Robot tool coordinate system calibration device and method

Abstract

The invention provides a robot tool coordinate system calibration device and method. The robot tool coordinate system calibration device comprises a control device configured to be in communication connection with a robot; the laser device comprises a laser emitting module and a laser receiving module, the laser emitting module and the laser receiving module are both in communication connection with the control device, the laser emitting module is constructed to be capable of forming a cross-shaped laser beam, and the laser receiving module can receive the cross-shaped laser beam; the two first laser beams forming the cross-shaped laser beam are perpendicular to each other. According to the technical scheme, the robot tool coordinate system calibration device can solve the problems that in the prior art, the calibration mode, the calibration precision and the calibration efficiency are low.

Description

Technical Field

[0001] The present invention relates to the technical field of robot calibration, and in particular to a robot tool coordinate system calibration device and method. Background Art

[0002] In the field of modern industrial automation and intelligent manufacturing, robots play an important role. Their precise motion control and efficient working ability are the key to realizing production line automation and improving manufacturing precision. The calibration of the robot tool coordinate system, as the cornerstone to ensure the accuracy of robot operation, has a decisive influence on the performance of industrial robots due to its accuracy and efficiency.

[0003] The traditional robot tool coordinate system calibration method mainly relies on manual operation. The operator needs to use hand-eye coordination, measurement tools or reference points to determine the precise position and direction of the robot end effector in space. This method is not only time-consuming and labor-intensive, but also difficult to achieve high-precision calibration requirements due to factors such as human visual errors and operational errors. The limitations of manual calibration are more prominent, especially in situations where tools need to be changed frequently or micron-level accuracy is required. With the continuous expansion of the application scope of industrial robots, especially in operations with extremely high precision requirements such as precision assembly, high-precision machining, and complex trajectory welding, relying solely on manual calibration of tool coordinate systems can no longer meet the development needs of modern manufacturing technology. The low efficiency and unstable accuracy of manual calibration have become bottlenecks that limit the level of robot automation and production efficiency. Summary of the invention

[0004] The main purpose of the present invention is to provide a robot tool coordinate system calibration device and method, which can solve the problems of low calibration accuracy and low calibration efficiency in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a robot tool coordinate system calibration device is provided, comprising: a control device, which is constructed to be communicated with the robot; a laser device, the laser device comprising a laser emitting module and a laser receiving module, both of which are communicated with the control device, the laser emitting module is constructed to be able to form a cross-shaped laser beam, and the laser receiving module is able to receive a cross-shaped laser beam, and the two first laser beams forming the cross-shaped laser beam are perpendicular to each other.

[0006] Further, the laser emitting module is constructed to be able to form a peripheral laser beam, the cross-shaped laser beam is located in the area surrounded by the peripheral laser beam, and the laser receiving module is able to receive the peripheral laser beam.

[0007] Further, the peripheral laser beam is in the shape of a rhombus or a square, the peripheral laser beam includes four second laser beams, and the cross-shaped laser beam forms a diagonal line of the rhombus or the square.

[0008] Furthermore, the laser emitting module includes two first laser emitting units, and the laser receiving module includes two first laser receiving units. The two first laser emitting units are arranged in a one-to-one correspondence with the two first laser receiving units. The first laser receiving unit is used to receive the first laser beam emitted by the corresponding first laser emitting unit. The first laser beams emitted by the two first laser emitting units form a cross-shaped laser beam.

[0009] Furthermore, the laser emitting module also includes four second laser emitting units, and the laser receiving module also includes four second laser receiving units. The four second laser emitting units are arranged in a one-to-one correspondence with the four second laser receiving units. The second laser receiving units are used to receive the second laser beams emitted by the corresponding second laser emitting units. The second laser beams emitted by the four second laser emitting units form a peripheral laser beam.

[0010] Furthermore, the laser device also includes four laser components, which are arranged at intervals in the circumferential direction, two first laser emitting parts are respectively arranged on two of the laser components, and two first laser receiving parts are respectively arranged on the remaining two laser components to form a cross-shaped laser beam, and four second laser emitting parts and four second laser receiving parts are arranged on the four laser components to form a peripheral laser beam.

[0011] Furthermore, the laser assembly includes an arc-shaped mounting seat, the end faces of both ends of the arc-shaped mounting seat are perpendicular to each other, and a single end face of the arc-shaped mounting seat is used to mount the second laser emitting unit or the second laser receiving unit.

