TCP calibration system, method, computer device and storage medium for ball tools

Abstract

The present invention relates to the field of robot technology, and in particular to a TCP calibration system, method, computer equipment and storage medium for a ball tool. In the system, a calibration driving device drives a ball tool to be detected to move, and a calibration control center controls an X-direction motion mechanism and a Y-direction motion mechanism to move, so that the X-direction motion mechanism, the Y-direction motion mechanism and a central sensing mechanism sense the ball tool and generate a trigger signal, and the generated trigger signal is transmitted to the calibration control center; the calibration control center obtains the TCP of the ball tool according to the trigger signal; in the method, the ball tool to be detected is controlled to contact with the X-direction motion mechanism, the Y-direction motion mechanism and the central sensing mechanism, and the TCP of the ball tool is calculated by a four-point method, so that high-precision calibration can be achieved, and the system has a simple structure, does not rely on external expensive equipment, has no special accuracy requirements for an assembly process, and can be expanded for automated calibration.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a TCP calibration system, method, computer equipment and storage medium for ball tools. Background Art

[0002] TCP (Tool Centre Point) is the part of the robot that contacts the workpiece during movement. When the robot performs a task, it interacts with the workpiece based on the tool centre point. When the operator operates the robot in manual or automatic mode, it is essentially operating the tool centre point of the robot.

[0003] There are two common robot TCP calibration methods:

[0004] The first method is to replace the robot's tool with an object with a clear tip through the "needle alignment" method, and ensure that the tip of the object coincides with the center point of the tool. The tip of the object is pointed to another object with a clear tip in space, and touches it from four directions, recording the position of the flange in four states, and using the four-point method to calculate the robot's TCP at this time. This method cannot ensure that the tip of the object completely coincides with the lowest point of the tool, and the calibration process mainly relies on manual operation by humans, so the accuracy is low;

[0005] The second method is to use external sensor-assisted calibration, such as visual sensors, laser trackers, laser displacement sensors and other equipment. The four-point method can be used, or the kinematic model of the manipulator can be combined to reverse the TCP. This method uses external sensors, requires additional sensors, is expensive, and has a complex algorithm.

[0006] The Chinese patent publication number is CN113799130A, and the publication date is December 17, 2021. The patent name is "A method for robot posture calibration in human-machine collaborative assembly". The invention patent application proposes a method of using a reference hole to calibrate the TCP of a ball tool, but the alignment relationship between the reference hole and the ball tool still needs to be ensured by the operator by "visual inspection", so it is difficult to achieve higher precision. Summary of the invention

[0007] In view of this, the invention aims to provide a TCP calibration system, method, computer device and storage medium for ball tools, wherein a calibration device with two-dimensional motion guides a calibration drive device to perform TCP calibration of ball tools, and a sensor device is combined to ensure that during the TCP calibration process, when the calibration drive device is in different postures, its tool end is in the same position, so that high-precision calibration can be achieved, and the system structure is simple, does not rely on external expensive equipment, has no special precision requirements for the assembly process, and can be expanded for automated calibration.

[0008] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0009] A TCP calibration system for ball tools comprises a calibration drive device, a TCP calibration device and a calibration control center; wherein the TCP calibration device comprises a calibration installation platform, an X-direction motion mechanism, a Y-direction motion mechanism and a central sensing mechanism; the X-direction motion mechanism, the Y-direction motion mechanism and the central sensing mechanism are arranged on the calibration installation platform; the central sensing mechanism is located at the intersection of the motion direction of the X-direction motion mechanism and the motion direction of the Y-direction motion mechanism; the calibration drive device drives the ball tool to be detected to move, the calibration control center controls the X-direction motion mechanism and the Y-direction motion mechanism to move, so that the X-direction motion mechanism, the Y-direction motion mechanism and the central sensing mechanism sense the ball tool and generate a trigger signal, and the generated trigger signal is transmitted to the calibration control center; the calibration control center obtains the TCP of the ball tool according to the trigger signal.

