A system and method for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot

Abstract

The present invention relates to the technical field of the coordinate system of industrial robots, and discloses a system and method for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot. The system includes a calibration component with its own workpiece coordinate system and an industrial robot to be calibrated. The calibration component includes a calibration workbench surface, a calibration plate fixedly placed on the calibration workbench surface, and a Z-axis sensor. The calibration plate is parallel to the plane formed by the X-axis and the Y-axis of the workpiece coordinate system. The industrial robot has its own tool coordinate system, and a calibration probe is installed on the industrial robot. The industrial robot can drive the calibration probe to move. The calibration plate is provided with a first calibration hole and a second calibration hole; the present application realizes the complete unification and complete coincidence of the tool coordinate system of the industrial robot and the workpiece coordinate system of the calibration component.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot coordinate systems, and particularly to a system and method for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot. Background Technique

[0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control ability. It can accept human commands or run according to pre-programmed procedures. Modern industrial robots can also act according to the principle outlines formulated by artificial intelligence technology. The accuracy of an industrial robot is represented by the movement trajectory error of the robot end, and it is also one of the main indicators reflecting the performance of the industrial robot.

[0003] When an industrial robot is used in production and manufacturing, it has a set of its own tool coordinate system for controlling the movement trajectory of the robot end. However, for the convenience of actual production use, it is often necessary to calibrate the industrial robot according to the workpiece coordinate system so that the coordinates in the tool coordinate system of the industrial robot are the same as those in the workpiece coordinate system. The existing calibration methods for industrial robots mostly use the method of directly compensating coordinate points for calibration. This calibration method has many defects and cannot achieve the complete unification and coincidence of the tool coordinate system and the workpiece coordinate system. Summary of the Invention

[0004] The purpose of the present invention is to provide a system and method for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot to solve the above problems, and it can achieve the complete unification and coincidence of the tool coordinate system and the workpiece coordinate system.

[0005] The present invention achieves the above object through the following technical solutions. In the first aspect, the present application provides a system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot. The calibration system includes:

[0006] A calibration component, which has its own workpiece coordinate system. The calibration component includes a calibration workbench surface, a calibration plate fixedly placed on the calibration workbench surface, and a Z-axis sensor. The calibration plate is parallel to the plane formed by the X-axis and the Y-axis of the workpiece coordinate system;

[0007] An industrial robot to be calibrated, which has its own tool coordinate system. A calibration probe is installed on the industrial robot, and the industrial robot can drive the calibration probe to move;

[0008] The calibration plate is provided with a first calibration hole and a second calibration hole. The extending directions of the first calibration hole and the second calibration hole are perpendicular to the plane direction of the calibration plate. The first calibration hole is adapted to the calibration probe and for the calibration probe to insert. The two-dimensional coordinates of the center of the first calibration hole in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 , y 1 ). The second calibration hole is an elongated hole. The connecting line between the first calibration hole and the second calibration hole is parallel to the X-axis or Y-axis of the workpiece coordinate system. The width of the second calibration hole in the direction of the connecting line between the first calibration hole and the second calibration hole is greater than the diameter of the calibration probe. The width of the second calibration hole in the direction perpendicular to the connecting line between the first calibration hole and the second calibration hole is adapted to the diameter of the calibration probe.

[0009] When the connecting line between the first calibration hole and the second calibration hole is parallel to the X-axis of the workpiece coordinate system, the two-dimensional coordinates of one end of the second calibration hole in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 + d - a, y 1 ). The two-dimensional coordinates of the other end of the second calibration hole in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 + d + b, y 1 ).

[0010] When the connecting line between the first calibration hole and the second calibration hole is parallel to the Y-axis of the workpiece coordinate system, the two-dimensional coordinates of one end of the second calibration hole in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 , y 1 + d - a). The two-dimensional coordinates of the other end of the second calibration hole in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 , y 1 + d + b).

[0011] Furthermore, a transmission mechanism for transmitting the calibration plate is provided on the calibration workbench surface. The transmission mechanism has a placement portion for placing the calibration plate.

[0012] Furthermore, in the direction in which the calibration plate is transmitted by the transmission mechanism, a blocking structure for blocking and jamming the calibration plate is provided on the calibration workbench surface.

