Industrial robot system and diagnostic calibration method for in-service precision intelligent diagnosis and calibration

Abstract

The present invention discloses an industrial robot system and a diagnostic and calibration method for in-service precision intelligent diagnosis and calibration. An internal robot diagnoser and an internal robot controller are installed inside the industrial robot body and electrically connected to each other; laser trackers are distributed around and electrically connected to external computer devices. The method includes: inputting the rotational speed and torque of the reducer of the industrial robot body into the reducer degradation model to output the positioning accuracy, and giving an early warning and performing fault monitoring and diagnosis when it is lower than the threshold; inputting the end pose of the robotic arm into the model KPCA to output the joint accuracy, and giving an early warning and performing fault monitoring and diagnosis when it is lower than the threshold; measuring the accuracy state through a multi-station laser tracker measuring device and a high-precision and orthogonal model; and calibrating and correcting the results through the robot calibration software to complete the accuracy calibration of the industrial robot body. The present invention can ensure the stability and accuracy of high-precision industrial robots and promote the sustainable service of industrial robots.

Description

Technical Field

[0001] The present invention relates to an industrial robot system, and particularly to an industrial robot system for in-service precision intelligent diagnosis and calibration and a diagnosis and calibration method thereof. Background Art

[0002] With the popularization of intelligent manufacturing, industrial robots, as important execution equipment in the manufacturing process, are widely used in various intelligent production lines. At present, the factory precision of domestic industrial robots has reached the positioning precision of imported industrial robots. However, during the long-term in-service process, it is difficult to maintain the precision. The lack of diagnosis, instability, and unreliability of in-service precision have become obstacles to the larger-scale application of domestic industrial robots. Therefore, it is urgent for industrial robots to have self-diagnosis, self-calibration, and high-precision detection to achieve the maintenance of in-service precision of industrial robots. Summary of the Invention

[0003] In order to solve the problems existing in the background art, the present invention provides an industrial robot system for in-service precision intelligent diagnosis and calibration and a diagnosis and calibration method thereof.

[0004] The technical solution adopted by the present invention is as follows:

[0005] I. An industrial robot system for in-service precision intelligent diagnosis and calibration:

[0006] The industrial robot system includes an industrial robot body, a multi-station laser tracker measuring device, a robot internal diagnoser installed with an intelligent precision diagnosis module, and a robot internal controller installed with robot calibration software and a robot precision state measuring module. The robot internal diagnoser and the robot internal controller are both installed in the industrial robot body and are electrically connected to each other; the multi-station laser tracker measuring device includes a plurality of laser trackers, and each laser tracker is distributed around the industrial robot body. Each laser tracker and the robot internal controller are both electrically connected to an external computer device. The industrial robot body can specifically be a multi-joint industrial robot and can be used for movement operations such as handling, welding, and machining.

[0007] The intelligent precision diagnosis module includes a reducer degradation model and a kernel principal component analysis fault detection model KPCA; the intelligent precision diagnosis module can reflect the precision degradation of each joint of the robot according to the monitored motion parameters such as the motion load and rotation speed of each joint reducer.

[0008] The described robot precision status measurement module includes a high-precision three-dimensional attitude measurement model and an orthogonal vision terminal measurement model; the robot precision status measurement module calibrates robots with serious precision degradation, and the calibration data is fed back to the controller, and the intelligent diagnosis module verifies the calibration results; the high-precision three-dimensional attitude measurement model uses a multi-station laser tracker measurement device to achieve high-precision measurement of the robot's spatial coordinates and spatial motion trajectory in single-station and multi-station modes; the orthogonal vision terminal measurement model can use the orthogonal binocular vision measurement method to measure the repeat positioning accuracy and terminal attitude repeat performance of the robot terminal.

[0009] During the long-term in-service process of the industrial robot body, according to the robot accelerator degradation model and the robot stiffness model, feedback to the intelligent precision diagnosis system for in-service precision diagnosis reminder. The high-precision three-dimensional attitude measurement and orthogonal vision terminal measurement system can detect its actual precision. Based on the measurement results, the robot calibration software calibrates and corrects the industrial robot model to restore its factory precision.