[0010] Furthermore, the X-direction motion mechanism includes an X-direction drive motor, an X-direction positive block, an X-direction negative block and an X-direction transmission assembly; wherein the X-direction drive motor and the X-direction transmission assembly are arranged on the calibration mounting table, and the X-direction positive block and the X-direction negative block are arranged on the X-direction transmission assembly; the calibration control center controls the X-direction drive motor so that the X-direction drive motor controls the X-direction transmission assembly to drive the X-direction positive block and the X-direction negative block to move synchronously toward each other along the X-direction transmission assembly; sensors are integrated in the X-direction positive block and the X-direction negative block, and when the ball tool contacts the X-direction positive block or the X-direction negative block, the X-direction positive block or the X-direction negative block generates a trigger signal; the trigger signal generated by the X-direction positive block and the X-direction negative block is transmitted to the calibration control center.

[0011] Furthermore, the Y-direction motion mechanism includes a Y-direction drive motor, a Y-direction positive block, a Y-direction negative block and a Y-direction transmission assembly; wherein, the Y-direction drive motor and the Y-direction transmission assembly are arranged on a calibration mounting table, and the Y-direction transmission assembly and the X-direction transmission assembly are perpendicular to each other, and the central sensing mechanism is arranged at the intersection of the Y-direction transmission assembly and the X-direction transmission assembly; the Y-direction positive block and the Y-direction negative block are arranged on the Y-direction transmission assembly; the calibration control center controls the Y-direction drive motor so that the Y-direction drive motor controls the Y-direction transmission assembly to drive the Y-direction positive block and the Y-direction negative block to move synchronously toward each other along the Y-direction transmission assembly; sensors are integrated in the Y-direction positive block and the Y-direction negative block, and when the ball tool contacts the Y-direction positive block or the Y-direction negative block, the Y-direction positive block or the Y-direction negative block generates a trigger signal; the trigger signal generated by the Y-direction positive block and the Y-direction negative block is transmitted to the calibration control center.

[0012] Furthermore, the center sensing mechanism includes a center contact sensor. When the ball tool contacts the center contact sensor, the center contact sensor generates a trigger signal and transmits the trigger signal to the calibration control center.

[0013] A TCP calibration method for a ball tool, applicable to the TCP calibration system for a ball tool provided by the present invention, comprises the following steps:

[0014] S1: placing the ball tool to be tested on the tool end of the calibration drive device, and placing the TCP calibration device within the motion range of the tool end of the calibration drive device;

[0015] S2: Control the calibration drive device to place the ball tool within the trigger range of the central sensing mechanism; control the X-direction motion mechanism and the Y-direction motion mechanism to contact the ball tool, and respectively generate trigger signals to adjust the position of the ball tool;

[0016] S3: Move the ball tool in a direction perpendicular to the calibration mounting platform so that the ball tool is at the signal triggering position of the central sensing mechanism, and record the posture of the current calibration drive device and the position of the ball tool;

[0017] S4: Adjust the posture of the calibration driving device, repeat steps S2-S3 three times, and record the posture of the calibration driving device after each adjustment, as well as the position of the corresponding ball tool;

[0018] S5: Calculate the TCP position of the ball tool according to all postures of the calibrated drive device and all positions of the ball tool.

[0019] Further, in step S2, the X-direction driving motor is controlled to make the X-direction positive block and the X-direction negative block contact the ball tool; and then the calibration driving device is controlled to drive the ball tool to move along the X-direction transmission assembly until the ball tool is simultaneously at the signal triggering position of the X-direction positive block and the X-direction negative block;

[0020] Then control the Y-axis drive motor to make the Y positive block and the Y negative block contact the ball tool, and then control the calibration drive device to drive the ball tool to move along the Y-axis transmission assembly until the ball tool is at the signal trigger position of the Y positive block and the Y negative block at the same time.