[0012] According to another aspect of the present invention, a robot tool coordinate system calibration method is provided, using the robot tool coordinate system calibration device as described above, and the calibration method includes: S1: moving the robot tool until the end of the robot tool contacts a first laser beam in a cross-shaped laser beam, and calibrating the position of the first coordinate axis; S2: moving the robot tool until the end of the robot tool contacts the intersection of the two first laser beams forming the cross-shaped laser beam, and recording the coordinates of the first calibration point; S3: changing the posture and position of the robot tool, repeating the above operations of S1 and S2, and recording the coordinates of the second calibration point; S4: changing the posture and position of the robot tool, repeating the above operations of S1 and S2, and recording the coordinates of the third calibration point.

[0013] Furthermore, after the step of calibrating the position of the first coordinate axis, the step includes: moving the robot tool until the end of the robot tool contacts another first laser beam forming a cross-shaped laser beam, and calibrating the position of the second coordinate axis.

[0014] Further, the step of moving the robot tool until the end of the robot tool contacts the intersection of the two first laser beams forming the cross laser beam includes: moving the robot tool along the second coordinate axis until the end of the robot tool contacts the intersection of the two first laser beams forming the cross laser beam.

[0015] Furthermore, the step of moving the robot tool until the end of the robot tool contacts the intersection of the two first laser beams forming the cross-shaped laser beam includes: causing the robot tool to make an arc motion until it contacts the other first laser beam in the cross-shaped laser beam to confirm the position of the intersection of the two first laser beams forming the cross-shaped laser beam; and then, moving the robot tool toward the position of the intersection of the two first laser beams forming the cross-shaped laser beam until it contacts the intersection of the two first laser beams forming the cross-shaped laser beam.

[0016] Furthermore, the step of moving the robot tool until the end of the robot tool contacts the intersection of the two first laser beams forming the cross-shaped laser beam includes: moving the robot tool until the robot tool contacts the intersection of the two first laser beams forming the cross-shaped laser beam; then moving the robot tool upward in a vertical direction until the end of the robot tool leaves the intersection of the two first laser beams forming the cross-shaped laser beam; stopping the movement of the robot tool and recording the coordinates of the first calibration point.

[0017] Furthermore, before the step of controlling the robot tool to move until the end of the robot tool contacts a first laser beam in the cross-shaped laser beam, the step includes: moving the robot tool into an area surrounded by the peripheral laser beams.

[0018] The technical solution of the present invention is applied, and a control device and a laser device are provided. The laser device includes a laser emitting module and a laser receiving module. Both the laser emitting module and the laser receiving module are communicatively connected to the control device. The laser emitting module is constructed to be able to form a cross-shaped laser beam. The process of obtaining the calibration point using the robot tool coordinate system calibration device of the present application is as follows: the laser emitting module is turned on to form a cross-shaped laser beam, and the laser receiving module is in a standby state, ready to receive changes in the laser signal. When the robot starts the automated calibration process, under the instruction of the control device, the robot tool end is moved to the position of the cross-shaped laser beam. At this time, the robot tool end is guided to move to the position of the X-axis or the Y-axis through the control device. During the calibration process, the robot tool end can first contact with the first laser beam as the X-axis or the first laser beam as the Y-axis. Assuming that the end of the robot tool moves under the control of the control device until it contacts the first laser beam as the X-axis, it means that the current robot tool has reached the X-axis, the laser receiving module detects the change of the laser signal, and quickly feeds back the signal to the control device through the communication link. After the control device receives the signal, the robot completes the calibration of the X-axis position, and then under the control of the control device, the end of the robot tool moves to contact the first laser beam as the Y-axis, which means that the current robot tool has reached the X-axis, the laser receiving module detects the change of the laser signal, and quickly feeds back the signal to the control device through the communication link. After receiving the signal, the control device allows the robot to complete the calibration of the X-axis position, and then moves the robot tool along the X-axis until the end of the robot tool contacts the intersection of the two first laser beams. At this time, it means that the current robot tool has After reaching the origin, the laser receiving module detects the change of the laser signal and quickly feeds the signal back to the control device through the communication link. After the control device receives the signal, the control device records the joint angle of the robot and the coordinates of the end of the robot tool at this time as the data of the first calibration point. In order to obtain the second calibration point, the robot changes the posture and position of the robot tool under the guidance of the control device to ensure that the end of the robot tool is different from the position and posture of the origin, and then repeats the above process until the end of the robot tool touches the intersection of the two first laser beams again at the same time. The control device records the joint angle of the robot and the coordinates of the end of the robot tool at this time as the data of the second calibration point. Finally, the robot adjusts the posture and position of the robot tool again to ensure that there is a difference with the posture and position of the previous two times, and then repeats the above process to obtain the third calibration point. As can be seen from the above, the entire calibration process makes full use of the high-precision detection capabilities of the laser emitting module and the laser receiving module, combined with the intelligent control and data processing capabilities of the control device, it can realize the automatic calibration of the robot tool coordinate system, reduce manual intervention, and can improve the accuracy of calibration and the efficiency of calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 A schematic structural diagram of a robot tool coordinate system calibration device according to an embodiment of the present invention is shown;

[0021] Figure 2 Shows Figure 1 The enlarged view of point A in the middle;

[0022] Figure 3 A flow chart of the robot tool coordinate system calibration method of the present invention is shown.