[0013] Furthermore, the blocking structure is a baffle, and the baffle can block the calibration plate from continuing to displace.

[0014] Furthermore, a lifting mechanism is provided on the calibration workbench surface. One end of the lifting mechanism is connected to the baffle for driving the baffle to move up and down.

[0015] Further, the lifting mechanism includes a hydraulic rod, and the output end of the hydraulic rod is connected to the baffle plate.

[0016] Further, the transmission mechanism includes two belts and a power mechanism for driving the two belts to move. The upper surface of the belt forms the placement portion. Two limit plates arranged along the extension direction of the belt are provided on the calibration workbench surface. The two limit plates respectively abut against the outer edges of the two belts, and the calibration plate placed on the placement portion cannot move in the direction perpendicular to the extension direction of the belt.

[0017] Further, the power mechanism includes a power element, a driving roller connected to the power element, a roller shaft drivingly connected to the driving roller through a transmission belt, and a total of 4 driving rollers respectively arranged on both sides of the two belts; the belt is wound around the two driving rollers on both sides thereof, and both ends of the roller shaft are respectively abutted against the two belts to be drivingly connected; the power element rotates to drive the driving roller to rotate, the driving roller rotates to drive the roller shaft to rotate, and the roller shaft rotates to drive the two belts to move.

[0018] Further, the power element is a stepping motor.

[0019] In a second aspect, the present application further provides a method for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot. This calibration method uses the aforementioned industrial robot probe calibration system to calibrate the industrial robot, and specifically includes the following steps:

[0020] Fix the calibration plate on the calibration workbench surface, and make the connection line between the first calibration hole and the second calibration hole on the calibration plate parallel to the X-axis or Y-axis of the workpiece coordinate system;

[0021] The industrial robot drives the calibration probe to move, and inserts the calibration probe into the first calibration hole. The industrial robot displays the two-dimensional coordinates (x 2 , y 2 ) of the calibration probe in the X-axis and Y-axis plane of the tool coordinate system at this time. According to the two-dimensional coordinates of the center of the first calibration hole in the X-axis and Y-axis plane of the workpiece coordinate system being (x 1 , y 1 ), and the two-dimensional coordinates (x 2 , y 2 ) of the calibration probe displayed by the industrial robot in the X-axis and Y-axis plane of the tool coordinate system, calibrate the tool coordinate system of the industrial robot. Since the extension direction of the first calibration hole is perpendicular to the plane direction of the calibration plate, the calibration probe can be inserted into the first calibration hole. After calibration, the Z-axis of the tool coordinate system and the Z-axis of the workpiece coordinate system are on the same line;

[0022] The industrial robot drives the calibration probe to move, making the calibration probe contact the calibration plate, and the Z-axis sensor detects the Z-axis value z of the calibration probe in the workpiece coordinate system 1 , and the industrial robot displays the Z-axis value z of the calibration probe in the tool coordinate system 2 , according to the Z-axis value z of the calibration probe detected by the Z-axis sensor in the workpiece coordinate system 1 , and the industrial robot displays the Z-axis value z of the calibration probe in the tool coordinate system 2 , calibrate the tool coordinate system of the industrial robot. After calibration, the Z-axis of the tool coordinate system coincides exactly with the Z-axis of the workpiece coordinate system;

[0023] When the connection line between the first calibration hole and the second calibration hole is parallel to the X-axis of the workpiece coordinate system, the industrial robot drives the calibration probe to move a distance d along the X-axis direction of the tool coordinate system to the coordinate point (x 2 + d, y 2 ) in the second rectangular coordinate system, and then makes the industrial robot drive the calibration probe to move along the Y-axis of the tool coordinate system, so that the calibration probe moves into the second calibration hole, and records the Y-axis coordinate value y of the calibration probe displayed by the industrial robot in the tool coordinate system at this time 3 ; According to the difference between y 3 and y 2 and the value of d, the deflection angle θ between the X-axis of the tool coordinate system and the X-axis of the workpiece coordinate system can be obtained, and the tool coordinate system is calibrated accordingly, so that the tool coordinate system is completely calibrated corresponding to the workpiece coordinate system; or, when the connection line between the first calibration hole and the second calibration hole is parallel to the Y-axis of the workpiece coordinate system, the industrial robot drives the calibration probe to move a distance d along the Y-axis direction of the tool coordinate system to the coordinate point (x 2 , y 2 + d), and then makes the industrial robot drive the calibration probe to move along the X-axis of the tool coordinate system, so that the calibration probe moves into the second calibration hole, and records the X-axis coordinate value x of the calibration probe displayed by the industrial robot in the tool coordinate system at this time 3 ; According to the difference between x 3 and x 2 and the value of d, the deflection angle θ between the Y-axis of the tool coordinate system and the Y-axis of the workpiece coordinate system can be obtained, and the tool coordinate system is calibrated accordingly, so that the tool coordinate system is completely calibrated corresponding to the workpiece coordinate system.

