A method, device and equipment for compensating for the deflection of the central axis of a seven-axis robot turntable

Abstract

The disclosed embodiment provides a method for compensating for the deviation of the center axis of a seven-axis robot turntable. The method comprises: obtaining a first ballbar height according to a first center deviation, and determining a first robot position coordinate corresponding to the first ballbar height; adjusting the first ballbar height to obtain a second ballbar height, and determining a second robot position coordinate based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height; and determining the turntable center axis according to the first robot position coordinate and the second robot position coordinate. By determining the center point of the turntable through the real circular trajectory drawn by the ballbar, the robot working axis and the circular turntable disk can be calibrated quickly and conveniently. The robot position coordinate can be determined by determining whether the center deviation meets the preset conditions, without requiring a large amount of program load, thereby simplifying the calibration process. The turntable center axis can be determined based on the determined initial point coordinates and offset point coordinates, thereby improving the calibration accuracy.

Description

Technical Field

[0001] The present invention relates to the field of seven-axis robots, and in particular to a method, device and equipment for compensating for the deflection of the central axis of a seven-axis robot turntable. Background Art

[0002] In the overall system of the CNC seven-axis robot and turntable, there are installation errors between the robot and the turntable, such as the height and tilt of the foundation. Not only are there height differences on the horizontal plane, but the Z axis of the turntable center and the Z axis of the robot cannot be accurately aligned in space. Once alignment is impossible, processing errors will occur, reducing processing accuracy. In order to align the platform center axis and the robot Z axis.

[0003] Existing technology generally uses the method of introducing a virtual axis, rotating the platform to find the platform's center axis, then finding the relationship between the robot's Z axis and the center axis, and finally performing calculations and corrections. This calibration method is too complicated, requires a large amount of program load to be added, and the calibration process is also very lengthy. Summary of the Invention

[0004] The purpose of the present invention is to overcome the problems of complex calibration methods in the prior art, the need to increase a large amount of program load and the lengthy calibration process, and to provide a method, device and equipment for compensating the deflection of the center axis of a seven-axis robot turntable. The center point of the turntable can be determined by the true circular trajectory drawn by the DBB ballbar, and the center axis of the turntable can be found accordingly, and the path axis of the robot can be adjusted to adapt to the processing axis of the turntable.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for compensating for deflection of a central axis of a seven-axis robot turntable, the method comprising:

[0006] S1: Obtaining a first ballbar height according to the first center deviation, and determining a first robot position coordinate corresponding to the first ballbar height;

[0007] S2: adjusting the first ballbar height to obtain a second ballbar height, and determining the position coordinates of the second robot based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height;

[0008] S3: Determine the center axis of the turntable according to the first robot position coordinates and the second robot position coordinates.

[0009] Optionally, step S1 specifically includes:

[0010] S11: determining an initial position and an initial ballbar height of the seven-axis robot end, adjusting the initial position to obtain an adjusted position, and determining a first center deviation based on the adjusted position and the initial ballbar height;

[0011] S12: When the first center deviation is less than a preset threshold, using the ballbar height corresponding to the first center deviation as the first ballbar height;

[0012] S13: Taking the position corresponding to the first ballbar height as the first robot position, and obtaining the first robot position coordinates according to the first robot position.

[0013] Optionally, step S2 specifically includes:

[0014] S21: adjusting the first ballbar height by a specified height to obtain a second ballbar height;

[0015] S22: determining a second center deviation based on the second ballbar height and the adjusted position;

[0016] S23: When the second center deviation is less than a preset threshold, the position corresponding to the second ballbar height is used as the second robot position, and the second robot position coordinates are obtained according to the second robot position.

[0017] Optionally, step S3 specifically includes:

[0018] S31: Determine a central axis path based on the first robot position coordinates and the second robot position coordinates;

[0019] S32: Determine the coordinates of the initial points according to the central axis path, and calculate the coordinates of the offset points corresponding to each initial point;

[0020] S32: Determine the center axis of the turntable according to the initial point coordinates and the offset point coordinates.

[0021] Optionally, determining the first center deviation based on the adjusted position and the initial ballbar height includes: determining the center of the first ballbar height change trajectory based on the adjusted position and the initial ballbar height, and taking the distance from the center of the first ballbar length change trajectory to the center platform of the turntable disc as the first center deviation.