[0023] The above drawings include the following reference numerals:

[0024] 10. Control device; 20. Robot; 21. Robot tool; 30. Laser device; 31. First laser emitting unit; 33. Second laser emitting unit; 34. Second laser receiving unit; 35. Laser assembly; 36. Arc mounting seat; 37. Roller; 38. Base; 40. Cross-shaped laser beam; 41. First laser beam; 50. Peripheral laser beam; 51. Second laser beam; 60. First communication line; 70. Second communication line. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] See also Figure 1 and Figure 2 As shown, the present invention provides a robot tool coordinate system calibration device, which includes: a control device 10, which is constructed to communicate with a robot 20; a laser device 30, which includes a laser emitting module and a laser receiving module, both of which are communicatively connected to the control device 10, the laser emitting module is constructed to form a cross-shaped laser beam 40, and the laser receiving module can receive the cross-shaped laser beam 40, and the two first laser beams 41 forming the cross-shaped laser beam 40 are perpendicular to each other.

[0027] In this embodiment, the control device 10 is connected to the robot 20 for communication, and is used to send control instructions to the robot 20, instructing the robot 20 to move to a specific position and posture for calibration. At the same time, the control device 10 can receive status information from the robot 20, including the current position, posture data, and joint angles, etc., for real-time monitoring of the motion state and position of the robot 20 to ensure the accuracy of the calibration process. The laser emission module and the laser receiving module are both connected to the control device 10 for communication, so that the control device 10 can not only control the emission of the laser, but also receive the signal changes detected by the laser receiving module in real time. When the end of the robot tool 21 touches or approaches the laser beam, the laser receiving module will detect the intensity change or interruption of the laser signal, and immediately send information to the control device 10 through the communication connection. The robot tool 21 is installed at the end of the robot 20 (such as a robotic arm).

[0028] The robot tool coordinate system calibration device of the present application is used to obtain the calibration points of the tool coordinate system. The laser emission module can form a cross-shaped laser beam 40. The two first laser beams 41 forming the cross-shaped laser beam 40 are respectively used as the X-axis and Y-axis of the robot tool coordinate system, and the intersection of the two first laser beams 41 is used as the origin.

[0029] Specifically, the process of obtaining the calibration point using the robot tool coordinate system calibration device of the present application is as follows: the laser emission module is turned on to form a cross-shaped laser beam 40, and the laser receiving module is in standby state, ready to receive changes in the laser signal. When the robot 20 starts the automated calibration process, under the instruction of the control device 10, the end of the robot tool 21 is moved to the position of the cross-shaped laser beam 40. At this time, the control device 10 is used to guide the end of the robot tool 21 to move to the position of the X-axis or the Y-axis. During the calibration process, the end of the robot tool 21 can first contact the first laser beam 41 as the X-axis or the first laser beam 41 as the Y-axis. Assuming that the end of the robot tool 21 moves under the control of the control device 10 to contact with the first laser beam 41 as the X-axis, it means that the current robot tool 21 has reached the X-axis, the laser receiving module detects the change of the laser signal, and quickly feeds back the signal to the control device 10 through the communication link. After the control device 10 receives the signal, the robot 20 completes the calibration of the X-axis position, and then under the control of the control device 10, the end of the robot tool 21 moves to contact with the first laser beam 41 as the Y-axis, indicating that the current robot tool 21 has reached the X-axis, the laser receiving module detects the change of the laser signal, and quickly feeds back the signal to the control device 10 through the communication link. After receiving the signal, the control device 10 allows the robot 20 to complete the calibration of the X-axis position, and then moves the robot tool 21 along the X-axis until the end of the robot tool 21 contacts the intersection of the two first laser beams 41. At this time, it means that the current robot tool 2 1 has reached the origin, the laser receiving module detects the change of the laser signal, and quickly feeds back the signal to the control device 10 through the communication link. After the control device 10 receives the signal, the control device 10 records the joint angle of the robot 20 and the coordinates of the end of the robot tool 21 at this time as the data of the first calibration point. In order to obtain the second calibration point, the robot 20 changes the posture and position of the robot tool 21 under the guidance of the control device 10 to ensure that the end of the robot tool 21 is different from the position and posture of the origin, and then repeats the above process until the end of the robot tool 21 touches the intersection of the two first laser beams 41 again at the same time. The control device 10 records the joint angle of the robot 20 and the coordinates of the end of the robot tool 21 at this time as the data of the second calibration point. Finally, the robot 20 adjusts the posture and position of the robot tool 21 again to ensure that there is a difference with the posture and position of the previous two times, and then repeats the above process to obtain the third calibration point. After obtaining the data of the three calibration points, the control device 10 can perform data processing, calculate the translation and rotation parameters of the robot tool coordinate system based on the above calibration points, and finally determine the tool coordinate system of the robot 20.From the above, it can be seen that the entire calibration process fully utilizes the high-precision detection capabilities of the laser emitting module and the laser receiving module. Combined with the intelligent control and data processing capabilities of the control device 10, it can realize automatic calibration of the robot tool coordinate system, reduce manual intervention, and improve both the accuracy and efficiency of calibration.