[0010] II. A diagnostic calibration method for an industrial robot system:

[0011] The method includes the following steps:

[0012] First, signal acquisition is carried out. In the form of software and hardware embedding and integration, a robot data acquisition system is constructed. This system includes a robot and a data acquisition host. The robot includes a servo system and a controller. The internal controller of the robot and the data acquisition host achieve data transmission through the industrial Ethernet bus. Electric drive module, mechanical transmission system module, and multiple controller modules are set up to realize the signal acquisition of original data such as joint current, power, temperature, vibration, etc. during the operation of the robot. Then, through the collected original data, data preprocessing and feature extraction are carried out to obtain the rotational speed and torque of the reducer of the industrial robot body and the end-point pose of the robotic arm. The end-point pose of the robotic arm includes the horizontal angles, positions, speeds, torques, etc. of each joint of the robotic arm.

[0013] Carry out fault diagnosis on the industrial robot in progress. Based on the signal acquisition, monitor the wear conditions of key components such as the reducer and joints of the industrial robot. Monitor the reducer with the positioning accuracy as the performance index. Through the reducer degradation model and the whole machine degradation model, analyze the robot precision status and predict the precision instantaneously. The specific process is predicted through the relationship formula between the reducer precision and rotational speed, torque, and time; the precision degradation of the robot mainly depends on the precision degradation of the reducer, and the core of the whole machine degradation model is the reducer degradation model. At the same time, monitor the joint precision of the robotic arm with the end-point pose of the robotic arm as the performance index.

[0014] 1) When the industrial robot body of the industrial robot system is operating, the rotational speed and torque of the reducer of the industrial robot body are input into the reducer degradation model of the intelligent precision diagnosis module of the robot internal diagnoser in real time. The reducer degradation model outputs the positioning accuracy of the reducer of the industrial robot body in real time. Take 50% of the preset accuracy initial value as the positioning accuracy threshold. When the positioning accuracy of the reducer is lower than the positioning accuracy threshold, the robot internal diagnoser gives an early warning and conducts fault monitoring and online diagnosis on the reducer of the industrial robot body.

[0015] 2) Input the end point pose of the robotic arm of the industrial robot body into the kernel principal component analysis fault detection model KPCA. The kernel principal component analysis fault detection model KPCA outputs the joint accuracy of the robotic arm of the industrial robot body. When the joint accuracy of the robotic arm is lower than the joint accuracy threshold, the robot internal diagnoser gives an early warning and conducts fault monitoring and online diagnosis on the robotic arm of the industrial robot body.

[0016] 3) When the positioning accuracy of the reducer of the industrial robot body is lower than the positioning accuracy threshold or the joint accuracy of the robotic arm is lower than the joint accuracy threshold, the accuracy state of the industrial robot body is measured by the multi-station laser tracker measuring device and the high-precision three-dimensional attitude measurement model and orthogonal vision terminal measurement model of the robot accuracy state measurement module of the robot internal controller.

[0017] The orthogonal vision terminal measurement model can portable and regularly track the performance of the positioning ability and motion attitude of the industrial robot terminal movement by using the orthogonal binocular vision measurement method; for industrial robots with large-size movement requirements and higher-precision positioning accuracy state monitoring, it is necessary to use the multi-station laser tracker measuring device and the high-precision three-dimensional attitude measurement model for high-precision space coordinate and attitude measurement.

[0018] 4) Calibrate and correct the accuracy state measurement results of the industrial robot body through the robot calibration software to complete the accuracy calibration of the industrial robot body.

[0019] In the step 2) described above, the end point pose of the robotic arm of the industrial robot body includes signals such as the horizontal angles, positions, speeds, and torques of the joints of the robotic arm collected in real time by sensors.

[0020] In the step 3) described above, the accuracy state of the industrial robot body is measured by the multi-station laser tracker measuring device and the high-precision three-dimensional attitude measurement model and orthogonal vision terminal measurement model of the robot accuracy state measurement module of the robot internal controller, specifically as follows:

[0021] Control the industrial robot body to repeatedly move between two preset calibration points through preset motion positions and motion postures. Use the orthogonal vision terminal measurement model of the internal controller of the robot, and use the orthogonal binocular vision test method to obtain the real-time motion position and real-time motion posture of the industrial robot body during repeated movement and input them into an external computer device, including position, rotation angle, pitch angle, spatial depth, offset, etc.; Through the industrial robot spatial pose measurement technology of the orthogonal binocular vision test method, non-contact precise measurement of spatial position is realized.

[0022] Control the industrial robot body to repeatedly move between two preset calibration points through preset motion positions and motion postures. Use the high-precision three-dimensional attitude measurement model of the internal controller of the robot, and measure the real-time motion position and real-time motion posture of the industrial robot body during repeated movement by each laser tracker of the multi-station laser tracker measurement device and input them into an external computer device.