[0021] Further, in step S5:

[0022] According to the calibration, the j-th adjusted posture T of the driving device j and the current position P of the ball tool j , get the homogeneous transformation matrix of the spatial position of the TCP of the ball tool in the base coordinate system of the calibration drive device ,Right now:

[0023]

[0024] in, , For posture Tj The nine parameters in the rotation matrix are , , For position P j The three parameters in the matrix of ; represents the position coordinates of the TCP of the ball tool in the base coordinate system during the jth measurement; (x, y, z) represents the position of the TCP of the ball tool's center;

[0025] The center position of the ball tool does not change, that is:

[0026]

[0027] We get the system of equations:

[0028]

[0029] By solving the problem, we can get the position (x, y, z) of the TCP at the center of the ball, and then conclude that the TCP of the ball tool is at R just below the TCP at the center of the ball, where R is the radius of the ball tool.

[0030] A computer device comprising:

[0031] at least one processor; and a memory in communication with the at least one processor; wherein,

[0032] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the TCP calibration method for ball tools provided by the present invention.

[0033] A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the TCP calibration method for ball tools provided by the present invention.

[0034] Compared with the prior art, the invention can achieve the following beneficial effects:

[0035] The TCP calibration system for ball tools created by the present invention adopts an X-axis motion mechanism and a Y-axis motion mechanism to form a two-dimensional motion mechanism to guide the calibration drive device to perform TCP calibration of ball tools; cooperate with the central sensing mechanism to ensure that during the TCP calibration process, when the calibration drive device is in different postures, its tool end is in the same position. On this basis, the TCP calibration method for ball tools based on the four-point method can achieve high-precision calibration, and the system structure is simple, does not rely on external expensive equipment, has no special accuracy requirements for the assembly process, and can be expanded for automated calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0037] Figure 1 A schematic diagram of the structure of the TCP calibration system for ball tools according to an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the structure of a TCP calibration device according to an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the top view of the TCP calibration device according to an embodiment of the present invention;

[0040] Figure 4 A side structural diagram of a TCP calibration system according to an embodiment of the present invention;

[0041] Figure 5 A bottom-up structural diagram of a TCP calibration device according to an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of converting a disc tool into a ball tool according to an embodiment of the present invention;

[0043] Figure 7 A flowchart of the TCP calibration method for ball tools according to an embodiment of the present invention;

[0044] Figure 8 A schematic diagram of the structure of a computer device according to an embodiment of the present invention.

[0045] Description of reference numerals:

[0046] 1. Calibration drive device; 2. TCP calibration device; 3. Ball tool; 4. Center sensing mechanism; 5. Calibration device bottom plate; 6. Calibration device support column; 7. X-axis drive motor; 8. X positive block; 9. X negative block; 10. X-axis transmission assembly; 11. Y-axis drive motor; 12. Y positive block; 13. Y negative block; 14. Y-axis transmission assembly; 15. Disc processing tool; 16. Hemispherical tooling; 17. Computer equipment; 18. External equipment; 19. Processing unit; 20. Bus; 21. Network adapter; 22. Display; 23. (I / O) interface; 24. System memory; 25. Random access memory (RAM); 26. Cache memory; 27. Storage system; 28. Utility; 29. ​​Program module. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0048] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0050] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0051] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0052] like Figures 1 to 5As shown, the TCP calibration system for ball tools described in the embodiment of the invention includes a calibration drive device 1, a TCP calibration device 2 and a calibration control center. The TCP calibration device 2 includes a calibration installation platform, an X-axis motion mechanism, a Y-axis motion mechanism and a central sensing mechanism 4, and the X-axis motion mechanism, the Y-axis motion mechanism and the central sensing mechanism 4 are arranged on the calibration installation platform, and the central sensing mechanism 4 is located at the intersection of the motion direction of the X-axis motion mechanism and the motion direction of the Y-axis motion mechanism. The calibration drive device 1 drives the ball tool 3 to be detected to move, and the calibration control center controls the movement of the X-axis motion mechanism and the Y-axis motion mechanism, so that the X-axis motion mechanism, the Y-axis motion mechanism and the central sensing mechanism 4 sense the ball tool 3 and generate a trigger signal, and the generated trigger signal is transmitted to the calibration control center. The calibration control center obtains the TCP of the ball tool 3 according to the trigger signal.