[0030] It should be noted that the calibration device of the present application can perform real-time calibration of the robot tool coordinate system.

[0031] In one embodiment, the laser emitting module is a laser emitter, the laser receiving module is a laser receiver, and the structures of the laser emitter and the laser receiver adopt the existing technology, which will not be described in detail here. Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the laser emitting module is constructed to be able to also form a peripheral laser beam 50 , the cross-shaped laser beam 40 is located in the area surrounded by the peripheral laser beam 50 , and the laser receiving module is able to receive the peripheral laser beam 50 .

[0032] In this embodiment, during the automated calibration process, the robot tool 21 can move freely within the area surrounded by the peripheral laser beam 50, and the laser receiving module can receive laser signals of all laser beams that form the peripheral laser beam 50. Once the robot tool 21 contacts the peripheral laser beam 50, the control device 10 can immediately receive an alarm signal and adjust the movement of the robot 20 in time, thereby reducing the time for the robot tool 21 to move to the intersection of the cross-shaped laser beam 40, thereby speeding up the calibration speed.

[0033] See also Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the peripheral laser beam 50 is in the shape of a rhombus or a square, the peripheral laser beam 50 includes four second laser beams 51, and the cross-shaped laser beam 40 forms a diagonal line of the rhombus or the square.

[0034] In this embodiment, the diamond or square outer laser beam 50 serves as a boundary, which can monitor in real time whether the robot tool 21 is approaching or exceeding the calibration range, so that the robot tool 21 can quickly locate the area where the cross-shaped laser beam 40 is located, reducing the blind search time of the robot tool 21.

[0035] It should be noted that the peripheral laser beam 50 may also be other quadrilaterals besides rhombus and square, including but not limited to rectangle, parallelogram, trapezoid, etc.

[0036] See also Figure 1 and Figure 2As shown, in one embodiment of the present invention, the laser emitting module includes two first laser emitting units 31, and the laser receiving module includes two first laser receiving units. The two first laser emitting units 31 are arranged in a one-to-one correspondence with the two first laser receiving units. The first laser receiving unit is used to receive the first laser beam emitted by the corresponding first laser emitting unit 31. The first laser beams emitted by the two first laser emitting units 31 form a cross-shaped laser beam 40.

[0037] By the above arrangement, a cross-shaped laser beam 40 can be formed.

[0038] See also Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the laser emitting module also includes four second laser emitting units 33, and the laser receiving module also includes four second laser receiving units 34. The four second laser emitting units 33 are arranged in a one-to-one correspondence with the four second laser receiving units 34. The second laser receiving units 34 are used to receive the second laser beams emitted by the corresponding second laser emitting units 33. The second laser beams emitted by the four second laser emitting units 33 form a peripheral laser beam 50.

[0039] Through the above arrangement, a peripheral laser beam 50 can be formed to serve as a boundary, so that the robot tool 21 can quickly locate the area where the cross-shaped laser beam 40 is located, thereby reducing the blind search time of the robot tool 21.

[0040] See also Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the laser device 30 also includes four laser components 35, and the four laser components 35 are arranged at intervals in the circumferential direction. Two first laser emitting units 31 are respectively arranged on two of the laser components 35, and two first laser receiving units are respectively arranged on the remaining two laser components 35 to form a cross-shaped laser beam 40. Four second laser emitting units 33 and four second laser receiving units 34 are arranged on the four laser components 35 to form a peripheral laser beam 50.

