Probe-based industrial robot coordinate system automatic calibration method

Abstract

The invention discloses a probe-based industrial robot coordinate system automatic calibration method. According to the technical scheme, the point location of a robot can be obtained through touch between a probe device and the surface of a calibration block, a calibration coordinate system is established on the calibration block through the obtained point location data and a related algorithm, and on the basis of further contact touch between the probe device and the surface of the calibration block, the position precision of the calibration coordinate system is corrected and improved. According to the invention, the calculation and calibration work of the coordinate system can be automatically completed only by teaching one robot point position while the calibration precision of the coordinate system can reach 0.05 mm, so that the problems that a plurality of point positions need to be taught in a traditional three-point method or a four-point method, and the calibration precision of the coordinate system is low are solved, the method is applied to some high-precision process scenes, the robot track and the process can be copied quickly, the process debugging time can be greatly shortened, and the debugging difficulty can be reduced.

Description

technical field [0001] The invention relates to the technical field of robot coordinate positioning, in particular to a probe-based automatic calibration method for an industrial robot coordinate system. Background technique [0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have certain automation and can realize various industrial processing and manufacturing functions by relying on their own power sources and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. With the continuous development of industrial intelligence, considering the simplification of related process debugging requirements, higher precision requirements are put forward for the establishment of calibration coordinate systems of industrial robots. It is understandable that when the calibration coordinate system of an industrial ro...

AI Technical Summary

Problems solved by technology

[0003] Generally speaking, in the process of establishing the coordinate system, the industrial robot usually adopts the three-point calibration method or the four-point calibration method to realize it; at the same time, it needs to rely on manual point-to-point teaching, and the calibration accuracy of the coordinate system depends entirely on the operation proficiency At present, the highest manual calibration accuracy can only reach about 0.5mm

In the process of establishing the existing industrial robot coordinate system, there are difficulties in the calibration steps that are cumbersome, the calibration accuracy depends on the operation proficiency, and the calibration accuracy is low. It is difficult to efficiently debug the grinding process for batch industrial robots

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