[0053] The calibration drive device 1 can be a magnetorheological polishing machine tool (such as a conventional CNC machine tool) or a new magnetorheological polishing processing equipment such as an industrial robot. In an embodiment of the present invention, the calibration drive device 1 preferably adopts a robotic arm, and the ball tool 3 to be detected is arranged at the end flange of the tool end of the robotic arm. The center sensing mechanism 4 includes a center contact sensor. When the ball tool 3 contacts the center contact sensor, the center contact sensor generates a trigger signal. The center sensing mechanism 4 can be replaced with a distance sensor, an induction sensor, a force sensor, or other sensors that can generate signals based on positional relationships according to actual needs.

[0054] The calibration installation platform includes a calibration device base plate 5 and a calibration device support column 6. The four calibration device support columns 6 have the same height, one end of the four calibration device support columns 6 is fixed to the workbench by screws or clamps, and the other end of the four calibration device support columns 6 is fixedly connected to the bottom surface of the calibration device base plate 5 by screws, thereby supporting the calibration device base plate 5. The X-axis motion mechanism, the Y-axis motion mechanism and the center sensing mechanism are arranged on the calibration device base plate 5.

[0055] The X-direction motion mechanism includes an X-direction drive motor 7, an X-direction positive stopper 8, an X-direction negative stopper 9 and an X-direction transmission assembly 10. The X-direction drive motor 7 and the X-direction transmission assembly 10 are arranged on the base plate 5 of the calibration device, and the X-direction positive stopper 8 and the X-direction negative stopper 9 are arranged on the X-direction transmission assembly 10. The calibration control center controls the X-direction drive motor 7 so that the X-direction drive motor 7 controls the X-direction transmission assembly 10 to drive the X-direction positive stopper 8 and the X-direction negative stopper 9 to move synchronously in opposite directions along the X-direction transmission assembly 10. Sensors are integrated in the X-direction positive stopper 8 and the X-direction negative stopper 9. When the ball tool 3 contacts the X-direction positive stopper 8 or the X-direction negative stopper 9, the X-direction positive stopper 8 or the X-direction negative stopper 9 generates a trigger signal and transmits the trigger signal to the calibration control center.

[0056] In the embodiment of the present invention, the X-axis driving motor 7 preferably adopts a stepping motor and is fixed on the calibration device bottom plate 5, and the X-axis transmission assembly 10 preferably adopts a lead screw and is fixed on the bottom surface of the calibration device bottom plate 5. At the same time, a sliding groove matching the X-axis transmission assembly 10 is provided on the calibration device bottom plate 5. The X-positive block 8 and the X-negative block 9 are located in the sliding groove and are respectively fixed on two nuts matching the lead screw by screws, so that the X-axis transmission assembly 10 drives the X-positive block 8 and the X-negative block 9 to move in the sliding groove. The sensors integrated in the X-positive block 8 and the X-negative block 9 can be distance sensors, inductive sensors, force sensors and other sensors that can generate signals according to positional relationships. In the embodiment of the present invention, a contact switch is preferably used. When an object contacts the block, the sensors in the X-positive block 8 and the X-negative block 9 will send a trigger signal.