[0041] In this embodiment, four laser assemblies 35 are arranged in two rows and two columns, and the corresponding first laser emitting units 31 and first laser receiving units are respectively arranged on two laser assemblies 35 arranged diagonally to form a cross-shaped laser beam 40; eight components (i.e., four second laser emitting units 33 and four second laser receiving units 34) are evenly arranged on the four laser assemblies 35, that is, each laser assembly 35 is provided with two components (both components are second laser emitting units 33; or both components are second laser receiving units 34; or one is a second laser emitting unit 33 and one is a second laser receiving unit 34) to finally form a peripheral laser beam 50.

[0042] In one embodiment, the peripheral laser beam 50 is a square. The four laser components 35 are named laser component A, laser component B, laser component C and laser component D respectively. Laser component A and laser component B are arranged diagonally, and laser component C and laser component D are arranged diagonally. Laser component A is provided with two second laser emitting parts 33 and one first laser emitting part 31, and the first laser emitting part 31 is located between the two second laser emitting parts 33; laser component B is provided with two second laser receiving parts 34 and one first laser receiving part, and the first laser receiving part is located between the two second laser receiving parts 34; laser component C is provided with one second laser receiving part 34, one first laser emitting part 31 and one second laser emitting part 33, and the laser A second laser emitting unit 33, a first laser receiving unit and a second laser receiving unit 34 are provided on component D. The first laser emitting unit 31 on laser component A is provided correspondingly to the first laser receiving unit on laser component B. The two second laser emitting units 33 on laser component A are provided correspondingly to the two second laser receiving units 34 on laser component B. The second laser receiving unit 34 on laser component C is provided correspondingly to the second laser emitting unit 33 on laser component D. The first laser emitting unit 31 on laser component C is provided correspondingly to the first laser receiving unit on laser component D. The second laser emitting unit 33 on laser component C is provided correspondingly to the second laser receiving unit 34 on laser component D.

[0043] See also Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the laser assembly 35 includes an arc-shaped mounting seat 36 , the end faces of both ends of the arc-shaped mounting seat 36 are perpendicular to each other, and a single end face of the arc-shaped mounting seat 36 is used to mount the second laser emitting unit 33 or the second laser receiving unit 34 .

[0044] In this embodiment, the end surfaces of both ends of the arc-shaped mounting seat 36 are perpendicular to each other, so that the second laser emitting part 33 and the second laser receiving part 34 can be accurately aligned in a limited space.

[0045] See also Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the laser device 30 further includes a base 38 , the laser assembly 35 is mounted on the base 38 , and a roller 37 is disposed at the bottom of the base 38 to facilitate the movement of the laser device 30 .

[0046] See also Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the laser device 30 also includes a first communication line 60 and a second communication line 70, the control device 10 is communicatively connected to the laser device 30 via the first communication line 60, and the control device 10 is communicatively connected to the robot 20 via the second communication line 70.

[0047] like Figure 3 As shown, the present invention also provides a robot tool coordinate system calibration method, which utilizes the robot tool coordinate system calibration device as described above, and the calibration method includes: S1: moving the robot tool 21 until the end of the robot tool 21 contacts with a first laser beam 41 in the cross-shaped laser beam 40, and calibrating the position of the first coordinate axis; S2: moving the robot tool 21 until the end of the robot tool 21 contacts with the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40, and recording the coordinates of the first calibration point; S3: changing the posture and position of the robot tool 21, repeating the above operations of S1 and S2, and recording the coordinates of the second calibration point; S4: changing the posture and position of the robot tool 21, repeating the above operations of S1 and S2, and recording the coordinates of the third calibration point.

[0048] In this embodiment, the first coordinate axis is the first laser beam as the X-axis or the first laser beam as the Y-axis. Move the robot tool 21 toward the location of the cross-shaped laser beam 40 until the end of the robot tool 21 is aligned with a first laser beam in the cross-shaped laser beam 40 (assuming it is aligned with the first laser beam as the Y-axis). At this time, the laser receiving module detects the change in the laser signal and sends a feedback signal to the control device 10, indicating that the end of the robot tool 21 has reached the Y-axis position to complete the calibration of the first coordinate axis (Y-axis); then, continue to control the robot tool 21 to move it to the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40. When the robot tool 21 touches the intersection, the laser receiving module detects the signal change and feeds this information back to the control device 10. The control device 10 records the joint angle of the robot 20 and the coordinates of the end of the robot tool 21 as the data of the first calibration point; then change the posture and position of the robot tool 21, and change the position of the robot tool 21 to different The state of the robot tool 21 in steps S1 and S2, and then repeat the operations of S1 and S2 until the end of the robot tool 21 contacts the intersection of the two first laser beams 41 forming the cross laser beam 40 again. At this time, the control device 10 records the joint angle of the robot 20 and the coordinates of the end of the robot tool 21 as the data of the second calibration point; finally, the posture and position of the robot tool 21 are changed again, so that the posture and position of the robot tool 21 are different from the posture and position when the first calibration point and the second calibration point are obtained, and then repeat the operations of S1 and S2 until the end of the robot tool 21 contacts the intersection of the two first laser beams 41 forming the cross laser beam 40. At this time, the control device 10 records the joint angle of the robot 20 and the coordinates of the end of the robot tool 21 as the data of the third calibration point, combined with the data of the first two calibration points. The above calibration process utilizes the cooperation of the control device 10, the laser emitting module and the laser receiving module. By repeatedly changing the posture and position of the robot tool 21, the data of the three calibration points can be acquired. The above process does not require human intervention and can realize automatic calibration, which greatly improves the efficiency and accuracy of the calibration.