[0024] The beneficial effect of the present invention is that the system and method provided in this application for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot achieve complete coincidence between the tool coordinate system and the workpiece coordinate system of the industrial robot. Description of the Drawings

[0025] Figure 1 Schematic structural diagram of a system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to an embodiment of the present invention;

[0026] Figure 2 Schematic structural diagram of the calibration component according to an embodiment of the present invention;

[0027] Figure 3 Schematic structural diagram of the transmission mechanism according to an embodiment of the present invention;

[0028] Figure 4 Top view of the calibration plate according to an embodiment of the present invention;

[0029] Figure 5 Schematic diagram of the tool coordinate system and the workpiece coordinate system before calibration according to an embodiment of the present invention

[0030] Figure 6 Schematic diagram of the tool coordinate system and the workpiece coordinate system after calibration in step S2 according to an embodiment of the present invention;

[0031] Figure 7 Schematic diagram of the tool coordinate system and the workpiece coordinate system after calibration in step S3 according to an embodiment of the present invention;

[0032] Figure 8 Schematic diagram of the tool coordinate system after calibration in step S3 according to an embodiment of the present invention, where the included angle between the X-axis of the tool coordinate system and the X-axis of the workpiece coordinate system is θ;

[0033] Figure 9 Schematic diagram of the tool coordinate system and the workpiece coordinate system after calibration in step S4 according to an embodiment of the present invention;

[0034] Figure 10 Schematic diagram for calculating the θ angle in step S4 according to an embodiment of the present invention.

[0035] In the figure:

[0036] 1. Calibration component

[0037] 11. Calibration workbench surface

[0038] 12. Calibration plate

[0039] 2. Industrial robot

[0040] 21. Calibration probe

[0041] 121. First calibration hole

[0042] 122. Second calibration hole

[0043] 111. Baffle

[0044] 112. Hydraulic rod

[0045] 113. Belt

[0046] 114. Power element

[0047] 1131. Placement part

[0048] 115. Limit plate

[0049] 116. Driving roller

[0050] 117. Roller shaft

[0051] 118. Transmission roller Detailed implementation manners

[0052] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0054] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0055] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0057] The following describes in detail the implementation of the present invention in combination with specific embodiments.

[0058] Referring to Figure 1-10 as shown, a preferred embodiment is provided by the present invention.

[0059] In a first aspect, a system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot, the system comprising:

[0060] A calibration component 1, the calibration component 1 having its own workpiece coordinate system, the calibration component 1 including a calibration workbench surface 11, a calibration plate 12 fixedly placed on the calibration workbench surface 11, and a Z-axis sensor, the calibration plate 12 being parallel to the plane formed by the X-axis and Y-axis of the workpiece coordinate system; specifically, the Z-axis sensor is used to detect the value of a certain point of an object relative to the workpiece coordinate system on the Z-axis;

[0061] An industrial robot 2 to be calibrated, the industrial robot 2 having its own tool coordinate system, a calibration probe 21 being installed on the industrial robot 2, and the industrial robot 2 being capable of driving the calibration probe 21 to move;

[0062] A first calibration hole 121 and a second calibration hole 122 are provided on the calibration plate 12, the extending directions of the first calibration hole 121 and the second calibration hole 122 being perpendicular to the plane direction of the calibration plate 12, the first calibration hole 121 being adapted to fit the calibration probe 21 and for it to be inserted, the two-dimensional coordinates of the center of the first calibration hole 121 in the X-axis Y-axis plane of the workpiece coordinate system being (x 1 , y 1 ), the second calibration hole 122 being a long hole, the connecting line between the first calibration hole 121 and the second calibration hole 122 being parallel to the X-axis or Y-axis of the workpiece coordinate system; the width of the second calibration hole 122 in the direction of the connecting line between the first calibration hole 121 and the second calibration hole 122 is greater than the diameter of the calibration probe 21, and the width of the second calibration hole 122 in the direction perpendicular to the connecting line between the first calibration hole 121 and the second calibration hole 122 is adapted to the diameter of the calibration probe 21;