[0022] Optionally, determining the second center deviation based on the second ballbar height and the adjusted position includes: determining the center of the second ballbar height change trajectory based on the adjusted position and the second ballbar height, and taking the distance from the center of the second ballbar length change trajectory to the center platform of the turntable disc as the second center deviation.

[0023] In a second aspect, an embodiment of the present disclosure further provides a compensation device for the deflection of the central axis of a seven-axis robot turntable, the device comprising:

[0024] a first robot position coordinate determining module, configured to obtain a first ballbar height according to the first center deviation, and determine the first robot position coordinate corresponding to the first ballbar height;

[0025] a second robot position coordinate determining module, configured to adjust the first ballbar height to obtain a second ballbar height, and determine the second robot position coordinates based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height;

[0026] The turntable central axis determination module is used to determine the turntable central axis according to the first robot position coordinates and the second robot position coordinates.

[0027] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0028] at least one processor; and

[0029] a memory communicatively connected to at least one processor; wherein,

[0030] When the memory stores a computer program that can be executed by at least one processor, the computer program is executed by the at least one processor so that the at least one processor can execute a method for compensating for the central axis deflection of a seven-axis robot turntable as described in any embodiment of the present disclosure.

[0031] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for compensating for the central axis deflection of a seven-axis robot turntable as in any embodiment of the present disclosure.

[0032] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description.

[0033] Therefore, the present invention has the following beneficial effects:

[0034] 1. Using the true circular trajectory drawn by the ballbar to determine the turntable centre point, the robot working axis and the circular turntable disc can be calibrated quickly and easily.

[0035] 2. The robot’s position coordinates can be determined by confirming that the center deviation meets the preset conditions, without the need for a large program load, simplifying the calibration process.

[0036] 3. The center axis of the turntable can be determined based on the determined initial point coordinates and offset point coordinates, thereby improving the calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 This is a flow chart of a method for compensating for central axis deflection of a seven-axis robot turntable provided in accordance with a first embodiment of the present invention;

[0039] Figure 2 2 is a schematic structural diagram of a compensation device for the central axis deflection of a seven-axis robot turntable provided in accordance with a second embodiment of the present invention;

[0040] Figure 3 It is a structural diagram of an electronic device provided according to the third embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] Example 1

[0044] Figure 1A flowchart of a method for compensating for deflection of the central axis of a seven-axis robot turntable is provided for the first embodiment of the present invention. This embodiment is applicable to situations where the central axis of a seven-axis robot turntable needs to be adjusted. This method can be performed by a device for compensating for deflection of the central axis of a seven-axis robot turntable provided in an embodiment of the present disclosure. This device can be implemented using software and / or hardware and can generally be integrated into a computer device. The method of this embodiment of the present disclosure specifically includes:

[0045] S1: Obtaining a first ballbar height according to a first center deviation, and determining a first robot position coordinate corresponding to the first ballbar height.

[0046] Specifically, the ballbar is an instrument used for precision calibration and measurement of machine tools, and can evaluate the dynamic contour accuracy of machine tools. Its working principle is to install the two ends of the ballbar on the spindle and workbench of the machine tool respectively, measure the circular trajectory formed by the interpolation motion of the two axes, and compare this trajectory with the standard circular trajectory to evaluate the type and amplitude of the error generated by the machine tool.

[0047] Optionally, step S1 specifically includes: S11: determining an initial position and an initial ballbar height of the seven-axis robot end, adjusting the initial position to obtain an adjusted position, and determining a first center deviation based on the adjusted position and the initial ballbar height; S12: when the first center deviation is less than a preset threshold, using the ballbar height corresponding to the first center deviation as the first ballbar height; S13: using the position corresponding to the first ballbar height as the first robot position, and obtaining the first robot position coordinates based on the first robot position.

[0048] For example, based on the ballbar's operating range, the user can fix one end of the ballbar near the outer side of the turntable disc and the other end near the turntable's rotation center. This center point is moved from the robot end to an assumed turntable rotation center point A. The user then opens the ballbar's testing software, sets the ballbar's length and feed rate, starts the turntable disc, and rotates the ballbar at the feed rate set in the testing software. The testing software is then started to record the ballbar's length changes, obtaining its X and Y values. The recorded result is a circular shape showing the ballbar's length changing continuously with the turntable's rotation, such as If there is a significant deviation between the assumed center A and the actual turntable rotation center, readjust the XY position of the robot end according to the center error obtained by the ballbar software and re-fix one end of the ballbar to the outer side of the turntable disc and the other end to the robot end according to the new position. Then start recording again using the ballbar recording software and start the turntable rotation via CNC. Repeat the above steps several times until the center deviation is less than 5μm. The first calibration is completed. The ballbar height at this time is the first ballbar height, and the first robot position coordinates corresponding to the first ballbar height are determined.

