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An automatic workpiece coordinate system calibration method

A calibration method and coordinate system technology, applied in the field of robotics, can solve problems such as high cost and low precision, and achieve the effects of improving service life, improving calibration efficiency, and avoiding damage

Active Publication Date: 2022-04-19
浙江娃哈哈智能机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is: the technical problem of low accuracy or high cost of the current workpiece coordinate system calibration method
An automatic workpiece coordinate system calibration method that significantly improves the accuracy of workpiece calibration at a lower cost is proposed

Method used

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  • An automatic workpiece coordinate system calibration method
  • An automatic workpiece coordinate system calibration method
  • An automatic workpiece coordinate system calibration method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] An automatic workpiece coordinate system calibration method, which is used for coordinate system calibration of a workpiece 300 held by a robotic hand, such as figure 1 shown, including the following steps:

[0039] 1) A calibration part is made on the tooling 200, and a displacement sensor 502 is fixedly installed in the base coordinate system of the robot hand. The calibration part includes a point calibration part and a direction calibration part. The flange 100 is installed on the robot hand, the tooling 200 is clamped by the flange 100, the workpiece 300 is fixedly installed on the tooling 200, the belt sander 600 and the displacement sensor 502 are located within the working range of the robot hand. The point marking part is a standard ball 401 fixed on the tooling 200, and the direction marking part is a standard flat plate 402 fixed on the tooling 200, such as figure 2 shown. The hardness of the end of the used displacement sensor 502 is lower than that of th...

Embodiment 2

[0061] An automatic workpiece coordinate system calibration method. This embodiment uses a direction calibration unit different from that of Embodiment 1. In this embodiment, the direction calibration unit is composed of two other standard balls 401 fixed on the tooling 200 together with the point calibration unit. Three standard balls 401, in step 2), move the manipulator so that the three standard balls 401 on the tooling 200 all contact the displacement sensor 502 multiple times respectively, in step 3), by the calculation formula:

[0062]

[0063] and the calculation formula:

[0064]

[0065] Using the nonlinear least squares optimization algorithm, calculate the coordinate value of the contact point of the standard sphere 401i,i∈[1,3] each time in the flange coordinate system F P ij,i∈[1,3],j∈[1,n] , The coordinates of the center of the standard sphere 401i in the flange coordinate system The coordinates of the end of the displacement sensor 502 in the base coo...

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Abstract

The present invention relates to the field of robot technology, in particular to an automatic workpiece coordinate system calibration method, comprising the following steps: 1) making a calibration part on the tooling, and fixing a displacement sensor in the base coordinate system; 2) making the calibration part contact the displacement sensor multiple times , record the contact data of each contact point; 3) Determine the coordinate value of the contact point in the flange coordinate system according to the contact data; 4) Obtain the coordinate value and direction calibration of the point calibration part in the calibration part in the flange coordinate system calculate the rotation matrix from the flange coordinates to the workpiece coordinate system; 5) obtain the translation matrix from the flange coordinates to the workpiece coordinate system, and complete the calibration of the workpiece coordinate system. The substantive effects of the invention are: the sampling point is more convenient, the service life of the whole calibration device is improved, and the calibration efficiency is greatly improved; the calibration method can be easily reused on products with different structures.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an automatic workpiece coordinate system calibration method. Background technique [0002] When applying robot technology to automatic processing, it is necessary to solve the problem of coordinate calibration of the workpiece held by the robot. For example, in the grinding and polishing robot system, the end of the robot clamps the workpiece, and operates the workpiece close to the abrasive belt machine for workpiece grinding. Due to errors such as clamping, calibration is required in the actual production environment to clarify the conversion relationship from the workpiece coordinate system to the robot flange coordinate system. One of the existing coordinate calibration methods is the feature point method. First, the workpiece coordinate system is established in the simulation environment, and multiple feature points are selected on the workpiece CAD model to obtain the coord...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/10B25J13/08
CPCB25J9/1676B25J9/1692B25J9/10B25J13/088
Inventor 庄睿朱力军
Owner 浙江娃哈哈智能机器人有限公司