative to the flange at the tail end of the robot can be realized.
The invention is further provided with: in the method for ensuring that the measuring head calibration tool and the industrial robot geodetic coordinate system are kept parallel in the S2, a level is placed on the end face of the calibration tool, and the posture of the calibration tool is adjusted, so that the air bubble of the level is positioned in the level circle, namely, the state that the calibration tool and the industrial robot geodetic coordinate system are kept parallel at present is determined.
Through adopting above-mentioned technical scheme, place a level bar on the demarcation frock terminal surface, adjust demarcation frock's gesture for the level bar bubble is located the level bar circle, adjustment gauge head that can be convenient demarcation frock and industrial robot geodetic coordinate system keep parallelism.
The invention is further provided with: the calibration object with the known thickness H in the step S3 is a regular object with a specific thickness.
By adopting the technical scheme, the calibration object with known thickness is adopted as a regular object with specific thickness, and the end face of the calibration tool is continuously close to the end face of the calibration tool in the gesture parallel to the end face of the calibration tool by adjusting the gesture of the end flange of the industrial robot, so that the end face of the end flange of the industrial robot is tightly attached to the calibration object, and the Z coordinate of the end face of the calibration tool in the default tool coordinate system of the industrial robot system can be rapidly and accurately calibrated.
In summary, the invention has the following beneficial effects:
1. firstly, offset calibration of a workpiece measuring head relative to an industrial robot default tool coordinate system is carried out, offset calibration in the Z direction is realized by a robot flange close to a calibration object with known thickness, offset calibration in the XY two directions is realized by adjusting concentricity of a robot end flange and a measuring head tool through a dial indicator, accurate calibration of the position of the workpiece measuring head relative to the robot end flange is completed, measurement and calculation of the workpiece coordinate system are realized according to the workpiece measuring head, and finally positioning of the workpiece coordinate system is completed;
2. when the relative position deviation of the workpiece measuring head relative to the center of the flange at the tail end of the industrial robot is obtained from the model, a three-point method, a six-point method and an integral three-dimensional modeling method for the workpiece measuring head and the industrial robot which are built in the traditional industrial robot can be adopted, so that the robot can be accurately controlled in motion, and the accurate calibration of the position of the workpiece measuring head relative to the flange at the tail end of the robot can be realized;
3. placing a level on the end face of the calibration tool, and adjusting the posture of the calibration tool to enable the level bubble to be located in the level circle, so that the measuring head calibration tool can be conveniently adjusted to be parallel to the industrial robot geodetic coordinate system;
4. the calibration object with known thickness is adopted as a regular object with specific thickness, and the end face of the calibration tool is continuously close to the end face of the calibration tool in a posture parallel to the end face of the calibration tool by adjusting the posture of the end flange of the industrial robot, so that the end face of the end flange of the industrial robot is tightly attached to the calibration object, and the Z coordinate of the end face of the calibration tool in the default tool coordinate system of the industrial robot system can be rapidly and accurately calibrated.
Drawings
FIG. 1 is a schematic diagram showing a method for positioning a workpiece coordinate system of a polishing industrial robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram of S4 in an embodiment of the invention;
FIG. 3 is an enlarged view of FIG. 2 in an embodiment of the invention;
FIG. 4 is a schematic diagram of S5 in an embodiment of the invention;
fig. 5 is an enlarged view of fig. 4 in an embodiment of the invention.
In the figure: 1. an industrial robot; 2. a workpiece measuring head; 3. a terminal flange; 4. a polishing tool; 5. a calibrator; 6. calibrating a tool by a measuring head; 7. a workpiece table.
Detailed Description
The invention is described in further detail below with reference to fig. 1-5.
