A method of calibrating an industrial robot

Abstract

The present application belongs to the technical field of industrial robots, and particularly relates to an industrial robot calibration method; comprising the following steps: S1: calibrating the movement path planning of the robot through multiple groups of tests and constructing a calibration model; S2: starting multiple optical sensors, controlling the driving equipment installed on the robot at the processing device, moving through the planned first path, and acquiring the first coordinates at the intersection of the light generated by the optical sensors; moving through the planned second path, and acquiring the second coordinates at the intersection of the light generated by the second optical sensor; S3: comparing the first coordinates with the second coordinates, optimizing the target parameters and compensating the parameters with differences, recording the compensation parameters, and calibrating multiple times to obtain the industrial robot calibration method; during work, the error during the calibration of the industrial robot can be reduced in priority through multiple calibration tests, and the working steps are reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of industrial robots, and particularly relates to an industrial robot calibration method. BACKGROUND

[0002] An industrial robot is a mechanical device for mobile production through a multi-joint mechanical transmission device, and the industrial robot needs to be calibrated before production, so as to reduce the error in normal work.

[0003] At present, in the prior art, the industrial robot calibration method is usually composed of a moving guide rail, an optical sensor and a processing platform, and the calibration work can be performed after the optical sensor moves on the moving guide rail.

[0004] In use, after the optical sensor moves on the moving guide rail for calibration, the optical sensor needs to be disassembled from the moving guide rail, and the working steps are relatively complicated, thereby reducing the normal working efficiency of the industrial robot. SUMMARY

[0005] In order to make up for the deficiency of the prior art, solve the problem that the optical sensor needs to be disassembled from the moving guide rail after moving on the moving guide rail for calibration, and the working steps are relatively complicated, thereby reducing the normal working efficiency of the industrial robot, and therefore, the application provides an industrial robot calibration method.

[0006] The application solves the technical problem by adopting the technical scheme that the industrial robot calibration method comprises the following steps: S1, calibrating the moving path planning of the robot through multiple tests and constructing a calibration model; S2, starting multiple optical sensors, controlling the driving device installed on the robot at the processing device, moving through a planned first path, and obtaining a first coordinate at the intersection of the light generated by the optical sensor; moving through a planned second path, and obtaining a second coordinate at the intersection of the light generated by the second optical sensor; S3, comparing the first coordinate with the second coordinate, optimizing the target parameters and compensating the parameters with differences, recording the compensation parameters, and calibrating multiple times to obtain the industrial robot calibration method; through multiple calibration tests, the error of the industrial robot calibration can be reduced in priority, and the working steps are reduced.

[0007] Preferably, the side wall top end of the processing device is provided with a moving guide rail; the optical sensor moves on the processing device through the moving guide rail; and the working steps of the optical sensor during movement are reduced through the convenient moving mode.

[0008] Preferably, the optimization parameter in S3 is path moving time and turning number; by comparing multiple calibration tests, the moving path with shorter path execution time is selected, so as to reduce the time of industrial robot calibration.

[0009] Preferably, the first planning path in S1 is a curve trajectory; the second planning path in S1 is a polygon trajectory; by comparing the length and time of different path trajectories, the advantages and disadvantages of different paths can be obtained.

[0010] Preferably, the processing device in S1 comprises a processing platform; a plurality of first fixing columns are fixedly connected to the bottom of the processing platform; a plurality of first storage grooves are formed in the side wall of one side of the plurality of first fixing columns; a second fixing column is slidably connected to the inner side of the plurality of first storage grooves; a moving guide rail is fixedly connected to the end of the second fixing column away from the first storage groove; a second storage groove is formed in the side wall of one side of the plurality of first storage grooves; a first rotating column is rotatably connected to the inner side bottom of the second storage groove; a rotating plate is fixedly connected to the outer side wall of the first rotating column; a plurality of first springs are fixedly connected to the side wall of the rotating plate away from the first storage groove; the end of the first spring away from the rotating plate is fixedly connected to the side wall of the inner side of the second storage groove away from the first storage groove; the simplicity of disassembling the optical sensor slidably connected to the outer side of the moving guide rail is improved.

[0011] Preferably, a third storage groove is formed in the side wall of the side of the rotating plate close to the first storage groove; a third fixing column is slidably connected to the inner side of the third storage groove; a plurality of second springs are fixedly connected to the side wall of the side of the third fixing column close to the third storage groove; the end of the second spring away from the third fixing column is fixedly connected to the side wall of the inner side of the third storage groove away from the third fixing column; the situation that the stability of the optical sensor moving through the moving guide rail is poor is reduced.