[0057] The Y-direction motion mechanism includes a Y-direction drive motor 11, a Y-direction positive stopper 12, a Y-direction negative stopper 13 and a Y-direction transmission assembly 14. The Y-direction drive motor 11 and the Y-direction transmission assembly 14 are arranged on the base plate 5 of the calibration device, and the Y-direction transmission assembly 14 is perpendicular to the X-direction transmission assembly 10. The central sensing mechanism 4 is arranged at the intersection of the X-direction transmission assembly 10 and the Y-direction transmission assembly 14. The Y-direction positive stopper 12 and the Y-direction negative stopper 13 are arranged on the Y-direction transmission assembly 14, and the calibration control center controls the Y-direction drive motor 11 so that the Y-direction drive motor 11 controls the Y-direction transmission assembly 14 to drive the Y-direction positive stopper 12 and the Y-direction negative stopper 13 to move synchronously toward each other along the Y-direction transmission assembly 14. Sensors are integrated in the Y positive stopper 12 and the Y negative stopper 13. When the ball tool contacts the Y positive stopper 12 or the Y negative stopper 13, the Y positive stopper 12 or the Y negative stopper 13 generates a trigger signal and transmits the trigger signal to the calibration control center.

[0058] In the embodiment of the present invention, the Y-axis driving motor 11 is preferably fixed on the base plate 5 of the calibration device by a stepping motor, and the Y-axis transmission assembly 14 is preferably fixed on the bottom surface of the base plate 5 of the calibration device by a lead screw. At the same time, a sliding groove matching the Y-axis transmission assembly 14 is provided on the base plate 5 of the calibration device. The Y positive block 12 and the Y negative block 13 are respectively fixed on two nuts matching the lead screw by screws, so that the Y-axis transmission assembly 14 drives the Y positive block 12 and the Y negative block 13 to move in the sliding groove. The sensors integrated in the Y positive block 12 and the Y negative block 13 can be distance sensors, induction sensors, force sensors and other sensors that can generate signals according to positional relationships. In the embodiment of the present invention, a contact switch is preferably used. When an object contacts the block, the sensors in the Y positive block 12 and the Y negative block 13 will send a trigger signal.

[0059] In the embodiment of the present invention, the central sensing mechanism 4 is installed at the intersection of two sliding grooves on the bottom plate 5 of the calibration device, and is located at the midpoint of the X-axis transmission component 10 and the Y-axis transmission component 14.

[0060] The signal triggering positions of the central sensing mechanism 4, the X positive stopper 8, the X negative stopper 9, the Y positive stopper 12 and the Y negative stopper 13 are critical positions where the sensor just sends out a triggering signal when the object contacts the sensor.

[0061] When TCP calibration is required for tools of other shapes, the tool to be calibrated is mounted on the tool end of the calibration drive device 1, and then the hemispherical fixture 16 is fixedly mounted on the tool to be calibrated. Figure 6 As shown, the disc processing tool 15 is mounted on the end flange of the tool end of the calibration drive device 1 , and then the hemispherical tooling 16 is fixedly mounted on the disc processing tool 15 .

[0062] like Figure 7 As shown, the TCP calibration method of the ball tool described in the embodiment of the invention is applicable to the TCP calibration system of the ball tool described in the embodiment of the invention, combined with Figure 1~Figure 5 , including the following steps:

[0063] S1: The ball tool 3 to be tested is set at the tool end of the calibration drive device 1 , and the TCP calibration device 2 is set on the work surface and within the motion range of the tool end of the calibration drive device 1 .

[0064] S2: Control the calibration drive device 1 to make the ball tool 3 within the triggering range of the center sensing mechanism 4. Control the X-direction motion mechanism and the Y-direction motion mechanism to contact the ball tool 3 and adjust the position of the ball tool 3.

[0065] In step S2, the position of the ball tool 3 is roughly determined by the central sensing mechanism 4, and the X positive stopper 8 and the X negative stopper 9 are initially located at the two ends of the X-direction transmission assembly 10, respectively; the Y positive stopper 12 and the Y negative stopper 13 are initially located at the two ends of the Y-direction transmission assembly 14, respectively.