[0063] When the connection line between the first calibration hole 121 and the second calibration hole 122 is parallel to the X-axis of the workpiece coordinate system, the two-dimensional coordinates of one end of the second calibration hole 122 in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 +d - a, y 1 ), and the two-dimensional coordinates of the other end of the second calibration hole 122 in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 +d + b, y 1 );

[0064] When the connection line between the first calibration hole 121 and the second calibration hole 122 is parallel to the Y-axis of the workpiece coordinate system, the two-dimensional coordinates of one end of the second calibration hole 122 in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 , y 1 +d - a), and the two-dimensional coordinates of the other end of the second calibration hole 122 in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 , y 1 +d + b).

[0065] As an implementation manner of the present application, a transmission mechanism for transmitting the calibration plate 12 is provided on the calibration workbench surface 11, and a placement portion 1131 for placing the calibration plate 12 is provided on the transmission mechanism; the transmission mechanism is arranged on the calibration workbench surface 11.

[0066] As an implementation manner of the present application, in the direction in which the calibration plate 12 is transmitted by the transmission mechanism, a blocking structure for blocking and jamming the calibration plate 12 is provided on the calibration workbench surface 11; through the setting of the blocking structure, the calibration plate 12 can be blocked from continuing to displace in the transmission direction of the transmission mechanism, and the calibration plate 12 is jammed in the transmission direction of the transmission mechanism.

[0067] Specifically, the blocking structure is a baffle 111, and the baffle 111 can block the calibration plate 12 from continuing to displace.

[0068] As an implementation manner of the present application, a lifting mechanism is further provided on the calibration workbench surface 11, and one end of the lifting mechanism is connected to the baffle 111 for driving the baffle 111 to move up and down; in this way, when the transmission mechanism needs to perform normal conveying work, the lifting mechanism can drive the baffle 111 to move below the conveying mechanism, so that the baffle 111 will not block the normal conveying work of the transmission mechanism.

[0069] Specifically, the lifting mechanism includes a hydraulic rod 112, and the output end of the hydraulic rod 112 is connected to the baffle 111.

[0070] As an implementation manner of the present application, the transmission mechanism includes two belts 113 and a power mechanism for driving the two belts 113 to move. The upper surface of the belt 113 forms a placement portion 1131. Two limit plates 115 arranged along the extending direction of the belt 113 are provided on the calibration workbench surface 11. The two limit plates 115 respectively abut against the outer edges of the two belts 113, and the calibration plate 12 placed on the placement portion 1131 cannot move in the direction perpendicular to the extending direction of the belt 113.

[0071] Specifically, the power mechanism includes a power element 114, a driving roller 116 connected to the power element 114, a roller shaft 117 drivingly connected to the driving roller 116 through a transmission belt, and a total of 4 driving rollers 118 respectively arranged on both sides of the two belts 113; the belt 113 is wound around two driving rollers on both sides thereof, and both ends of the roller shaft 117 are respectively abutted against the two belts 113 to be drivingly connected; the power element 114 rotates to drive the driving roller 116 to rotate, the driving roller 116 rotates to drive the roller shaft 117 to rotate, and the roller shaft 117 rotates to drive the two belts 113 to move.

[0072] Preferably, the power element 114 is a stepping motor.

[0073] Generally, the tool coordinate system of an industrial robot and the workpiece coordinate system of a workpiece are independent of each other and not unified, as Figure 5 shown.

[0074] In a second aspect, a method for unifying the tool coordinate system of an industrial robot and the workpiece coordinate system, the method uses the aforementioned system for unifying the tool coordinate system of an industrial robot and the workpiece coordinate system to calibrate the industrial robot 2, specifically including the following steps:

[0075] S1. Fix the calibration plate 12 on the calibration workbench surface 11, and make the connection line between the first calibration hole 121 and the second calibration hole 122 on the calibration plate 12 parallel to the X-axis or Y-axis of the workpiece coordinate system.