[0049] S2: Adjusting the first ballbar height to obtain a second ballbar height, and determining the position coordinates of the second robot based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height.

[0050] Optionally, step S2 specifically includes: S21: adjusting the first ballbar height to a specified height to obtain a second ballbar height; S22: determining a second center deviation based on the second ballbar height and the adjusted position; 23: when the second center deviation is less than a preset threshold, taking the position corresponding to the second ballbar height as the second robot position, and obtaining the second robot position coordinates based on the second robot position.

[0051] Optionally, determining the first center deviation based on the adjusted position and the initial ballbar height includes: determining the center of the first ballbar height change trajectory based on the adjusted position and the initial ballbar height, and taking the distance from the center of the first ballbar length change trajectory to the center platform of the turntable disc as the first center deviation.

[0052] Specifically, the turntable disk is started again to rotate the ballbar. The rotation height corresponding to the second ballbar height must be significantly different from the rotation height corresponding to the first ballbar height (at least 2 cm difference). The change in ballbar length at the vibrating end around the center of the turntable disk is recorded. After adjusting the fixed end of the ballbar, the center of the circle obtained by the second trajectory of the ballbar length change will be closer to the center A of the turntable disk. At this time, the test data on the workbench is checked and recorded. When the error in the distance between the center of the circle obtained by the trajectory of the ballbar length change and the center platform of the turntable disk is less than 5μm for the second time (the absolute values ​​of the workbench data Center offset X and Center offset Y are less than 5μm), the second calibration is complete. The ballbar height at this time is the second ballbar height, and the position coordinates of the second robot corresponding to the second ballbar height are determined.

[0053] S3: Determine the center axis of the turntable according to the first robot position coordinates and the second robot position coordinates.

[0054] Optionally, step S3 specifically includes: S31: determining the center axis path based on the first robot position coordinates and the second robot position coordinates; S32: determining the initial point coordinates according to the center axis path, and calculating the offset point coordinates corresponding to each initial point; S32: determining the turntable center axis according to the initial point coordinates and the offset point coordinates.

[0055] Optionally, determining the second center deviation based on the second ballbar height and the adjusted position includes: determining the center of the second ballbar height change trajectory based on the adjusted position and the second ballbar height, and taking the distance from the center of the second ballbar length change trajectory to the center platform of the turntable disc as the second center deviation.

[0056] Specifically, the success of the calibration can be verified through a preset simulation model. The RTC parameters can be input through the Computerized Numerical Control Machine (CNC). When the RTC parameter is set to 0, it means that the RTC is turned off, and the table coordinate system parameters are called. Then, G5x with TC (Table Center) turned on directly copies the X-axis and Y-axis data of the table coordinate system parameters. The TABLE CENTER parameter copies the X-axis, Y-axis, and Z-axis data of the table coordinate system parameters. This cutting situation will be incorrect. When the RTC parameter is set to 1, G5x with TC (Table Center) turned on will obtain an X-axis and Y-axis value from RTC_DATA (i.e., X and Y in RTC_DATA). This value is calculated based on the RTC data using their height Z-axis data. Each parameter under the running G5x will also be converted to the X, Y, and Z-axis values ​​in the world coordinate system, and the cutting situation is qualified.

[0057] Furthermore, the path from the first robot position coordinate to the second robot position coordinate is the standard Z-axis path. During the calculation, several initial points on the standard Z-axis path are selected, and then the offset points corresponding to the initial points on the actual Z-axis are calculated through the algorithm to verify and determine the position of the actual Z-axis, and the actual Z-axis is applied as the Z-axis of the robot.

[0058] The technical solution of the embodiment of the present invention obtains a first ballbar height through a first center deviation, and determines a first robot position coordinate corresponding to the first ballbar height; adjusts the first ballbar height to obtain a second ballbar height, and determines a second robot position coordinate based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height; and determines the turntable center axis based on the first robot position coordinate and the second robot position coordinate, so that the robot working axis and the turntable disk can be calibrated quickly and conveniently without requiring a large amount of program load, thereby simplifying the calibration process and improving calibration accuracy.