[0066] The distances of each movement of the X positive block 8 and the X negative block 9 are the same. Since the ball tool 3 will not be completely at the midpoint of the X-direction transmission assembly 10, it will definitely hit the X positive block 8 or the X negative block 9 first. If it hits the X positive block 8 first, the ball tool 3 will move in the negative direction. If it hits the X negative block 9 first, the ball tool 3 will move in the positive direction. During the movement, the positions of the ball tool 3, the X positive block 8, and the X negative block 9 are constantly adjusted until the ball tool 3 is at the signal triggering position of the X positive block 8 and the X negative block 9 at the same time. At this time, the distance between the X positive block 8 and the X negative block 9 is the diameter of the ball tool 3, and the ball center of the ball tool 3 is directly above the midpoint of the X-direction transmission assembly 10.

[0067] Then control the Y-direction drive motor 11 to make the Y-direction positive block 12 and the Y-direction negative block 13 contact the ball tool 3. Since the ball tool will not be completely at the midpoint of the Y-direction transmission assembly 14, when the sensor in the Y-direction positive block 12 or the Y-direction negative block 13 is triggered, it is necessary to control the calibration drive device 1 to drive the ball tool 3 to move along the Y-direction transmission assembly 14 until the ball tool 3 is at the signal triggering position of the Y-direction positive block 12 and the Y-direction negative block 13 at the same time, and at this time, the distance between the Y-direction positive block 12 and the Y-direction negative block 13 is the diameter of the ball tool 3.

[0068] S3: Move the ball tool 3 in a direction perpendicular to the base plate 5 of the calibration device so that the ball tool 3 is at the signal triggering position of the central sensing mechanism 4, and record the posture of the current calibration drive device 1 and the position of the ball tool 3.

[0069] S4: Adjust the posture of the calibration drive device 1, and repeat steps S2-S3 three times, recording the posture of the calibration drive device 1 after adjustment each time, and the corresponding position of the ball tool 3.

[0070] S5: Calculate the TCP position of the ball tool 3 based on all the postures of the calibrated drive device 1 and all the positions of the ball tool 3.

[0071] In step S5, the j-th adjusted posture T of the driving device 1 is calibrated. j and the current position P of the ball tool 3 j , the homogeneous transformation matrix of the spatial position of the TCP of the ball tool 3 in the base coordinate system of the calibration drive device 1 is obtained ,Right now:

[0072]

[0073] in, , For posture T j The nine parameters in the rotation matrix are , , For position P j The three parameters in the matrix of ; represents the position coordinates of the TCP of the ball tool 3 in the base coordinate system during the jth measurement; (x, y, z) represents the TCP position of the center of the ball tool 3.

[0074] In the process of adjusting the calibration drive device 1 to different postures, the center position of the ball tool 3 does not change, so:

[0075] ;

[0076] We get the system of equations:

[0077]

[0078] The entire set of equations consists of 3×(4-1)=9 equations, so the least squares method can be used to solve the set of equations to obtain the TCP position (x, y, z) of the sphere center, and then it can be concluded that the TCP of the spherical tool 3 is at R directly below the TCP of the sphere center, where R is the radius of the spherical tool 3.

[0079] Accordingly, according to an embodiment of the present invention, the present invention also provides a computer device, a readable storage medium and a computer program product.

[0080] Figure 8 It is a structural schematic diagram of a computer device 17 provided in an embodiment of the present invention. Figure 8 A block diagram of an exemplary computer device 17 suitable for use in implementing embodiments of the present invention is shown. Figure 8 The computer device 17 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0081] like Figure 8 As shown, computer device 17 is in the form of a general-purpose computing device. Computer device 17 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0082] Components of the computer device 17 may include, but are not limited to, one or more processors or processing units 19, a system memory 24, and a bus 20 that connects various system components (including the system memory 24 and the processing unit 19).