[0076] S2. The industrial robot 2 drives the calibration probe 21 to move, and inserts the calibration probe 21 into the first calibration hole 121. The two-dimensional coordinates (x 2 , y 2 ) of the calibration probe 21 in the X-axis Y-axis plane of the tool coordinate system displayed by the industrial robot 2 are obtained. According to the two-dimensional coordinates of the center of the first calibration hole 121 in the X-axis Y-axis plane of the workpiece coordinate system being (x 1 , y 1 ), the two-dimensional coordinates (x 2 , y 2), calibrate the tool coordinate system of the industrial robot 2. Since the extending direction of the first calibration hole 121 is perpendicular to the plane direction of the calibration plate 12, the calibration probe 21 can be inserted into the first calibration hole 121. After calibration, the Z-axis of the tool coordinate system and the Z-axis of the workpiece coordinate system are on the same line.

[0077] Since the depth direction of the first calibration hole 121 is perpendicular to the plane formed by the X-axis and Y-axis of the workpiece coordinate system, and the calibration plate 12 is fixed and cannot be displaced in the X-axis and Y-axis directions of the workpiece coordinate system. Therefore, when the industrial robot 2 drives the probe to move and insert into the first calibration hole 121, the industrial robot 2 is calibrated accordingly. After calibration, the Z-axis of the tool coordinate system and the Z-axis of the workpiece coordinate system are on the same line, specifically as Figure 6 shown.

[0078] S3. The industrial robot 2 drives the calibration probe 21 to move so that the calibration probe 21 touches the calibration plate 12. The Z-axis sensor detects the Z-axis value z of the calibration probe 21 in the workpiece coordinate system 1 , and the industrial robot 2 displays the Z-axis value z of the calibration probe 21 in the tool coordinate system 2 . According to the Z-axis value z of the calibration probe 21 detected by the Z-axis sensor in the workpiece coordinate system 1 , and the Z-axis value z of the calibration probe 21 displayed by the industrial robot 2 in the tool coordinate system 2 , calibrate the tool coordinate system of the industrial robot 2. After calibration, the Z-axis of the tool coordinate system and the Z-axis of the workpiece coordinate system are completely coincident.

[0079] By calibrating the Z-axis coordinate value of the industrial robot 2, the Z-axis of the calibrated tool coordinate system and the Z-axis of the workpiece coordinate system are completely coincident, specifically as Figure 7 shown.

[0080] It should be noted that the order of steps S2 and S3 can be interchanged, and this application does not limit this. Interchanging the order of the two can achieve the invention purpose of this application.

[0081] S4. When the connecting line between the first calibration hole 121 and the second calibration hole 122 is parallel to the X-axis of the workpiece coordinate system, the industrial robot 2 drives the calibration probe 21 to move a distance d along the X-axis direction of the tool coordinate system to the coordinate point (x 2 + d, y 2 ) in the second rectangular coordinate system. Then, the industrial robot 2 drives the calibration probe 21 to move along the Y-axis of the tool coordinate system so that the calibration probe 21 moves and inserts into the second calibration hole 122, and records the Y-axis coordinate value y of the calibration probe 21 displayed by the industrial robot 2 in the tool coordinate system at this time 3 ; According to y 3 and y 2The difference value and the value of d can be used to obtain the deflection angle θ between the X-axis of the tool coordinate system and the X-axis of the workpiece coordinate system (refer to Figure 8 ), and based on this, the tool coordinate system is calibrated so that the tool coordinate system corresponds exactly to the workpiece coordinate system; alternatively, when the connection line between the first calibration hole 121 and the second calibration hole 122 is parallel to the Y-axis of the workpiece coordinate system, the industrial robot 2 drives the calibration probe 21 to move a distance d along the Y-axis direction of the tool coordinate system to the coordinate point (x 2 , y 2 + d) in the second rectangular coordinate system, and then the industrial robot 2 drives the calibration probe 21 to move along the X-axis of the tool coordinate system, so that the calibration probe 21 moves and inserts into the second calibration hole 122, and records the X-axis coordinate value x 3 of the calibration probe 21 displayed by the industrial robot 2 at this time in the tool coordinate system; according to the difference between x 3 and x 2 and the value of d, the deflection angle θ between the Y-axis of the tool coordinate system and the Y-axis of the workpiece coordinate system can be obtained, and based on this, the tool coordinate system is calibrated so that the tool coordinate system corresponds exactly to the workpiece coordinate system. For specific reference, see Figure 10 , Figure 10 takes the case where the connection line between the first calibration hole 121 and the second calibration hole 122 is parallel to the X-axis of the workpiece coordinate system as an example for illustration. Since the principle when the connection line between the first calibration hole 121 and the second calibration hole 122 is parallel to the Y-axis of the workpiece coordinate system is similar to that when it is parallel to the X-axis, it will not be elaborated in detail here. After the tool coordinate system of the industrial robot 2 is calibrated through step S4, it completely coincides with the workpiece coordinate system, as shown in Figure 9 .

