Calibration system and method of industrial robot workpiece coordinate system

Abstract

The invention relates to a calibration system and method of an industrial robot workpiece coordinate system. The calibration system comprises an industrial robot, a robot controller, a robot ending tool, a sensor installation intermediate structural member, a calibration sensor assembly, a workpiece mounting table and a workpiece arranged on the workpiece mounting table. The calibration sensor assembly measures points on the workpiece, points on the characteristic curved boundary are detected, and a signal is output and then input into the robot controller; a trigger path is interrupted when the robot controller receives the signal, middle position data Fflange and displacement data Msensor in the height direction of a calibration sensor are recorded, and 6D data of the workpiece coordinate system is worked out by combining sensor mounting position data Fsensor. According to the calibration system and method of the industrial robot workpiece coordinate system, the calibration process is simple, the situation that measurement is not accurate due to the fact that a calibration plane is oblique can be avoided, the calibration precision is high, the calibration system can be applied tovarious workpiece occasions, the application cost of the calibration system is low, and achieving of large-range application and promotion is facilitated.

Description

technical field [0001] The invention relates to the technical field of industrial robot calibration, in particular to a calibration and calibration system and a method for a workpiece coordinate system of an industrial robot. Background technique [0002] In the industrial robot application system, the calibration of the pose relationship between different coordinate systems is the basis for the application of offline programming, and it is also the premise that the robot integrated application system can be replicated in different production lines. For high-precision robot operation applications, the workpiece coordinate systems of different workpieces need to be calibrated online and corrected in real time. The robot performs corresponding operations according to the corrected coordinate system, such as high-precision handling, high-precision electric spindle grinding, and high-precision riveting. [0003] Chinese patent CN200880128941 discloses a calibration method and sy...

AI Technical Summary

Problems solved by technology

However, the application cost of 3D vision system is very high, which is not conducive to large-scale promotion and application

Images