[0012] Preferably, a first magnetic plate is fixedly connected to the outer side wall of the rotating plate; a second magnetic plate is fixedly connected to the side wall of the inner side of the second storage groove close to the moving guide rail; the stability of the rotating plate and the second fixing column rubbing each other is improved.

[0013] Preferably, a second rotating column is rotatably connected to the both side walls of the end of the third fixing column away from the third storage groove; the second rotating column reduces the situation that the second fixing column and the end of the third fixing column rub each other for a long time, resulting in serious wear.

[0014] The beneficial effects of the present application are:

[0015] 1. The industrial robot calibration method provided by the present application, the first spring is made of elastic material, the first spring pushes the rotating plate and the inner wall of the second fixed column to be more closely attached to each other, thereby improving the stability of the moving guide rail when it is fixed; when the moving guide rail is disassembled, the rotating plate is moved away from the first storage slot through the first rotating column, so that the rotating plate is separated from the inner side of the second fixed column, and the moving guide rail can be operated to be separated from the first fixed column; the overall device improves the simplicity of disassembling the moving guide rail; the overall device improves the simplicity of disassembling the optical sensor slidingly connected to the outside of the moving guide rail.

[0016] 2. The industrial robot calibration method provided by the present application, the second spring pushes the third fixed column to be more closely attached to the inner wall of the second fixed column; thereby improving the stability of the moving guide rail when it is fixed on the side wall of the first fixed column; reducing the occurrence of poor stability of the optical sensor when moving through the moving guide rail. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0018] Figure 1 The calibration method in the present application is shown in the schematic diagram;

[0019] Figure 2 The processing platform structure in the present application is shown in the schematic diagram;

[0020] Figure 3 The moving guide rail structure in the present application is shown in the schematic diagram;

[0021] Figure 4 The first storage slot structure in the present application is shown in the schematic diagram;

[0022] Figure 5 The structure of A in the present application is shown in the schematic diagram; Figure 4

[0023] Figure 6 The rotating plate structure in the present application is shown in the schematic diagram.

[0024] In the drawings: 1, processing platform; 11, first fixed column; 12, first storage slot; 14, moving guide rail; 15, second fixed column; 16, second storage slot; 17, first rotating column; 18, rotating plate; 19, first spring; 2, third storage slot; 21, second spring; 22, third fixed column; 3, first magnetic plate; 31, second magnetic plate; 4, second rotating column; 5, friction soft plate. DETAILED DESCRIPTION

[0025] ​With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0026] Please refer to Figure 1 The industrial robot calibration method shown in the figure, an industrial robot calibration method, characterized by comprising the following steps:

[0027] S1: calibrate the movement path planning of the robot through multiple tests and construct a calibration model;

[0028] S2: start multiple optical sensors, control the driving device installed on the robot to move at the processing device through planning a first path, and obtain a first coordinate at the intersection of the light generated by the optical sensor; move through planning a second path, and obtain a second coordinate at the intersection of the light generated by the second optical sensor;

[0029] S3: compare the first coordinate with the second coordinate, optimize the target parameters and compensate for the difference in parameters, record the compensation parameters, and calibrate multiple times to obtain an industrial robot calibration method; during work, multiple calibration tests can be used to reduce the error during calibration of the industrial robot and reduce the working steps.

[0030] Please refer to Figure 1 The top end of the side wall of the processing device in S2 is provided with a moving guide rail 14; the optical sensor moves on the processing device through the moving guide rail 14; during work, the moving method is convenient, thereby reducing the working steps during movement of the optical sensor.

[0031] Please refer to Figure 1 The optimization parameters in S3 are the path movement time and the number of turns; during work, by comparing multiple calibration tests, a moving path with shorter path execution time is selected, which can reduce the time for calibration of the industrial robot.

[0032] Please refer to Figure 1 The first planning path in S1 is a curved trajectory; the second planning path in S1 is a polygon trajectory; during work, by comparing the length and time of different path trajectories, the advantages and disadvantages of different paths can be obtained.