Examples: as shown in fig. 1 to 5, the method for positioning the workpiece coordinate system of the polishing industrial robot specifically comprises the following steps:
s1: defining a default tool coordinate system of the industrial robot 1 as TCP0, and offsetting initial relative position deviation (X, Y, Z, R) of the workpiece measuring head 2 relative to the center of the end flange 3 of the industrial robot 1 x ,R y ,R z ) Inputting the offset of the tool coordinate system of the industrial robot 1, defining the coordinate system of the workpiece measuring head 2 as TCP1, wherein X, Y and Z respectively represent the center translation deviation of the workpiece measuring head 2 relative to the end flange 3 of the industrial robot 1, R x ,R y ,R z Respectively representing the central rotation deviation of the gesture of the workpiece measuring head 2 relative to the end flange 3 of the industrial robot 1;
s2: fixing a measuring head calibration tool 6, and ensuring that the measuring head calibration tool 6 is parallel to the geodetic coordinate system of the industrial robot 1;
s3: setting a calibration object 5 with known thickness H on a measuring head calibration tool 6, switching to a default tool coordinate system TCP0 of an industrial robot 1 system, dismantling a polishing tool 4 and a workpiece measuring head 2 of the industrial robot 1 under the coordinate system TCP0, adjusting the posture of a tail end flange of the industrial robot 1, continuously approaching the end face of the calibration tool with the posture parallel to the end face of the calibration tool, enabling the end face of the tail end flange of the industrial robot 1 to be tightly attached to the calibration object 5, inputting the value of the known thickness H into the default tool coordinate system of the industrial robot 1 system and defining the value in the Z direction, namely, the Z coordinate value of the end face of the tool under the default tool coordinate system of the industrial robot 1 system is H;
s4: adjusting the horizontal position of the end flange of the industrial robot 1, ensuring that the concentricity of the flange and the outer circle of the measuring head calibration tool 6 is within 0.01mm, installing a dial indicator at the end of the end flange of the industrial robot 1, operating the end flange of the robot to rotate, simultaneously adjusting the horizontal position of the end flange of the industrial robot 1, and recording the coordinate of the center of the measuring head calibration tool 6 in the XY direction under the TCP0 coordinate system as (0, 0) when the number of the dial indicator or the jumping amount is less than 0.01 mm;
s5: installing a polishing tool 4 of the industrial robot 1 and a workpiece measuring head 2 on an end flange of the industrial robot 1, simultaneously switching to a TCP1 coordinate system, programming to control the workpiece measuring head 2 to respectively measure the outer circle and the end face of a calibration tool, and calculating the position coordinates (Dx, dy and Dz) of the circle center of the end face of the calibration tool according to the measurement result, wherein the position coordinates (Dx, dy, dz+R) of the circle center of the end face of the tool are the radius value of the workpiece measuring head 2 under the TCP1 coordinate system;
s6: defining the X-direction translation deviation of the coordinate system TCP1 relative to TCP0 as X+Dx, the Y-direction translation deviation as Y+Dy and the Z-direction translation deviation as Z+Dz+R-H, and rewriting the three values into an industrial robot 1 system;
s7: switching to a tool coordinate system TCP1, and measuring the position of the workpiece to be polished by using a workpiece measuring head 2, namely, finally calculating the workpiece coordinate system of the workpiece to be polished under the polishing system of the industrial robot 1.
In the preferred embodiment, in S1, initial relative positional deviations (X, Y, Z, R) of the workpiece probe 2 with respect to the center of the end flange 3 of the industrial robot 1 are obtained x ,R y ,R z ) The method can be realized by a built-in three-point method or a six-point method of the traditional industrial robot 1, or the whole three-dimensional modeling can be carried out on the workpiece measuring head 2 and the industrial robot 1, and the relative position deviation (X, Y, Z, R) of the workpiece measuring head 2 relative to the center of the end flange 3 of the industrial robot 1 is obtained from the model x ,R y ,R z )。
In the preferred method of the embodiment, in step S2, it is ensured that the gauge head calibration tool 6 is parallel to the geodetic coordinate system of the industrial robot 1, a level is placed on the end surface of the calibration tool, and the posture of the calibration tool is adjusted, so that the air bubbles of the level are located in the circle of the level, that is, the calibration tool is parallel to the geodetic coordinate system of the industrial robot 1.
In this embodiment, the thickness H of the standard object 5 is preferably known in S3, and includes a piece of paper, a feeler gauge, a standard cylinder, and other regular objects having a specific thickness.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (4)
1. A method for positioning a workpiece coordinate system of a polishing industrial robot is characterized by comprising the following steps: the method specifically comprises the following steps:
s1: definition of an industrial machineThe system of the person (1) defaults to a tool coordinate system, and the initial relative position deviation (X, Y, Z, R) of the workpiece measuring head (2) relative to the center of the end flange (3) of the industrial robot (1) is calculated x ,R y ,R z ) Inputting the measurement head coordinate system into the tool coordinate system bias of the industrial robot (1) and defining the measurement head coordinate system;
s2: fixing a measuring head calibration tool (6), and ensuring that the measuring head calibration tool (6) is parallel to a geodetic coordinate system of the industrial robot (1);
s3: setting a calibration object (5) with known thickness H on the measuring head calibration tool (6), switching to a default tool coordinate system of the industrial robot (1), dismantling a polishing tool (4) and a workpiece measuring head (2) of the industrial robot (1) under the default tool coordinate system of the industrial robot (1), adjusting a tail end flange of the industrial robot (1) to be clung to the calibration object (5) in a gesture parallel to the end face of the calibration tool, inputting a value of the known thickness H into the default tool coordinate system of the industrial robot (1) and defining the value in the Z direction, namely, the Z coordinate value of the end face of the tool under the default tool coordinate system of the industrial robot (1) is H;
s4: adjusting the horizontal position of a flange at the tail end of the industrial robot (1), ensuring that the concentricity of the flange and the outer circle of the measuring head calibration tool (6) is within a specified error, and recording the origin of coordinates in the XY direction under a default tool coordinate system of the industrial robot (1) as the center of a circle of the calibration tool;
s5: installing the polishing tool (4) and the workpiece measuring head (2) of the industrial robot (1) on a flange at the tail end of the industrial robot (1), simultaneously switching to a coordinate system of the workpiece measuring head (2), programming and controlling the workpiece measuring head (2) to respectively measure the excircle and the end face of the calibration tool, and calculating the position coordinates (Dx, dy and Dz) of the circle center of the end face of the calibration tool according to the measurement result, so as to obtain the circle center position coordinates (Dx, dy, dz+R) of the end face of the tool under the coordinate system of the workpiece measuring head (2), wherein R is the radius value of the workpiece measuring head;
s6: defining X-direction translation deviation of the workpiece measuring head coordinate system relative to a default tool coordinate system of the industrial robot (1) system as X+Dx, Y-direction translation deviation as Y+Dy and Z-direction translation deviation as Z+Dz+R-H, and rewriting the three values into the industrial robot (1) system;
s7: switching to the coordinate system of the workpiece measuring head (2), and measuring the position of the workpiece to be polished by using the workpiece measuring head (2), namely determining the final calculated workpiece coordinate system of the workpiece to be polished under the polishing system of the industrial robot (1).