[0082] The system and method provided in this application for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot achieve the complete coincidence of the tool coordinate system and the workpiece coordinate system of the industrial robot.

[0083] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0084] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot, characterized in that, the system includes: a calibration component, which has its own workpiece coordinate system. The calibration component includes a calibration workbench surface, a calibration plate fixedly placed on the calibration workbench surface, and a Z-axis sensor. The calibration plate is parallel to the plane formed by the X-axis and Y-axis of the workpiece coordinate system; an industrial robot to be calibrated, which has its own rectangular coordinate system, and its own rectangular coordinate system is the tool coordinate system. A calibration probe is installed on the industrial robot, and the industrial robot can drive the calibration probe to move; The calibration plate is provided with a first calibration hole and a second calibration hole. The extending directions of the first calibration hole and the second calibration hole are perpendicular to the plane direction of the calibration plate. The first calibration hole is used to fit the calibration probe and allow it to be inserted. The two-dimensional coordinates of the center of the first calibration hole in the X-axis and Y-axis plane of the workpiece coordinate system are (x 1 , y 1 ). The second calibration hole is an elongated hole. The connecting line between the first calibration hole and the second calibration hole is parallel to the X-axis or Y-axis of the workpiece coordinate system. The width of the second calibration hole in the direction of the connecting line between the first calibration hole and the second calibration hole is greater than the diameter of the calibration probe. The width of the second calibration hole in the direction perpendicular to the connecting line between the first calibration hole and the second calibration hole is adapted to the diameter of the calibration probe; When the connection line between the first calibration hole and the second calibration hole is parallel to the X-axis of the workpiece coordinate system, the two-dimensional coordinates of one end of the second calibration hole in the X-axis Y-axis plane of the workpiece coordinate system are (x 1 +d - a, y 1 ), and the two-dimensional coordinates of the other end of the second calibration hole in the X-axis Y-axis plane of the workpiece coordinate system are (x 1 +d + b, y 1 ); When the connection line between the first calibration hole and the second calibration hole is parallel to the Y-axis of the workpiece coordinate system, the two-dimensional coordinates of one end of the second calibration hole in the X-axis Y-axis plane of the workpiece coordinate system are (x 1 , y 1 +d-a), and the two-dimensional coordinates of the other end of the second calibration hole in the X-axis Y-axis plane of the workpiece coordinate system are (x 1 , y 1 +d+b).

2. The system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to claim 1, characterized in that, a transmission mechanism for transmitting the calibration plate is arranged on the calibration workbench surface, and a placement part for placing the calibration plate is provided on the transmission mechanism.

3. The system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to claim 2, characterized in that, in the direction in which the calibration plate is transmitted by the transmission mechanism, a blocking structure is arranged on the calibration workbench surface for blocking and jamming the calibration plate.

4. The system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to claim 3, characterized in that, the blocking structure is a baffle, and the baffle can block the calibration plate from continuing to displace.

5. The system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to claim 4, characterized in that, a lifting mechanism is arranged on the calibration workbench surface, and one end of the lifting mechanism is connected to the baffle for driving the baffle to move up and down.

6. The system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to claim 5, characterized in that, the lifting mechanism includes a hydraulic rod, and the output end of the hydraulic rod is connected to the baffle.

7. The system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to claim 2, characterized in that, the transmission mechanism includes two belts and a power mechanism for driving the two belts to move. The upper surface of the belt forms the placement part. Two limit plates are arranged on the calibration workbench surface along the extending direction of the belt. The two limit plates respectively abut against the outer edges of the two belts, and the calibration plate placed on the placement part cannot move in the direction perpendicular to the extending direction of the belt.