[0033] Please refer to Figures 2-6As shown, the machining device in S2 includes a machining platform 1; the bottom of the machining platform 1 is fixedly connected with a plurality of first fixing columns 11; the side wall of one side of the plurality of first fixing columns 11 is provided with a plurality of first storage grooves 12; the inner side of the plurality of first storage grooves 12 is slidably connected with a second fixing column 15; the end, away from the first storage groove 12, of the second fixing column 15 is fixedly connected with a moving guide rail 14; the side wall of one side of the plurality of first storage grooves 12 is provided with a second storage groove 16; the bottom of the inner side of the second storage groove 16 is rotatably connected with a first rotating column 17; the outer side wall of the first rotating column 17 is fixedly connected with a rotating plate 18; the side wall, away from the first storage groove 12, of the rotating plate 18 is fixedly connected with a plurality of first springs 19; the end, away from the rotating plate 18, of the first spring 19 is fixedly connected with the side wall, away from the first storage groove 12, of the inner side of the second storage groove 16; in working, the first spring 19 is of elastic material; when the moving guide rail 14 needs to be installed, the operation of the moving guide rail 14 drives the second fixing column 15 to enter the inner side of the first storage groove 12; the moving guide rail 14 extrudes the end, close to the first storage groove 12, of the rotating plate 18, so that the rotating plate 18 rotates to the direction of the second storage groove 16 through the first rotating column 17, and finally the end, close to the first storage groove 12, of the rotating plate 18 enters the inner side of the second fixing column 15, so as to complete the fixing work of the moving guide rail 14; because the first spring 19 is of elastic material itself, the first spring 19 pushes the rotating plate 18 to more closely adhere to the inner side wall of the second fixing column 15, so as to improve the stability during the fixing of the moving guide rail 14; when the moving guide rail 14 is disassembled, the operation of the rotating plate 18 moves to the direction, away from the first storage groove 12, through the first rotating column 17, so that the rotating plate 18 is separated from the inner side of the second fixing column 15, and then the moving guide rail 14 can be operated to be separated from the first fixing column 11; the overall device improves the simplicity during the disassembly of the moving guide rail 14; and the overall device improves the simplicity during the disassembly of the optical sensor slidably connected outside the moving guide rail 14.

[0034] As shown in the drawings, Figure 6 As shown, the side wall, close to the first storage groove 12, of the rotating plate 18 is provided with a third storage groove 2; the third storage groove 2 is slidably connected with a third fixing column 22; the third fixing column 22 is fixedly connected with a plurality of second springs 21 on the side wall, close to the third storage groove 2; the end, away from the third fixing column 22, of the second spring 21 is fixedly connected with the side wall, away from the third fixing column 22, of the inner side of the third storage groove 2; in working, the second spring 21 is of elastic material; the third fixing column 22, together with the inner side wall of the second fixing column 15, closely adheres to the rotating plate 18 close to the end of the first storage groove 12; because the plurality of second springs 21 are of elastic material, the second spring 21 pushes the third fixing column 22 to more closely adhere to the inner side wall of the second fixing column 15; so as to improve the stability when the moving guide rail 14 is fixed on the side wall of the first fixing column 11; and to reduce the situation that the stability of the optical sensor is poor when the optical sensor moves through the moving guide rail 14.

[0035] As shown in the drawings,Figure 5 As shown, the outer side wall of the rotating plate 18 is fixedly connected with the first magnetic plate 3; the inner side of the second storage groove 16 close to the side wall of the moving guide rail 14 is fixedly connected with the second magnetic plate 31; in working, the first magnetic plate 3 and the second magnetic plate 31 are both magnetic materials, the first magnetic plate 3 and the second magnetic plate 31 repel each other due to magnetic force, so that the rotating plate 18 close to one end of the first storage groove 12 is more closely attached to the inner side wall of the second fixed column 15; the stability of the rotating plate 18 and the second fixed column 15 when rubbing each other is improved.

[0036] As shown in Figure 5 As shown, the two side walls of the third fixed column 22 away from one end of the third storage groove 2 are rotationally connected with the second rotating column 4; in working, when the second fixed column 15 moves through the inner side of the first storage groove 12, the second fixed column 15 extrudes the end of the third fixed column 22 away from the rotating plate 18, and the second rotating column 4 rotates accordingly, which reduces the friction between the second fixed column 15 and the end of the third fixed column 22 for a long time, so that the serious wear is avoided.

[0037] As shown in Figure 6 As shown, the outer side wall of the second rotating column 4 is fixedly connected with a plurality of friction soft plates 5; in working, the friction soft plate 5 is elastic material, which improves the stability of the second rotating column 4 and the second fixed column 15 when they are attached for a long time; the working life of the second rotating column 4 is improved.