[0049] It should be noted that more than three calibration points can be obtained according to actual calibration needs. The specific steps are the same as above, that is, changing the posture and position of the robot tool 21 so that the end of the robot tool 21 contacts the intersection of the two first laser beams 41 forming the cross laser beam 40 again.

[0050] In addition, after obtaining three or more calibration points, how to obtain the final robot tool coordinate system, taking obtaining three calibration points as an example, the specific steps are as follows: by analyzing the three-time joint angle data, the change in the posture of the robot 20 is calculated, which involves calculating the rotation matrix. The quaternion or Euler angle can be used to represent this rotation, and then converted into a rotation matrix; since the end of the robot tool 21 has touched the intersection of the two first laser beams 41 forming the cross laser beam 40 in the three measurements, this point can be considered to be the origin of the robot tool coordinate system in the calibration device coordinate system. In this way, the translation vector of the robot tool coordinate system in space can be determined, that is, the distance between the origin of the robot tool coordinate system and the origin of the calibration device; then, the rotation matrix and translation vector obtained above are combined to construct a homogeneous transformation matrix of the robot tool coordinate system relative to the calibration device coordinate system; finally, the homogeneous transformation matrix is ​​used to transform the position and posture in the robot tool coordinate system to the robot 20 base coordinate system. The above-mentioned rotation matrix, translation vector, homogeneous transformation matrix and the step of converting the position and posture in the robot tool coordinate system to the robot 20 base coordinate system can adopt existing technologies and will not be repeated here.

[0051] In one embodiment of the present invention, the step of calibrating the position of the first coordinate axis includes: moving the robot tool 21 until the end of the robot tool 21 contacts another first laser beam 41 forming the cross-shaped laser beam 40, and calibrating the position of the second coordinate axis. The step of moving the robot tool 21 until the end of the robot tool 21 contacts the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40 includes: moving the robot tool 21 along the second coordinate axis until the end of the robot tool 21 contacts the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40.

[0052] In this embodiment, the position calibration of the second coordinate axis is performed after the position calibration of the first coordinate axis is completed. This makes it easier to find the intersection of the first coordinate axis and the second coordinate axis. During the calibration process, it is only necessary to move the robot tool 21 along the extension direction of the second coordinate axis, which can improve the calibration efficiency.

[0053] In one embodiment of the present invention, the step of moving the robot tool 21 until the end of the robot tool 21 contacts the intersection of two first laser beams 41 forming a cross-shaped laser beam 40 includes: causing the robot tool 21 to make an arc motion until it contacts another first laser beam 41 in the cross-shaped laser beam 40 to confirm the position of the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40; then, moving the robot tool 21 toward the position of the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40 until it contacts the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40.

[0054] Through the above arrangement, the speed at which the end of the robot tool 21 contacts the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40 can be increased, thereby improving the calibration efficiency.

[0055] In one embodiment of the present invention, the step of moving the robot tool 21 until the end of the robot tool 21 contacts the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40 includes: moving the robot tool 21 until the robot tool 21 contacts the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40; then moving the robot tool 21 upward in a vertical direction until the end of the robot tool 21 leaves the intersection of the two first laser beams 41 forming the cross-shaped laser beam 40; stopping the robot tool 21 from moving, and recording the coordinates of the first calibration point.

[0056] Through the above-mentioned setting, by confirming the contact with the intersection of the two first laser beams forming the cross-shaped laser beam 40, the control device 10 can accurately record the position of the robot tool 21 in space, that is, the coordinates of the first calibration point, thereby ensuring the accuracy of the robot tool coordinate system in subsequent calculations.

