Industrial robot automatic tool workpiece calibration method

Abstract

The invention discloses an industrial robot automatic tool workpiece calibration method. The industrial robot automatic tool workpiece calibration method comprises the following working steps that firstly, all hardware parts are connected according to structures and connection relations; 2, operating an industrial robot 4 to enable an edge finder 2 to be at a point position in front of the reference ball 105, wherein the edge finder 2 is not in contact with the reference ball 105 at the moment; and step 3, running an automatic calibration program of the robot, and enabling the robot to automatically search the 105-reference ball in a fixed posture, so that the 2-edge finder is in contact with the 105-reference ball. Fourthly, the robot (4) automatically runs in a fixed posture and makes contact with the reference ball (105) for three times, and the points P1, P2 and P3 are recorded respectively. And 5, according to the three points P1, P2 and P3, the circle center is solved, and 109-robot moving trajectory center coordinates are calculated. And 6, the posture of the robot 4 is changed. The positions of the centers of circles of the two balls are solved by utilizing multiple tangency of the two balls, point contact during contact can be ensured by ball contact, and the contact precision is improved to the maximum extent.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot automatic tool workpiece calibration method. Background technique [0002] With the development of society, machines have replaced manual work in various automated operations, which has developed rapidly. In the use of robots, it is necessary to let the robot know what kind of tool it has, which is the definition of the tool center for robot control. And what the robot is going to do, the robot workpiece coordinate definition. [0003] In the prior art, an industrial robot automatic tool workpiece calibration method has shortcomings: [0004] 1. Patent document CN109760108A discloses an industrial robot suction cup tool hand calibration and positioning method in the field of industrial robot technology. To disassemble, control the cylinder to drive the calibration shaft fixed on the first guide plate to move down, so that the calibration head at th...

AI Technical Summary

Problems solved by technology

In practical application, the accuracy of this method is poor: the alignment state of the tip is recognized by naked eyes, the hard plastic in charge of human beings plays a dominant role, and the alignment state of experienced technicians is good;

[0005] 2. In the prior art, there is an automatic tool workpiece calibration method for industrial robots. When using it, beginners will have misalignment and need to repeat multiple alignment calibrations; the efficiency is low;

[0006] 3. In the prior art, there is an automatic tool workpiece calibration method for industrial robots. When in use, the whole process is manually operated to check and align the calibration tip, and repeat the operation many times. Operation errors are very prone to cause collisions.

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