[0023] The external computer device compares the obtained real-time motion posture and real-time motion position of the industrial robot body with the preset motion posture and motion position to determine whether they are the same. If they are the same, the displacement accuracy of the industrial robot body is not calibrated. If they are not the same, the accuracy state of the industrial robot is obtained based on the obtained real-time motion posture and real-time motion position of the industrial robot body, the preset motion posture and motion position, and the preset calibration data of the two preset calibration points.

[0024] In step 4) described above, the robot calibration software calibrates and corrects the measurement result of the accuracy state of the industrial robot body. Specifically, based on the measurement result of the accuracy state of the industrial robot body, the robot calibration software uses the industrial robot DH parameter geometric error identification and calibration method. Through DH parameter calibration and zero position calibration, the tool coordinate system conversion from the TCP point of the robot tool end to the center of the robot end flange is calibrated at the same time. The DH parameters of the parts that can be modified in the industrial robot body are identified and compensated to realize the error compensation and accuracy calibration of the robot, so as to improve the performance of the robot.

[0025] The beneficial effects of the present invention are:

[0026] The industrial robot of the present invention is equipped with in-service precision diagnosis work, which can give a precision failure warning to the robot in the engineering automatic application scenario according to the load and motion frequency of the application scenario before the precision fails, so as to prevent losses to production. The high-precision three-dimensional attitude measurement and orthogonal vision terminal measurement system obtains the measurement results of the robot, and calibrates the precision-failed robot together with the calibration software to restore it to the factory precision. The present invention uses the structural characteristics of industrial robots, based on the reducer degradation model, precision measurement, and precision calibration, which can ensure the stability and accuracy of high-precision industrial robots, promote the sustainable service of industrial robots, and effectively guarantee and extend the in-service precision of robots. Brief Description of the Drawings

[0027] Figure 1 It is a flowchart of the working method of the industrial robot system of the present invention;

[0028] Figure 2 It is a flowchart of the intelligent diagnosis and calibration method of the industrial robot of the present invention. Detailed Embodiment

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] The industrial robot system for intelligent diagnosis and calibration of in-service precision of the present invention includes an industrial robot body, a multi-station laser tracker measurement device, a robot internal diagnostic device installed with an intelligent precision diagnosis module, and a robot internal controller installed with a robot calibration software and a robot precision state measurement module. The robot internal diagnostic device and the robot internal controller are both installed in the industrial robot body and are electrically connected to each other; the multi-station laser tracker measurement device includes a plurality of laser trackers, each laser tracker is distributed around the industrial robot body, and each laser tracker and the robot internal controller are electrically connected to an external computer device. The industrial robot body can specifically be a multi-joint industrial robot, which can be used for motion operations such as handling, welding, and machining.

[0031] The intelligent precision diagnosis module includes a reducer degradation model and a kernel principal component analysis fault detection model KPCA; the intelligent precision diagnosis module can reflect the precision degradation of each joint of the robot according to the monitored motion parameters such as the motion load and speed of each joint reducer.

[0032] The robot precision status measurement module includes a high-precision three-dimensional attitude measurement model and an orthogonal vision terminal measurement model; the robot precision status measurement module calibrates robots with serious precision degradation, and the calibration data is fed back to the controller, and the intelligent diagnosis module verifies the calibration results; the high-precision three-dimensional attitude measurement model uses a multi-station laser tracker measurement device to achieve high-precision measurement of the robot's spatial coordinates and spatial motion trajectory in single-station and multi-station modes; the orthogonal vision terminal measurement model can use the orthogonal binocular vision measurement method to measure the repeat positioning accuracy and terminal attitude repeat performance of the robot terminal.

[0033] During the long-term in-service process of the industrial robot body, according to the robot accelerator degradation model and the robot stiffness model, the intelligent precision diagnosis system can be fed back for in-service precision diagnosis reminder. The high-precision three-dimensional attitude measurement and orthogonal vision terminal measurement systems can detect its actual precision. Based on the measurement results, the robot calibration software calibrates and corrects the industrial robot model to restore its factory precision.

[0034] Such as Figure 1 And Figure 2 As shown in

[0035] First, signal acquisition is carried out. In the form of software and hardware embedding and fusion, a robot data acquisition system is constructed. This system includes a robot and a data acquisition host. The robot includes a servo system and a controller. The internal controller of the robot and the data acquisition host realize data transmission through the industrial Ethernet bus. Electric drive module, mechanical transmission system module and multiple controller modules are set up to realize the signal acquisition of original data such as joint current, power, temperature, vibration, etc. during the operation of the robot. Then, through the collected original data, data preprocessing and feature extraction are carried out to obtain the rotational speed and torque of the reducer of the industrial robot body and the end-point pose of the robotic arm. The end-point pose of the robotic arm includes the horizontal angles, positions, speeds, torques, etc. of each joint of the robotic arm.