2. The method for positioning the workpiece coordinate system of the polishing industrial robot according to claim 1, wherein the method comprises the following steps: the S1 obtains initial relative position deviations (X, Y, Z, R) of the workpiece measuring head (2) relative to the center of the end flange (3) of the industrial robot (1) x ,R y ,R z ) The method comprises a three-point method and a six-point method which are built in the traditional industrial robot (1) and a three-dimensional modeling method for integrating the workpiece measuring head (2) and the industrial robot (1).
3. The method for positioning the workpiece coordinate system of the polishing industrial robot according to claim 1, wherein the method comprises the following steps: in the method for ensuring that the measuring head calibration tool (6) is kept parallel to the industrial robot (1) geodetic coordinate system in the S2, a level is placed on the end face of the calibration tool, and the posture of the calibration tool is adjusted so that the level bubble is positioned in the level circle, namely, the state that the calibration tool is kept parallel to the industrial robot (1) geodetic coordinate system is determined.
4. The method for positioning the workpiece coordinate system of the polishing industrial robot according to claim 1, wherein the method comprises the following steps: the calibration object (5) with the known thickness H in the step S3 is a regular object with a specific thickness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311281939.5A CN117226679A (en) | 2023-10-07 | 2023-10-07 | Workpiece coordinate system positioning method for polishing industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311281939.5A CN117226679A (en) | 2023-10-07 | 2023-10-07 | Workpiece coordinate system positioning method for polishing industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117226679A true CN117226679A (en) | 2023-12-15 |
Family
ID=89084158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311281939.5A Pending CN117226679A (en) | 2023-10-07 | 2023-10-07 | Workpiece coordinate system positioning method for polishing industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117226679A (en) |
-
2023
- 2023-10-07 CN CN202311281939.5A patent/CN117226679A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10401162B2 (en) | Calibration of measurement probes | |
| CN103250025B (en) | The error of the measurement obtained using coordinate positioning apparatus by correction | |
| CN111451880B (en) | AB double-tool pendulum five-axis magnetorheological polishing machine tool structure parameter calibration method | |
| JP4275632B2 (en) | Calibration method for parallel mechanism mechanism, calibration verification method, calibration verification program, data collection method, and correction data collection method for spatial position correction | |
| CN109794938A (en) | A kind of robot hole error-compensating apparatus and its method suitable for curved-surface structure | |
| EP1579168B2 (en) | Workpiece inspection method and apparatus | |
| CA2807204A1 (en) | Device for error correction for cnc machines | |
| CN105818132A (en) | Calibration and location method of sucking disc type tool hand of industrial robot | |
| JP2002059340A (en) | Positional error evaluating method of moving device, and moving accuracy improving method based on result of evaluation | |
| CN107421520B (en) | Decoration paying-off device and method based on BIM technology | |
| CN110220454B (en) | Pose calibration method of three-coordinate positioning mechanism | |
| JP2019052983A (en) | Calibration method and calibrator | |
| CN100491895C (en) | Three-coordinate calibrating and inspection instrument | |
| CN106705880B (en) | A kind of large caliber reflecting mirror face shape profile detection method and device in place | |
| CN113146613B (en) | Three-dimensional self-calibration device and method for D-H parameters of industrial robot | |
| US20210223020A1 (en) | Inspection master | |
| CN109062139B (en) | Robot linear axis positioning error compensation method based on data driving | |
| CN108582047A (en) | A kind of six degree of freedom series-parallel connection polishing robot pose accuracy calibrating installation and method | |
| CN115179323A (en) | Machine end pose measuring device based on telecentric vision constraint and precision improving method | |
| CN113814870B (en) | Method for measuring and calculating pose of magnetorheological polished workpiece and polishing method | |
| CN205588066U (en) | Automatic aligning device of machining center | |
| KR102035334B1 (en) | Method for measuring geometric errors of 4-axis machine tools | |
| CN111336919B (en) | Probe calibration method | |
| CN117226679A (en) | Workpiece coordinate system positioning method for polishing industrial robot | |
| CN205373710U (en) | Multipurpose parallel lines laser scale |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |