CN105690423A - Robot zero position calibrating device and method - Google Patents

Abstract

The invention discloses a robot zero position calibrating device and method. The robot zero position calibrating device comprises a base installation part and a flange installation part. The base installation part is fixedly connected with a base of an industrial robot. The flange installation part is fixedly connected with a tail end flange of the industrial robot. Compared with a traditional calibrating method, the robot zero position calibrating device and method have the beneficial effects of being fast, accurate and capable of adapting to a robot production line; robot calibrating in the short production takt is completed; and a foundation is laid for achieving high-precision operation of the robot.

Description

Robot Zero positioning device and method

Technical field

The present invention relates to a kind of Robot calibration technology, be specifically related to a kind of robot Zero positioning device and method。

Background technology

The robot error of zero is the principal element affecting robot absolute fix precision, and the robot error of zero refers to each movable joint of robot relative error magnitudes of physical location and theoretical position when initial position (i.e. robot zero value)。The target of robot Zero positioning is then that error of zero value carries out identification and compensation。

Currently there is several ratio more typical robot Zero positioning method, such as the pivot pin localization method that OTC robot adopts, this method needs to process the alignment hole (or auxiliary mould) that each axle is corresponding on robot body in advance, 1-6 the joint of mobile apparatus people successively during robot Zero positioning, the mode by inserting alignment pin realizes the demarcation of robot zero-bit；KUKA robot uses the locating slot that Linear displacement transducer is directed at adjacent segment successively to carry out Zero positioning；The zero-bit localization method essence of the Pendulum that ABB robot adopts is the demarcation adopting the obliquity sensor of a kind of twin shaft to realize each axle。Although these methods are easy and simple to handle, but need in advance hole, location or the locating surface of robot to be processed, and produce corresponding auxiliary mould fixture, and calibration process needs each axle gradually to calibrate, often calibrate and be once both needed to corresponding fixture (robot of general 6DOF at least needs to install 4 times) is installed, improve the complexity of whole process。

Summary of the invention

Based on this, the present invention provides one caliberating device fast, accurately and method in order to substitute existing method。Concrete technical scheme is as follows。

A kind of robot Zero positioning device, including: floor installation portion and flange installation portion, floor installation portion is fixing with the base of industrial robot to be connected, and flange installation portion is fixing with the end flange of industrial robot to be connected。

Preferably, floor installation portion includes connecting plate, sensor installation seat, amesdial；Connecting plate one end is connected for fixing with base, and the other end is used for fixation sensor installation seat；Amesdial is arranged on sensor installation seat。

Preferably, the number of described amesdial and the degree of freedom of industrial robot are identical。

Preferably, described floor installation portion also includes a calibrating installation, and described calibrating installation is one with the standard cylindrical piece of blind hole, its groove ends fixing with on sensor installation seat, be used for calibrating described amesdial。

Preferably, flange installation portion includes a switching part and a survey mass。The rounded bulk of switching part, is provided with blind hole, is connected for fixing with end flange；Survey mass is in the lower end being fixedly mounted on switching part, for reading the current data of amesdial respectively；Switching part and survey mass can move with end flange。

A kind of robot Zero positioning method, it is characterised in that comprise the following steps:

Calibration is installed on the amesdial on sensor installation seat respectively；

Mobile apparatus people's flange installation portion so that it is the survey mass of bottom contacts when not producing collision or interfering with amesdial respectively；

Read the data that amesdial is currently displaying respectively, according to shown data, robot is re-started Zero positioning。

Preferably, described according to data, robot is re-started Zero positioning, concretely comprises the following steps:

Obtain the posture position information of robot；

Obtain the positional information of robot；

According to robot posture information and positional information, robot is demarcated again。

Above-mentioned robot Zero positioning device and method, compared with traditional scaling method, has feature fast, accurately, is suitable for the feature of robot production line, complete the Robot calibration in shorter productive temp, is realize the basis that robot high accuracy is run。

Accompanying drawing explanation

The invention will be further described to utilize accompanying drawing, but the embodiment in accompanying drawing does not constitute any limitation of the invention。

Fig. 1 is embodiment of the present invention robot Zero positioning structure drawing of device。

Fig. 2 is embodiment of the present invention floor installation portion axonometric drawing。

Fig. 3 is embodiment of the present invention floor installation portion top view。

Fig. 4 is embodiment of the present invention flange installation portion axonometric drawing。

Fig. 5 is embodiment of the present invention flange installation portion upward view。

Fig. 6 is embodiment of the present invention robot calibration method flow chart。

Above-mentioned drawing reference numeral is respectively as follows:

Industrial robot 1

Base 11

End flange 12

Floor installation portion 2

Connecting plate 21

Sensor installation seat 22

Amesdial 23

Calibrating installation 24

Flange installation portion 3

Switching part 31

Survey mass 32

Detailed description of the invention

In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated。Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention。

As long as just can be mutually combined additionally, technical characteristic involved in each embodiment of invention described below does not constitute conflict each other。

As it is shown in figure 1, a kind of robot Zero positioning device, described device includes: floor installation portion 2 and flange installation portion 3, and floor installation portion 2 is fixing with the base 11 of industrial robot 1 to be connected, and flange installation portion 3 is fixing with the end flange 12 of industrial robot 1 to be connected。

As shown in Figures 2 and 3, floor installation portion 2 includes connecting plate 21, sensor installation seat 22, amesdial 23 and calibrating installation 24。Connecting plate 21 is rectangle, and the width at its two ends is more than middle width, and one end is connected for fixing with base 11, and the other end is used for fixation sensor installation seat 22。One end shape of sensor installation seat 22 is identical with one end of connecting plate 21 with hole site, therefore connects fixing for these two ends；Amesdial 23 is arranged on sensor installation seat 22, with the circular hole identical with amesdial 23 quantity in order to fixing amesdial 23 on sensor installation seat 22。The number of amesdial is identical with the degree of freedom of industrial robot, the artificial Six-DOF industrial robot of industrial machine in the present embodiment, and therefore the number of amesdial is 6。These 6 amesdials arrangement on direction, three, space is 3,2,1, and this kind of arrangement can ensure that the position and pose that simultaneously measure space object conversion。Calibrating installation 24 is used for calibrating described 6 amesdials, and it is one with the standard cylindrical piece of blind hole, its groove ends fixing with on sensor installation seat 22, make amesdial head can be plugged in blind hole so that it is the distance of initial zero position and work surface is fixed value。

In conjunction with Fig. 4 and Fig. 5, flange installation portion 3 includes switching part 31 and a survey mass 32。Switching part 31 is rounded bulk, is arranged above with blind hole, is connected for fixing with end flange 12。Survey mass 32 exists

It is fixedly mounted on the lower end of switching part 31, for reading the current data of 6 amesdials respectively。Switching part 31 and survey mass 32 can move with end flange 12。

A kind of robot Zero positioning method, comprises the following steps:

S10: calibration is installed on the amesdial 23 on sensor installation seat 22 respectively。

Calibration is installed on the amesdial on sensor installation seat 22 respectively, makes the initial zero position of amesdial and the distance of working face fix。

S20: mobile apparatus people's flange installation portion 3 so that it is the survey mass 32 of bottom contacts when not producing collision or interfering with 6 amesdials 23 respectively。

Particularly as follows: the Z-direction of first mobile apparatus people flange installation portion 33 so that survey mass 32 is fully contacted the amesdial of Z-direction；Then the Y-direction of mobile apparatus people so that survey mass 32 is fully contacted the amesdial of Y-direction；The X of last mobile apparatus people so that survey mass 32 is fully contacted the amesdial of X-direction。

S30: read the data that amesdial 23 is currently displaying respectively, according to shown data, robot is re-started Zero positioning。

Concretely comprise the following steps:

S301: obtain the posture position information of robot。

Represent that the absolute of amesdial is read for the posture position information of robot, R (x) n

Number, wherein n represents the n-th amesdial circular hole。

Solution formula (1), (2), (3), it can be deduced that

${}_T^{R}R={\left(n\right)}_T,Y{\left(o\right)}_T,Z{\left(a\right)}_T]---\left(4\right)$

S302: obtain the positional information of robot。

Known three plane equations, seek the intersection point that three orthogonal planes intersect:

$\left\{\begin{array}{c}{A}_{1}x+B_{1}y+C_{1}z+D_1=0\left(1\right)\\ A_{2}x+B_{2}y+C_{2}z+D_2=0\left(2\right)\\ A_{3}x+B_{3}y+C_{3}z+D_3=0\left(3\right)\end{array}\right.---\left(5\right)$

Intersection point is:

$x=\frac{(B_1{C}_1-B_2{C}_1)(C_3{D}_1-C_1{D}_3)-(B_1{C}_3-B_3{C}_1)(C_2{D}_1-C_1{D}_2)}{(A_1{C}_2-A_2{C}_1)(B_1{C}_3-B_3{C}_1)-(A_1{C}_3-A_3{C}_1)(B_1{C}_2-B_2{C}_1)}---\left(6\right)$

$y=\frac{(A_1{C}_2-A_2{C}_1)(C_3{D}_1-C_1{D}_3)-(A_1{C}_3-A_3{C}_1)(C_2{D}_1-C_1{D}_2)}{(A_1{C}_2-A_2{C}_1)(B_1{C}_3-B_3{C}_1)-(A_1{C}_3-A_3{C}_1)(B_1{C}_2-B_2{C}_1)}---\left(7\right)$

$z=\frac{-A_{1}x-B_{1}y-D_1}{C_1}---\left(8\right)$

S303: robot is demarcated again according to robot posture information and positional information。

In conjunction with formula (1)～(8), draw the transition matrix of robot:

Robot is demarcated by transformed matrix according to robot again。

Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention。It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention。Therefore, the protection domain of patent of the present invention should be as the criterion with claims。

Claims (7)

1. a robot Zero positioning device, it is characterised in that described device includes: floor installation portion and flange installation portion, floor installation portion is fixing with the base of industrial robot to be connected, and flange installation portion is fixing with the end flange of industrial robot to be connected。

2. robot as claimed in claim 1 Zero positioning device, it is characterised in that floor installation portion includes connecting plate, sensor installation seat, amesdial；Connecting plate one end is connected for fixing with base, and the other end is used for fixation sensor installation seat；Amesdial is arranged on sensor installation seat。

3. robot as claimed in claim 2 Zero positioning device, it is characterised in that the number of described amesdial is identical with the degree of freedom of industrial robot。

4. robot as claimed in claim 2 Zero positioning device, it is characterized in that, described floor installation portion also includes a calibrating installation, and described calibrating installation is one with the standard cylindrical piece of blind hole, its groove ends is fixed and on sensor installation seat, is used for calibrating described amesdial。

5. robot as claimed in claim 1 Zero positioning device, it is characterised in that flange installation portion includes a switching part and a survey mass；The rounded bulk of switching part, is provided with blind hole, is connected for fixing with end flange；Survey mass is fixedly mounted on the lower end of switching part, for reading the current data of amesdial respectively；Switching part and survey mass can move with end flange。

6. a robot Zero positioning method, it is characterised in that comprise the following steps:

Calibration is installed on the amesdial on sensor installation seat respectively；

Mobile apparatus people's flange installation portion so that it is the survey mass of bottom contacts when not producing collision or interfering with amesdial respectively；

Read the data that amesdial is currently displaying respectively, according to shown data, robot is re-started Zero positioning。

7. robot as claimed in claim 6 Zero positioning method, it is characterised in that described according to data, robot is re-started Zero positioning, concretely comprises the following steps:

Obtain the posture position information of robot；

Obtain the positional information of robot；

According to robot posture information and positional information, robot is demarcated again。