[0036] Fault diagnosis is carried out on the industrial robot in operation. On the basis of signal acquisition, fault monitoring is carried out on the wear conditions of key components such as the reducer and joints of the industrial robot. The reducer is monitored with the positioning accuracy as the performance index. Through the reducer degradation model and the whole-machine degradation model, the precision status of the robot is analyzed immediately and the precision is predicted. The specific process is predicted through the relationship formula between the reducer precision and rotational speed, torque and time; the precision degradation of the robot is mainly based on the precision degradation of the reducer, and the core of the whole-machine degradation model is the reducer degradation model. At the same time, the robotic arm joint precision is monitored with the end-point pose of the robotic arm as the performance index.

[0037] 1) When the industrial robot body of the industrial robot system is operating, the rotational speed and torque of the reducer of the industrial robot body are input into the reducer degradation model of the intelligent precision diagnosis module of the robot internal diagnostic device in real time. The reducer degradation model outputs the positioning accuracy of the reducer of the industrial robot body in real time. 50% of the preset accuracy initial value is used as the positioning accuracy threshold. When the positioning accuracy of the reducer is lower than the positioning accuracy threshold, the robot internal diagnostic device gives an alarm, and fault monitoring and on-line diagnosis are carried out on the reducer of the industrial robot body.

[0038] 2) The end pose of the robotic arm of the industrial robot body is input into the kernel principal component analysis fault detection model KPCA. The kernel principal component analysis fault detection model KPCA outputs the joint accuracy of the robotic arm of the industrial robot body. When the joint accuracy of the robotic arm is lower than the joint accuracy threshold, the robot internal diagnostic device gives an alarm, and fault monitoring and on-line diagnosis are carried out on the robotic arm of the industrial robot body.

[0039] In step 2), the end pose of the robotic arm of the industrial robot body includes signals such as the horizontal angles, positions, speeds, and torques of the respective joints of the robotic arm collected in real time by sensors.

[0040] 3) When the positioning accuracy of the reducer of the industrial robot body is lower than the positioning accuracy threshold or the joint accuracy of the robotic arm is lower than the joint accuracy threshold, the accuracy state of the industrial robot body is measured by means of a multi-station laser tracker measuring device and the high-precision three-dimensional attitude measurement model and the orthogonal vision terminal measurement model of the robot accuracy state measurement module of the robot internal controller.

[0041] The orthogonal vision terminal measurement model can periodically and portably track the performance of the positioning ability and motion attitude of the movement of the industrial robot terminal by using the orthogonal binocular vision measurement method; for industrial robots with large-size movement requirements and higher-precision positioning accuracy state monitoring, a multi-station laser tracker measuring device and a high-precision three-dimensional attitude measurement model are required to perform high-precision spatial coordinate and attitude measurement.

[0042] In step 3), the accuracy state of the industrial robot body is measured by means of a multi-station laser tracker measuring device and the high-precision three-dimensional attitude measurement model and the orthogonal vision terminal measurement model of the robot accuracy state measurement module of the robot internal controller, as follows:

[0043] Control the industrial robot body to repeatedly move between two preset calibration points through preset motion positions and postures. Use the orthogonal vision terminal measurement model of the robot's internal controller, and use the orthogonal binocular vision test method to obtain the real-time motion position and real-time motion posture of the industrial robot body during repeated movement and input them into an external computer device, including position, rotation angle, pitch angle, spatial depth, offset, etc.; realize non-contact precise measurement of spatial position through the industrial robot spatial pose measurement technology of the orthogonal binocular vision test method.

[0044] Control the industrial robot body to repeatedly move between two preset calibration points through preset motion positions and postures. Use the high-precision three-dimensional pose measurement model of the robot's internal controller, and measure the real-time motion position and real-time motion posture of the industrial robot body during repeated movement through each laser tracker of the multi-station laser tracker measurement device and input them into an external computer device.

[0045] The external computer device compares the obtained real-time motion posture and real-time motion position of the industrial robot body with the preset motion posture and motion position to determine whether they are the same. If they are the same, the displacement accuracy of the industrial robot body is not calibrated. If they are not the same, the accuracy state of the industrial robot is obtained based on the obtained real-time motion posture and real-time motion position of the industrial robot body, the preset motion posture and motion position, and the preset calibration data of the two preset calibration points.