[0083] Bus 20 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0084] The computer device 17 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 17, including volatile and non-volatile media, removable and non-removable media.

[0085] The system memory 24 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 25 and / or cache memory 26. The computer device 17 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 27 may be used to read and write non-removable, non-volatile magnetic media ( Figure 8 not shown, usually called a "hard drive"). Although Figure 8 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 20 via one or more data medium interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0086] A program / utility 28 having a set (at least one) of program modules 29 may be stored in, for example, a memory, such program modules 29 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may include an implementation of a network environment. The program modules 29 generally perform the functions and / or methods of the embodiments described herein.

[0087] The computer device 17 may also communicate with one or more external devices 18 (e.g., keyboards, pointing devices, displays 22, etc.), may communicate with one or more devices that enable a user to interact with the computer device 17, and / or may communicate with any device that enables the computer device 17 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 23. Furthermore, the computer device 17 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 21. As shown, the network adapter 21 communicates with other modules of the computer device 17 via a bus 20. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computer device 17, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0088] The processing unit 19 executes various functional applications and data processing by running the programs stored in the system memory 24, such as implementing the TCP calibration method for ball tools provided in the embodiment of the present invention.

[0089] An embodiment of the present invention also provides a non-transitory computer-readable storage medium storing computer instructions, on which a computer program is stored, wherein when the program is executed by a processor, the TCP calibration method of the ball tool provided in all the inventive embodiments of the present application is implemented.

[0090] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with 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), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, an apparatus, or a device.

[0091] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0092] The program code included in the computer-readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages ​​such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer by any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect to the Internet).

[0093] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the TCP calibration method for ball tools described above when executed by a processor.

[0094] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0095] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A TCP calibration system for ball tools, characterized in that: It comprises a calibration drive device, a TCP calibration device and a calibration control center; wherein the TCP calibration device comprises a calibration installation platform, an X-direction motion mechanism, a Y-direction motion mechanism and a central sensing mechanism; the X-direction motion mechanism, the Y-direction motion mechanism and the central sensing mechanism are arranged on the calibration installation platform; the central sensing mechanism is located at the intersection of the motion direction of the X-direction motion mechanism and the motion direction of the Y-direction motion mechanism; the calibration drive device drives the ball tool to be detected to move, and the calibration control center controls the movement of the X-direction motion mechanism and the Y-direction motion mechanism, so that the X-direction motion mechanism, the Y-direction motion mechanism and the central sensing mechanism sense the ball tool and generate a trigger signal, and the generated trigger signal is transmitted to the calibration control center; the calibration control center obtains the TCP of the ball tool according to the trigger signal.

2. The TCP calibration system for ball tools according to claim 1, characterized in that: The X-direction motion mechanism comprises an X-direction drive motor, an X-direction positive stopper, an X-direction negative stopper and an X-direction transmission assembly; wherein, the X-direction drive motor and the X-direction transmission assembly are arranged on the calibration mounting table, and the X-direction positive stopper and the X-direction negative stopper are arranged on the X-direction transmission assembly; the calibration control center controls the X-direction drive motor so that the X-direction drive motor controls the X-direction transmission assembly to drive the X-direction positive stopper and the X-direction negative stopper to move synchronously toward each other along the X-direction transmission assembly; sensors are integrated in the X-direction positive stopper and the X-direction negative stopper, and when the ball tool contacts the X-direction positive stopper or the X-direction negative stopper, the X-direction positive stopper or the X-direction negative stopper generates a trigger signal; the trigger signal generated by the X-direction positive stopper and the X-direction negative stopper is transmitted to the calibration control center.