[0038] The working principle is that, during work, the error of the industrial robot during calibration can be reduced preferentially through multiple calibration tests, and the working steps are reduced; the working steps of the optical sensor during movement are reduced through the convenient movement mode; the path with shorter execution time is selected through comparison of multiple calibration tests, so that the time of the industrial robot during calibration is reduced; the advantages and disadvantages of different paths are obtained through comparison of the length and time of different path trajectories; the first spring 19 is made of elastic material, and when the moving guide rail 14 needs to be installed, the moving guide rail 14 drives the second fixed column 15 to enter the inside of the first storage slot 12; the moving guide rail 14 extrudes the end of the rotating plate 18 close to the first storage slot 12, so that the rotating plate 18 rotates to the direction of the second storage slot 16 through the first rotating column 17, and finally the end of the rotating plate 18 close to the first storage slot 12 enters the inside of the second fixed column 15, so that the fixing work of the moving guide rail 14 is completed; because the first spring 19 is made of elastic material, the first spring 19 pushes the rotating plate 18 to be more closely attached to the inner wall of the second fixed column 15, thereby improving the stability of the moving guide rail 14 during fixing; when the moving guide rail 14 is disassembled, the rotating plate 18 is operated to move away from the first storage slot 12 through the first rotating column 17, so that the rotating plate 18 is separated from the inside of the second fixed column 15, and then the moving guide rail 14 can be operated to be separated from the first fixed column 11; the overall device improves the simplicity of disassembling the moving guide rail 14; the overall device improves the simplicity of disassembling the optical sensor slidingly connected to the outside of the moving guide rail 14; the second spring 21 is made of elastic material, and the third fixed column 22 is close to the end of the rotating plate 18 close to the first storage slot 12 and is attached to the inner wall of the second fixed column 15; because the multiple second springs 21 are made of elastic material, the second spring 21 pushes the third fixed column 22 to be more closely attached to the inner wall of the second fixed column 15, thereby improving the stability of the moving guide rail 14 during fixing at the side wall of the first fixed column 11; the stability of the optical sensor during movement through the moving guide rail 14 is reduced; the first magnetic plate 3 and the second magnetic plate 31 are made of magnetic material, and the first magnetic plate 3 and the second magnetic plate 31 are repelled by each other, so that the end of the rotating plate 18 close to the first storage slot 12 is more closely attached to the inner wall of the second fixed column 15; the overall device improves the stability of the rotating plate 18 and the second fixed column 15 during mutual friction; when the second fixed column 15 moves through the inside of the first storage slot 12, the second fixed column 15 extrudes the end of the third fixed column 22 away from the rotating plate 18, the second rotating column 4 rotates, and the second rotating column 4 reduces the mutual friction between the second fixed column 15 and the end of the third fixed column 22 for a long time, thereby reducing the occurrence of serious wear.

[0039] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. An industrial robot calibration method, an industrial robot calibration method, characterized by: It comprises the following steps: S1: calibrate the movement path planning of the robot through multiple tests and construct a calibration model; S2: start multiple optical sensors, control the driving device installed on the robot to move at the processing device through the planned first path, and obtain the first coordinates at the intersection of the light rays generated by the optical sensors; move through the planned second path, and obtain the second coordinates at the intersection of the light rays generated by the second optical sensor; S3: compare the first coordinates with the second coordinates, optimize the target parameters and compensate for the parameters that differ, record the compensation parameters, and calibrate multiple times to obtain an industrial robot calibration method; The top of the side wall of the processing device in S2 is provided with a moving guide rail (14); the optical sensor moves on the processing device through the moving guide rail (14); The processing device in S2 comprises a processing platform (1); the bottom of the processing platform (1) is fixedly connected with multiple first fixed columns (11); the side wall of each of the multiple first fixed columns (11) is provided with multiple first storage grooves (12); the inner side of each of the multiple first storage grooves (12) is slidably connected with a second fixed column (15); the end of the second fixed column (15) away from the first storage groove (12) is fixedly connected with a moving guide rail (14); the side wall of each of the multiple first storage grooves (12) is provided with a second storage groove (16); the inner bottom of the second storage groove (16) is rotatably connected with a first rotating column (17); the outer side wall of the first rotating column (17) is fixedly connected with a rotating plate (18); the side wall of the rotating plate (18) away from the first storage groove (12) is fixedly connected with multiple first springs (19); the end of the first spring (19) away from the rotating plate (18) is fixedly connected with the inner side of the second storage groove (16) away from the side wall of the first storage groove (12); The side wall of the rotating plate (18) close to the first storage groove (12) is provided with a third storage groove (2); the inner side of the third storage groove (2) is slidably connected with a third fixed column (22); the side wall of the third fixed column (22) close to the third storage groove (2) is fixedly connected with multiple second springs (21); the end of the second spring (21) away from the third fixed column (22) is fixedly connected with the inner side of the third storage groove (2) away from the side wall of the third fixed column (22); The outer side wall of the rotating plate (18) is fixedly connected with a first magnetic plate (3); the inner side of the second storage groove (16) close to the moving guide rail (14) is fixedly connected with a second magnetic plate (31); The two side walls of the end of the third fixed column (22) away from the third storage groove (2) are rotatably connected with a second rotating column (4).

2. A method of calibrating an industrial robot according to claim 1, characterized in that: The optimization parameter in S3 is the path movement time and the number of turns.

3. The method of claim 1, wherein: The first planned path in S1 is a curved trajectory; the second planned path in S1 is a polygonal trajectory.

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