[0046] Each laser tracker can obtain a unified coordinate system through station transfer calibration for accuracy state measurement. Construct a homogeneous transformation matrix from the rotation matrix and translation vector to obtain the position and attitude relationship between the coordinate systems of multiple laser trackers, and use the homogeneous transformation matrix to unify the coordinate systems, thus realizing the coordinate exchange of the common measurement point between the two coordinate systems.

[0047] High-precision three-dimensional pose measurement robot calibration system, by building a multi-station laser tracker measurement system, performing station transfer calibration to obtain a unified coordinate system. By measuring ii = 1, 2, 3... common measurement points, two data sets X1 and X2 are obtained, and the coordinates of the common measurement points are:

[0048] X1 = (x 1i , y 1i , z 1i )

[0049] X2 = (x 2i , y 2i , z 2i )

[0050] Among them, x 1i , y 1i , z 1iThe common point coordinate system obtained by the main station laser tracker; x 2i , y 2i , z 2i The common point coordinate system obtained by the slave station laser tracker respectively.

[0051] The relationship between the measurement results of the main station laser tracker and the slave station laser tracker using the following formula is used to obtain the rotation matrix and translation vector:

[0052] X1 = RX2 + T

[0053] where, R is the rotation matrix and T is the translation vector;

[0054] Process to obtain the equivalent homogeneous transformation:

[0055]

[0056] Construct a homogeneous transformation matrix from the rotation matrix and translation vector to obtain the position and attitude relationship between the coordinate systems of multiple laser trackers, and use the homogeneous transformation matrix for coordinate system unification, thereby realizing the coordinate exchange of the common measurement points between the two coordinate systems.

[0057] 4) Calibrate and correct the measurement results of the accuracy state of the industrial robot body through the robot calibration software to complete the accuracy calibration of the industrial robot body.

[0058] In step 4), calibrate and correct the measurement results of the accuracy state of the industrial robot body through the robot calibration software. Specifically, based on the measurement results of the accuracy state of the industrial robot body, the robot calibration software uses the industrial robot DH parameter geometric error identification and calibration method. Through DH parameter calibration and zero position calibration, it simultaneously calibrates the tool coordinate system conversion from the TCP point of the robot tool end to the center of the robot end flange, identifies and compensates the DH parameters of the parts that can be modified in the industrial robot body, realizes the error compensation and accuracy calibration of the robot, and improves the robot performance.

[0059] Specifically, a cube in the robot's workspace can be selected to enable the robot's end effector to uniformly reach 50 position points in the cube. The target ball installed on the robot fixture faces the laser tracker at each position point. The computer reads the values of the joint angles θ1 - θ6 of the robot at the 50 position points through the robot controller, and the laser tracker measures the target ball positions xj, yj, zj at the 50 position points. The computer calculates the corrected DH parameters using the joint angles θ1 to θ6 at the 50 position points, the target ball positions xj, yj, zj, and the nominal DH parameter values. Then, a new zero point of the robot is set, and the robot is reset to the zero position of the theoretical value, causing the robot to move to the θ parameter error angle, and the θ parameter error angle is set as the new zero point of the robot; the corrected DH parameters are written into the robot controller. The computer writes the corrected DH parameters into the robot controller to complete the compensation of the robot parameters.

[0060] The intelligent precision diagnosis module of the robot internal diagnoser in the industrial robot system of the present invention monitors the precision degradation of the reduction gear. The high-precision three-dimensional attitude measurement model and the orthogonal vision terminal measurement model of the robot precision state measurement module in the robot internal controller monitor the overall precision degradation of the robot; the robot calibration software in the robot internal controller can identify the precision state of the industrial robot according to the high-precision three-dimensional attitude measurement model and perform precision calibration on it; the reduction gear degradation model of the intelligent precision diagnosis module estimates the service life and precision degradation of the robot reduction gear based on the robot operating conditions and operating time, and can target the precision degradation of key components.

[0061] The present invention aims to perform in-service precision diagnosis and calibration on the robot body through the intelligent precision diagnosis module, the robot calibration software, the high-precision three-dimensional attitude measurement model, and the orthogonal vision terminal measurement model. Ensure the stability and accuracy of high-precision industrial robots and promote the sustainable service of industrial robots.