8. The system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to claim 7, characterized in that, The power mechanism includes a power element, a driving roller connected to the power element, a roller shaft driven by the driving roller through a transmission belt, and a total of four driving rollers respectively arranged on both sides of the two belts; the belt is wound around the two driving rollers on both sides thereof, and both ends of the roller shaft are respectively abutted against the two belts for driving connection; the power element rotates to drive the driving roller to rotate, the driving roller rotates to drive the roller shaft to rotate, and the roller shaft rotates to drive the two belts to move.

9. A system for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot according to claim 8, characterized in that the power element is a stepping motor.

10. A method for unifying the tool coordinate system and the workpiece coordinate system of an industrial robot, characterized in that using the industrial robot probe calibration system according to any one of claims 1-9 to calibrate the industrial robot, specifically including the following steps: Fix the calibration plate on the calibration workbench surface, and make the connection line between the first calibration hole and the second calibration hole on the calibration plate parallel to the X-axis or Y-axis of the workpiece coordinate system; The industrial robot drives the calibration probe to move and inserts the calibration probe into the first calibration hole. The two-dimensional coordinates (x 2 , y 2 ) of the calibration probe in the X-axis and Y-axis plane of the tool coordinate system displayed by the industrial robot at this time are used. According to the two-dimensional coordinates of the center of the first calibration hole in the X-axis and Y-axis plane of the workpiece coordinate system being (x 1 , y 1 ) and the two-dimensional coordinates (x 2 , y 2 ) of the calibration probe in the X-axis and Y-axis plane of the tool coordinate system displayed by the industrial robot, the tool coordinate system of the industrial robot is calibrated. Since the extending direction of the first calibration hole is perpendicular to the plane direction of the calibration plate, the calibration probe can be inserted into the first calibration hole. After calibration, the Z-axis of the tool coordinate system and the Z-axis of the workpiece coordinate system are on the same line; The industrial robot drives the calibration probe to move so that the calibration probe abuts against the calibration plate. The Z-axis sensor detects the Z-axis value z1 of the calibration probe in the workpiece coordinate system, and the industrial robot displays the Z-axis value z2 of the calibration probe in the tool coordinate system. According to the Z-axis value z1 of the calibration probe detected by the Z-axis sensor and the Z-axis value z2 of the calibration probe displayed by the industrial robot in the tool coordinate system, the tool coordinate system of the industrial robot is calibrated. After calibration, the Z-axis of the tool coordinate system coincides completely with the Z-axis of the workpiece coordinate system; When the connecting line of the first calibration hole and the second calibration hole is parallel to the X-axis of the workpiece coordinate system, the industrial robot drives the calibration probe to move a distance of d along the X-axis direction of the tool coordinate system to the coordinate point (x 2 +d, y 2 ) in the second rectangular coordinate system. Then, the industrial robot drives the calibration probe to move along the Y-axis of the tool coordinate system so that the calibration probe moves and inserts into the second calibration hole, and records the Y-axis coordinate value y 3 of the calibration probe displayed by the industrial robot in the tool coordinate system at this time. According to the difference between y 3 and y 2 and the value of d, the deflection angle θ between the X-axis of the tool coordinate system and the X-axis of the workpiece coordinate system can be obtained, and the tool coordinate system is calibrated accordingly so that the tool coordinate system is completely calibrated corresponding to the workpiece coordinate system; or, when the connecting line of the first calibration hole and the second calibration hole is parallel to the Y-axis of the workpiece coordinate system, the industrial robot drives the calibration probe to move a distance of d along the Y-axis direction of the tool coordinate system to the coordinate point (x 2 , y 2 +d) in the second rectangular coordinate system. Then, the industrial robot drives the calibration probe to move along the X-axis of the tool coordinate system so that the calibration probe moves and inserts into the second calibration hole, and records the X-axis coordinate value x 3 of the calibration probe displayed by the industrial robot in the tool coordinate system at this time. According to the difference between x 3 and x 2 and the value of d, the deflection angle θ between the Y-axis of the tool coordinate system and the Y-axis of the workpiece coordinate system can be obtained, and the tool coordinate system is calibrated accordingly so that the tool coordinate system is completely calibrated corresponding to the workpiece coordinate system.

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