[0057] In one embodiment of the present invention, before the step of controlling the robot tool 21 to move until the end of the robot tool 21 contacts a first laser beam in the cross-shaped laser beam 40 , the step includes: moving the robot tool 21 into the area surrounded by the peripheral laser beams 50 .

[0058] Through the above arrangement, it is possible to prevent the end of the robot tool 21 from exceeding the calibration area of ​​the robot tool coordinate system.

[0059] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: a control device and a laser device are provided, the laser device includes a laser emitting module and a laser receiving module, the laser emitting module and the laser receiving module are both communicatively connected to the control device, the laser emitting module is constructed to be able to form a cross-shaped laser beam, and the process of obtaining the calibration point using the robot tool coordinate system calibration device of the present application is as follows: the laser emitting module is turned on to form a cross-shaped laser beam, the laser receiving module is in a standby state, ready to receive changes in the laser signal, when the robot starts the automated calibration process, under the instruction of the control device, the robot tool end is moved to the position of the cross-shaped laser beam, at this time, through the control device, the robot tool end is guided to move to the position of the X-axis or the Y-axis, during the calibration process, the robot tool end can first contact with the first laser beam as the X-axis or the first laser beam as the Y-axis. Assuming that the end of the robot tool moves under the control of the control device until it contacts the first laser beam as the X-axis, it means that the current robot tool has reached the X-axis, the laser receiving module detects the change of the laser signal, and quickly feeds back the signal to the control device through the communication link. After the control device receives the signal, the robot completes the calibration of the X-axis position, and then under the control of the control device, the end of the robot tool moves to contact the first laser beam as the Y-axis, which means that the current robot tool has reached the X-axis, the laser receiving module detects the change of the laser signal, and quickly feeds back the signal to the control device through the communication link. After receiving the signal, the control device allows the robot to complete the calibration of the X-axis position, and then moves the robot tool along the X-axis until the end of the robot tool contacts the intersection of the two first laser beams. At this time, it means that the current robot tool has After reaching the origin, the laser receiving module detects the change of the laser signal and quickly feeds the signal back to the control device through the communication link. After the control device receives the signal, the control device records the joint angle of the robot and the coordinates of the end of the robot tool at this time as the data of the first calibration point. In order to obtain the second calibration point, the robot changes the posture and position of the robot tool under the guidance of the control device to ensure that the end of the robot tool is different from the position and posture of the origin, and then repeats the above process until the end of the robot tool touches the intersection of the two first laser beams again at the same time. The control device records the joint angle of the robot and the coordinates of the end of the robot tool at this time as the data of the second calibration point. Finally, the robot adjusts the posture and position of the robot tool again to ensure that there is a difference with the posture and position of the previous two times, and then repeats the above process to obtain the third calibration point. As can be seen from the above, the entire calibration process makes full use of the high-precision detection capabilities of the laser emitting module and the laser receiving module, combined with the intelligent control and data processing capabilities of the control device, it can realize the automatic calibration of the robot tool coordinate system, reduce manual intervention, and can improve the accuracy of calibration and the efficiency of calibration.

[0060] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0061] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot tool coordinate system calibration device, characterized in that: include: A control device (10) configured to be in communication connection with the robot (20); A laser device (30), the laser device (30) comprising a laser emitting module and a laser receiving module, the laser emitting module and the laser receiving module both being communicatively connected to the control device (10), the laser emitting module being configured to form a cross-shaped laser beam (40), the laser receiving module being capable of receiving the cross-shaped laser beam (40), and the two first laser beams (41) forming the cross-shaped laser beam (40) being perpendicular to each other.

2. The robot tool coordinate system calibration device according to claim 1, characterized in that: The laser emitting module is configured to be able to form a peripheral laser beam (50), the cross-shaped laser beam (40) is located within a region surrounded by the peripheral laser beam (50), and the laser receiving module is able to receive the peripheral laser beam (50).

3. The robot tool coordinate system calibration device according to claim 2, characterized in that: The peripheral laser beam (50) is in the shape of a rhombus or a square, the peripheral laser beam (50) comprises four second laser beams (51), and the cross-shaped laser beam (40) forms a diagonal line of the rhombus or the square.

4. The robot tool coordinate system calibration device according to claim 2, characterized in that: The laser emitting module comprises two first laser emitting parts (31), and the laser receiving module comprises two first laser receiving parts, the two first laser emitting parts (31) are arranged in a one-to-one correspondence with the two first laser receiving parts, the first laser receiving parts are used to receive a first laser beam (41) emitted by the corresponding first laser emitting part (31), and the first laser beam (41) emitted by the two first laser emitting parts (31) forms the cross-shaped laser beam (40).