[0059] Example 2

[0060] Figure 2 This is a schematic diagram of the structure of a compensation device for the central axis deflection of a seven-axis robot turntable provided in the second embodiment of the present invention. The device can be implemented in software and / or hardware and can generally be integrated into the electronic device that executes the method. Figure 2 As shown, the apparatus includes: a first robot position coordinate determining module 310, configured to obtain a first ballbar height according to a first center deviation, and determine a first robot position coordinate corresponding to the first ballbar height;

[0061] a second robot position coordinate determining module 320 configured to adjust the first ballbar height to obtain a second ballbar height, and determine the second robot position coordinates based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height;

[0062] The turntable central axis determination module 330 is configured to determine the turntable central axis according to the first robot position coordinates and the second robot position coordinates.

[0063] Optionally, the first robot position coordinate determination module 310 is specifically used to determine the initial position and initial ballbar height of the seven-axis robot end, adjust the initial position to obtain an adjusted position, and determine a first center deviation based on the adjusted position and the initial ballbar height; when the first center deviation is less than a preset threshold, the ballbar height corresponding to the first center deviation is used as the first ballbar height; the position corresponding to the first ballbar height is used as the first robot position, and the first robot position coordinates are obtained according to the first robot position.

[0064] Optionally, a second robot position coordinate determination module 320 is specifically used to adjust the first ballbar height to a specified height to obtain a second ballbar height; determine a second center deviation based on the second ballbar height and the adjusted position; when the second center deviation is less than a preset threshold, use the position corresponding to the second ballbar height as the second robot position, and obtain the second robot position coordinates based on the second robot position.

[0065] Optionally, the turntable center axis determination module 330 is specifically used to determine the center axis path based on the first robot position coordinates and the second robot position coordinates; determine the initial point coordinates according to the center axis path, and calculate the offset point coordinates corresponding to each initial point; determine the turntable center axis according to the initial point coordinates and the offset point coordinates.

[0066] The technical solution of the embodiment of the present invention obtains a first ballbar height through a first center deviation, and determines a first robot position coordinate corresponding to the first ballbar height; adjusts the first ballbar height to obtain a second ballbar height, and determines a second robot position coordinate based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height; and determines the turntable center axis based on the first robot position coordinate and the second robot position coordinate, so that the robot working axis and the turntable disk can be calibrated quickly and conveniently without requiring a large amount of program load, thereby simplifying the calibration process and improving calibration accuracy.

[0067] A compensation device for the central axis deflection of a seven-axis robot turntable provided in an embodiment of the present invention can execute a compensation method for the central axis deflection of a seven-axis robot turntable provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0068] Example 3

[0069] Figure 3 This is a schematic diagram of the structure of an electronic device 400 provided in the third embodiment of the present invention. The electronic device in this embodiment can be a device corresponding to the backend service platform of an application, or a mobile terminal device installed with an application client. Specifically, the electronic device may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 3 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0070] like Figure 3 As shown, electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 402 or programs loaded from a storage device 408 into a random access memory (RAM) 403. Various programs and data required for the operation of electronic device 400 are also stored in RAM 403. Processing device 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to bus 404.

[0071] Typically, the following devices may be connected to the I / O interface 405: an input device 406 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Figure 3 The electronic device 400 is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0072] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0073] It should be noted that the computer-readable medium mentioned in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. Computer-readable storage media may include, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wire, optical cable, RF (radio frequency), or any suitable combination thereof.

[0074] In some embodiments, the client and server can communicate using any currently known or later developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or later developed network.

[0075] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0076] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the internal process of the electronic device executes: obtaining a first ballbar height based on a first center deviation, and determining a first robot position coordinate corresponding to the first ballbar height; adjusting the first ballbar height to obtain a second ballbar height, and determining a second robot position coordinate based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height; and determining a turntable center axis based on the first robot position coordinate and the second robot position coordinate.

[0077] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0078] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0079] The units involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a unit does not necessarily limit the unit itself.