Claims

1. A diagnostic and calibration method for an in-service industrial robot system with intelligent precision diagnosis and calibration. The in-service industrial robot system with intelligent precision diagnosis and calibration includes an industrial robot body, a multi-station laser tracker measurement device, a robot internal diagnoser equipped with an intelligent precision diagnosis module, and a robot internal controller equipped with robot calibration software and a robot precision status measurement module. The robot internal diagnoser and the robot internal controller are both installed inside the industrial robot body and are electrically connected to each other. The multi-station laser tracker measurement device includes several laser trackers, and each laser tracker is distributed around the industrial robot body. Each laser tracker and the robot internal controller are both electrically connected to an external computer device. It is characterized in that: The method includes the following steps: 1) When the industrial robot body of the industrial robot system is operating, the rotational speed and torque of the reducer of the industrial robot body are input into the reducer degradation model of the intelligent precision diagnosis module of the robot internal diagnoser in real time. The reducer degradation model outputs the positioning accuracy of the reducer of the industrial robot body in real time. 50% of the preset precision initial value is used as the positioning accuracy threshold. When the positioning accuracy of the reducer is lower than the positioning accuracy threshold, the robot internal diagnoser gives an alarm, and fault monitoring and on-line diagnosis are carried out on the reducer of the industrial robot body; 2) The end point pose of the robotic arm of the industrial robot body is input into the kernel principal component analysis fault detection model KPCA. The kernel principal component analysis fault detection model KPCA outputs the joint accuracy of the robotic arm of the industrial robot body. When the joint accuracy of the robotic arm is lower than the joint accuracy threshold, the robot internal diagnoser gives an alarm, and fault monitoring and on-line diagnosis are carried out on the robotic arm of the industrial robot body; 3) When the positioning accuracy of the reducer of the industrial robot body is lower than the positioning accuracy threshold or the joint accuracy of the robotic arm is lower than the joint accuracy threshold, the accuracy state of the industrial robot body is measured by the multi-station laser tracker measuring device and the high-precision three-dimensional attitude measurement model and orthogonal vision terminal measurement model of the robot accuracy state measurement module of the robot internal controller; 4) The accuracy state measurement result of the industrial robot body is calibrated and corrected by the robot calibration software to complete the accuracy calibration of the industrial robot body.

2. The diagnostic and calibration method of an industrial robot system for in-service precision intelligent diagnosis and calibration according to claim 1, characterized in that: In step 2), the end point pose of the robotic arm of the industrial robot body includes the horizontal angles, positions, speeds and torques of the joints of the robotic arm.

3. The diagnostic and calibration method of an in-service precision intelligent diagnostic and calibration industrial robot system according to claim 1, characterized in that: In step 3), the accuracy state of the industrial robot body is measured by the multi-station laser tracker measuring device and the high-precision three-dimensional attitude measurement model and orthogonal vision terminal measurement model of the robot accuracy state measurement module of the robot internal controller, specifically as follows: The industrial robot body is controlled to move repeatedly between two preset calibration points through the preset motion positions and motion postures. Using the orthogonal vision terminal measurement model of the robot internal controller, the real-time motion position and real-time motion posture of the industrial robot body during the repeated movement are obtained by using the orthogonal binocular vision test method and input into the external computer device; The industrial robot body is controlled to move repeatedly between two preset calibration points through the preset motion positions and motion postures. Using the high-precision three-dimensional attitude measurement model of the robot internal controller, the real-time motion position and real-time motion posture of the industrial robot body during the repeated movement are measured by each laser tracker of the multi-station laser tracker measuring device and input into the external computer device; The external computer device compares the obtained real-time motion posture and real-time motion position of the industrial robot body with the preset motion posture and motion position to determine whether they are the same. If they are the same, the displacement accuracy of the industrial robot body is not calibrated. If they are not the same, the accuracy state of the industrial robot is obtained based on the obtained real-time motion posture and real-time motion position of the industrial robot body, the preset motion posture and motion position, and the preset calibration data of two preset calibration points.

4. The diagnostic and calibration method of an in-service precision intelligent diagnostic and calibration industrial robot system according to claim 1, characterized in that: In step 4) described above, the robot calibration software calibrates and corrects the measurement result of the accuracy state of the industrial robot body. Specifically, based on the measurement result of the accuracy state of the industrial robot body, the robot calibration software uses the DH parameter geometric error identification and calibration method of the industrial robot. Through DH parameter calibration and zero position calibration, the tool coordinate system conversion from the TCP point at the end of the robot tool to the center of the robot end is calibrated at the same time. The DH parameters in the industrial robot body are identified and compensated to achieve error compensation and accuracy calibration of the robot.

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