5. The robot tool coordinate system calibration device according to claim 4, characterized in that: The laser emitting module further comprises four second laser emitting parts (33), and the laser receiving module further comprises four second laser receiving parts (34). The four second laser emitting parts (33) and the four second laser receiving parts (34) are arranged in a one-to-one correspondence, and the second laser receiving parts (34) are used to receive second laser beams (51) emitted by the corresponding second laser emitting parts (33). The second laser beams (51) emitted by the four second laser emitting parts (33) form the peripheral laser beams (50).

6. The robot tool coordinate system calibration device according to claim 5, characterized in that: The laser device (30) further comprises four laser assemblies (35), wherein the four laser assemblies (35) are arranged at intervals in the circumferential direction, two first laser emitting units (31) are respectively arranged on two of the laser assemblies (35), two first laser receiving units are respectively arranged on the remaining two laser assemblies (35) to form the cross-shaped laser beam (40), and four second laser emitting units (33) and four second laser receiving units (34) are arranged on the four laser assemblies (35) to form the peripheral laser beam (50).

7. The robot tool coordinate system calibration device according to claim 6, characterized in that: The laser assembly (35) comprises an arc-shaped mounting seat (36), the end faces of both ends of the arc-shaped mounting seat (36) are perpendicular to each other, and a single end face of the arc-shaped mounting seat (36) is used to mount the second laser emitting unit (33) or the second laser receiving unit (34).

8. A robot tool coordinate system calibration method, characterized in that: Utilizing the robot tool coordinate system calibration device according to any one of claims 1 to 7, the calibration method comprises: S1: moving the robot tool (21) until the end of the robot tool (21) contacts one of the first laser beams (41) forming the cross-shaped laser beams (40), and calibrating the position of the first coordinate axis; S2: moving the robot tool (21) until the end of the robot tool (21) contacts the intersection of two first laser beams (41) forming the cross-shaped laser beam (40), and recording the coordinates of the first calibration point; S3: changing the posture and position of the robot tool (21), repeating the operations of S1 and S2, and recording the coordinates of the second calibration point; S4: changing the posture and position of the robot tool (21), repeating the operations of S1 and S2, and recording the coordinates of the third calibration point.

9. The robot tool coordinate system calibration method according to claim 8, characterized in that: The step of calibrating the position of the first coordinate axis includes: moving the robot tool (21) until the end of the robot tool (21) contacts another of the first laser beams (41) forming the cross-shaped laser beam (40), and calibrating the position of the second coordinate axis.

10. The robot tool coordinate system calibration method according to claim 9, characterized in that: The step of moving the robot tool (21) until the end of the robot tool (21) contacts the intersection of the two first laser beams (41) forming the cross-shaped laser beam (40) comprises: moving the robot tool (21) along the second coordinate axis until the end of the robot tool (21) contacts the intersection of the two first laser beams (41) forming the cross-shaped laser beam (40).

11. The robot tool coordinate system calibration method according to claim 8, characterized in that: The step of moving the robot tool (21) until the end of the robot tool (21) contacts the intersection of two first laser beams (41) forming the cross-shaped laser beam (40) comprises: The robot tool (21) is caused to move in an arc until it contacts another of the first laser beams (41) forming the cross-shaped laser beam (40), so as to confirm the position of the intersection of the two first laser beams (41) forming the cross-shaped laser beam (40); Then, the robot tool (21) is moved toward the intersection of the two first laser beams (41) forming the cross-shaped laser beam (40) until it contacts the intersection of the two first laser beams (41) forming the cross-shaped laser beam (40).

12. The robot tool coordinate system calibration method according to claim 8, characterized in that: The step of moving the robot tool (21) until the end of the robot tool (21) contacts the intersection of two first laser beams (41) forming the cross-shaped laser beam (40) comprises: Moving the robot tool (21) until the robot tool (21) contacts an intersection of two first laser beams (41) forming the cross-shaped laser beam (40); Then, the robot tool (21) is moved upward in the vertical direction until the tip of the robot tool (21) leaves the intersection of the two first laser beams (41) forming the cross-shaped laser beam (40); The robot tool (21) is stopped from moving, and the coordinates of the first calibration point are recorded.

13. The robot tool coordinate system calibration method according to any one of claims 8 to 12, characterized in that: Before the step of moving the robot tool (21) until the end of the robot tool (21) contacts one of the first laser beams (41) forming the cross-shaped laser beams (40), the step includes: moving the robot tool (21) into an area surrounded by peripheral laser beams (50).

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