Construction method and device of robot workpiece coordinate system, storage medium and terminal

Abstract

The invention relates to the field of intelligent machining, in particular to a robot workpiece coordinate system construction method and device, a storage medium and a terminal.The method comprises the following steps that at least three positioning holes are formed in a to-be-machined workpiece, and a detection probe is controlled to move along the inner walls of the positioning holes at different detection heights of the positioning holes; acquiring touch detection data corresponding to each positioning hole; calculating theoretical circle center coordinates of the corresponding positioning holes in the workpiece coordinate system according to the touch detection data; and a workpiece coordinate system of the to-be-machined workpiece is established according to the theoretical circle center coordinates of all the positioning holes. According to the method, multiple pieces of coordinate data of at least three positioning holes in the workpiece object are rapidly and accurately acquired through an optimized coordinate point position acquisition method and an accurate detection probe such as a Renishaw probe, so that the circle center coordinates of the positioning holes are calculated and generated according to the coordinate data, and the workpiece coordinate system of the workpiece object is established according to the circle center coordinates; the machining precision and the machining efficiency are greatly improved.

Description

technical field [0001] The invention relates to the field of intelligent processing, in particular to a method, device, storage medium and terminal for constructing a coordinate system of a robot workpiece. Background technique [0002] With the continuous advancement of the industrialization process, the development of industrial robots in various fields is getting faster and faster. In the application of industrial robots in the field of machining, the operation of the robot is aimed at a certain workpiece, so it is necessary to establish a fixed workpiece coordinate system on the workpiece, so that most of the robot's operation tasks are defined in the workpiece coordinate system. When the workpiece is displaced, it is only necessary to update the workpiece coordinates. In the prior art, the coordinates of at least three feature points on the workpiece object are usually collected to establish a workpiece coordinate system. Since it is difficult to accurately collect the...

AI Technical Summary

Problems solved by technology

In the prior art, the coordinates of at least three feature points on the workpiece object are usually collected to establish a workpiece coordinate system. Because it is difficult to accurately collect the coordinate data of these feature points on the actual workpiece, the established workpiece coordinate system is inaccurate, so that the industrial robot is on the workpiece. It becomes difficult to manipulate the X / Y / Z axis on the object, which affects the machining accuracy of the workpiece

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