3. The TCP calibration system for ball tools according to claim 2, characterized in that: The Y-direction motion mechanism comprises a Y-direction drive motor, a Y-direction positive block, a Y-direction negative block and a Y-direction transmission assembly; wherein the Y-direction drive motor and the Y-direction transmission assembly are arranged on the calibration mounting table, and the Y-direction transmission assembly and the X-direction transmission assembly are perpendicular to each other; the central sensing mechanism is arranged at the intersection of the Y-direction transmission assembly and the X-direction transmission assembly; the Y-direction positive block and the Y-direction negative block are arranged on the Y-direction transmission assembly; the calibration control center controls the Y-direction drive motor so that the Y-direction drive motor controls the Y-direction transmission assembly to drive the Y-direction positive block and the Y-direction negative block to move synchronously toward each other along the Y-direction transmission assembly; sensors are integrated in the Y-direction positive block and the Y-direction negative block, and when the ball tool contacts the Y-direction positive block or the Y-direction negative block, the Y-direction positive block or the Y-direction negative block generates a trigger signal; the trigger signal generated by the Y-direction positive block and the Y-direction negative block is transmitted to the calibration control center.

4. The TCP calibration system for ball tools according to claim 3, characterized in that: The center sensing mechanism includes a center contact sensor. When the ball tool contacts the center contact sensor, the center contact sensor generates a trigger signal and transmits the trigger signal to the calibration control center.

5. A TCP calibration method for ball tools, applicable to the TCP calibration system for ball tools as claimed in claim 4, characterized in that: The following steps are involved: S1: placing the ball tool to be tested on the tool end of the calibration drive device, and placing the TCP calibration device within the motion range of the tool end of the calibration drive device; S2: Control the calibration drive device to place the ball tool within the trigger range of the central sensing mechanism; control the X-direction motion mechanism and the Y-direction motion mechanism to contact the ball tool, and respectively generate trigger signals to adjust the position of the ball tool; S3: moving the ball tool in a direction perpendicular to the calibration mounting platform so that the ball tool is located at the signal triggering position of the central sensing mechanism, and recording the current posture of the calibration drive device and the position of the ball tool; S4: adjusting the posture of the calibration drive device, repeating steps S2 to S3 three times, and recording the posture of the calibration drive device after adjustment each time, and the position of the corresponding ball tool; S5: Calculate the TCP position of the ball tool according to all postures of the calibration drive device and all positions of the ball tool.

6. The TCP calibration method for ball tools according to claim 5, characterized in that: In step S2, the X-direction driving motor is controlled to make the X-direction positive block and the X-direction negative block contact the ball tool; then the calibration driving device is controlled to drive the ball tool to move along the X-direction transmission assembly until the ball tool is simultaneously at the signal triggering position of the X-direction positive block and the X-direction negative block; Then control the Y-direction drive motor to make the Y-direction positive block and the Y-direction negative block contact with the ball tool; then control the calibration drive device to drive the ball tool to move along the Y-direction transmission assembly until the ball tool is simultaneously at the signal trigger position of the Y-direction positive block and the Y-direction negative block.

7. The TCP calibration method for ball tools according to claim 5, characterized in that: In step S5: According to the calibration driving device, the posture T after the jth adjustment is j and the current position P of the ball tool j , obtain the homogeneous transformation matrix of the spatial position of the TCP of the ball tool in the base coordinate system of the calibration drive device ,Right now: in, , , , , , , , , , For the posture T j The nine parameters in the rotation matrix are , , For the position P j The three parameters in the matrix of ; represents the position coordinates of the TCP of the ball tool in the base coordinate system during the jth measurement; (x, y, z) represents the position of the TCP of the ball center of the ball tool; The center position of the ball tool does not change, that is: ； We get the system of equations: The solution is performed to obtain the position (x, y, z) of the TCP of the sphere center, and then it is concluded that the TCP of the spherical tool is at R directly below the TCP of the sphere center, where R is the radius of the spherical tool.

8. A computer device, characterized in that: include: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the TCP calibration method for a ball tool according to any one of claims 5 to 7.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable the computer to execute the TCP calibration method for a ball tool according to any one of claims 5 to 7.

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