[0080] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0081] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fibers, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0082] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the present disclosure is not limited to technical solutions formed by specific combinations of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the scope of the above disclosure. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0083] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0084] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A method for compensating for the deflection of the central axis of a seven-axis robot turntable, characterized in that: The following steps are involved: S1: Obtaining a first ballbar height according to a first center deviation, and determining a first robot position coordinate corresponding to the first ballbar height; S2: adjusting the first ballbar height to obtain a second ballbar height, and determining the position coordinates of the second robot based on the second center deviation and the second ballbar height, wherein the second ballbar height is greater than the first ballbar height by at least 2 cm; S3: Determine the center axis of the turntable according to the position coordinates of the first robot and the second robot; Wherein, the step S3 specifically includes: S31: determining a central axis path based on the first robot position coordinates and the second robot position coordinates; S32: determining the coordinates of the initial points according to the central axis path, and calculating the coordinates of the offset points corresponding to the initial points; S32: Determine the central axis of the turntable according to the initial point coordinates and the offset point coordinates; Wherein, the step S1 specifically includes: S11: determining an initial position and an initial ballbar height of the seven-axis robot end, adjusting the initial position to obtain an adjusted position, and determining the first center deviation based on the adjusted position and the initial ballbar height; Wherein, the step S2 specifically includes: S21: adjusting the first ballbar height by a specified height to obtain the second ballbar height; S22: determining the second center deviation based on the second ballbar height and the adjusted position; S23: When the second center deviation is less than a preset threshold, taking a position corresponding to the second ballbar height as a second robot position, and obtaining the second robot position coordinates based on the second robot position; The determining of the first center deviation based on the adjusted position and the initial ballbar height includes: determining a center point of a first ballbar length change trajectory based on the adjusted position and the initial ballbar height, and taking a distance from the center point of the first ballbar length change trajectory to the center platform of the turntable disk as the first center deviation; The determining of the second center deviation based on the second ballbar height and the adjusted position includes: determining the center of a second ballbar length change trajectory based on the adjusted position and the second ballbar height, and taking the distance from the center of the second ballbar length change trajectory to the center platform of the turntable disc as the second center deviation.

2. The method for compensating for the deflection of the central axis of a seven-axis robot turntable according to claim 1, characterized in that: The step S1 further includes: S12: When the first center deviation is less than a preset threshold, using the ballbar height corresponding to the first center deviation as the first ballbar height; S13: Taking a position corresponding to the height of the first ballbar as a first robot position, and obtaining the first robot position coordinates according to the first robot position.

3. A compensation device for the deflection of the central axis of a seven-axis robot turntable, characterized in that: include: a first robot position coordinate determining module, configured to obtain a first ballbar height according to a first center deviation, and determine a first robot position coordinate corresponding to the first ballbar height; a second robot position coordinate determining module, configured to adjust the first ballbar height to obtain a second ballbar height, and determine the second robot position coordinates based on the second center deviation and the second ballbar height, wherein the second ballbar height is at least 2 cm greater than the first ballbar height; a turntable central axis determination module, configured to determine the turntable central axis according to the first robot position coordinates and the second robot position coordinates; The turntable center axis determination module is specifically configured to: determine a center axis path based on the first robot position coordinates and the second robot position coordinates; determine initial point coordinates according to the center axis path, and calculate offset point coordinates corresponding to each initial point; and determine the turntable center axis according to the initial point coordinates and the offset point coordinates. The first robot position coordinate determination module is specifically configured to: determine an initial position and an initial ballbar height of the seven-axis robot end, adjust the initial position to obtain an adjusted position, and determine the first center deviation based on the adjusted position and the initial ballbar height; The second robot position coordinate determination module is specifically configured to: adjust the first ballbar height by a specified height to obtain a second ballbar height; determine a second center deviation based on the second ballbar height and the adjusted position; and when the second center deviation is less than a preset threshold, use the position corresponding to the second ballbar height as the second robot position, and obtain the second robot position coordinates based on the second robot position. The determining of the first center deviation based on the adjusted position and the initial ballbar height includes: determining a center point of a first ballbar length change trajectory based on the adjusted position and the initial ballbar height, and taking a distance from the center point of the first ballbar length change trajectory to the center platform of the turntable disk as the first center deviation; The determining of the second center deviation based on the second ballbar height and the adjusted position includes: determining the center of a second ballbar length change trajectory based on the adjusted position and the second ballbar height, and taking the distance from the center of the second ballbar length change trajectory to the center platform of the turntable disc as the second center deviation.

4. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the method of claims 1-2.

5. A computer storage medium, characterized in that The computer storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method described in claims 1-2 when executed.

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