Method and system for automatically correcting coordinates of standard component in equipment

Abstract

The invention provides a method and system for automatically correcting coordinates of a standard component in equipment, and relates to the technical field of automatic equipment calibration, and the method comprises the steps: taking a standard block fixedly arranged in the equipment as a calibration point of the equipment; the method comprises the steps that a mechanical arm is used for conducting calibration operation on all shafts in equipment, when the equipment conducts first-time calibration on any shaft, an equipment controller controls the mechanical arm to make contact with a calibration point, and in the process that the mechanical arm makes contact with the calibration point, the equipment controller continuously obtains and records coordinates and torque values of corresponding shaft motors; and when the equipment controller detects that the torque value reaches a preset value, taking the shaft coordinate at the moment as the standard coordinate of the corresponding shaft, and sequentially controlling the manipulator to contact with the calibration point for the rest shafts in the equipment so as to obtain a standard coordinate set. The precision and stability of the manipulator are ensured by automatically correcting the coordinates of the standard component in the equipment, the equipment performance can be quickly recovered after maintenance or replacement, the calibration cost is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment calibration, and in particular to a method and system for automatically correcting the coordinates of standard parts in equipment. Background Art

[0002] In actual operation, the robot faces many challenges that may cause its coordinate system to shift or change. On the one hand, mechanical parts will gradually lose their original accuracy due to wear over time. For example, bearing wear, loosening of drive belts, and increased gear clearance may cause deviations in the robot's motion trajectory. On the other hand, when the robot needs to be repaired or parts need to be replaced, such as replacing servo motors, sensors, or transmission mechanisms, these changes often cause significant changes in its coordinate system.

[0003] Traditional calibration methods are not up to the task when faced with these challenges. First, these methods require human intervention, including manually adjusting the position of the robot, measuring and recording various parameters, and making corresponding adjustments based on the measurement results. This process is not only time-consuming and labor-intensive, but also inefficient and cannot meet the needs of modern automated production for high efficiency and rapid response. Second, manual calibration is susceptible to human factors, such as the operator's skill level, fatigue, and judgment errors, which can lead to unstable and inaccurate calibration results. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for automatically correcting the coordinates of standard parts in equipment, so as to improve the overall performance and production efficiency of the automation equipment.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, a method for automatically correcting the coordinates of a standard part in a device, the method comprising:

[0007] The standard block fixed inside the equipment is used as the calibration point of the equipment;

[0008] Use the manipulator to calibrate each axis inside the device. When the device calibrates any axis for the first time, the device controller controls the manipulator to contact the calibration point. During the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque values ​​of the corresponding axis motor.

[0009] When the device controller detects that the torque value reaches the preset set value, the axis coordinates at this time are used as the standard coordinates of the corresponding axis, and the manipulator is controlled to contact the calibration points for the remaining axes in the device in turn to obtain a standard coordinate set;

[0010] If the robot in the equipment has been repaired or replaced, the new coordinates of each axis of the robot relative to the standard block will be remeasured;

[0011] The device controller compares the new coordinates with the originally recorded standard coordinates of each axis, and calculates the difference between the new coordinates and the originally recorded standard coordinates of each axis;

[0012] According to the difference between the new coordinates and the original recorded standard coordinates of each axis, each axis is corrected and compensated to realize the automatic correction function of the equipment to the robot.

[0013] Furthermore, the manipulator is used to calibrate each axis inside the device. When the device calibrates any axis for the first time, the device controller controls the manipulator to contact the calibration point. During the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque values ​​of the corresponding axis motor, including:

[0014] Start the device controller and the manipulator, and establish a communication connection between the device controller and the manipulator;

[0015] Set the calibration parameters in the device controller, including the coordinates of the calibration points, the preset torque value range, and the sampling frequency during the calibration process to control the movement of the robot:

[0016] According to the set calibration parameters, the device controller sends instructions to the manipulator to control the manipulator to move at a predetermined uniform speed until the manipulator touches the calibration point;

[0017] During the movement of the robot, the device controller receives the current axis coordinates and torque values ​​fed back by the robot in real time through the communication interface, and continuously obtains the coordinates and torque values ​​of the corresponding axis motor from the robot at a set sampling frequency.

[0018] Further, according to the set calibration parameters, the device controller sends instructions to the manipulator to control the manipulator to move at a predetermined uniform speed until the manipulator contacts the calibration point, including:

[0019] The device controller constructs a movement instruction according to the calibration parameters. The movement instruction includes target position, movement speed, and acceleration parameters, and sends the constructed instruction to the robot through the communication interface;

[0020] The robot feeds back position and status information to the equipment controller;

[0021] If the position of the robot deviates from the predetermined trajectory or an abnormal situation occurs, the equipment controller will issue a warning or stop command in time;

[0022] When the robot moves above the calibration point, the device controller sends a new instruction to control the robot to descend at a predetermined uniform speed until the robot touches the calibration point.

[0023] Furthermore, when the device controller detects that the torque value reaches a preset set value, the axis coordinates at this time are used as the standard coordinates of the corresponding axis, and the manipulator is controlled to contact the calibration points for the remaining axes in the device in turn to obtain a standard coordinate set, including:

[0024] When the torque value reaches the preset set point, the equipment controller sends a signal indicating that the manipulator has contacted the calibration point;

[0025] At the moment when the torque value reaches the preset value, the equipment controller immediately records the axis coordinates at this time and uses the coordinates as the standard coordinates of this axis;

[0026] The device controller repeats the calibration operation, sequentially controlling the manipulator to contact the calibration points of the remaining axes;

[0027] For each of the remaining axes, the device controller performs the operations of sending movement instructions, monitoring torque values, and recording standard coordinates to obtain a standard coordinate set.

[0028] Furthermore, the calculation formula for the difference between the new coordinates and the original recorded standard coordinates of each axis is:

[0029]

[0030] Among them, D x , D y , D z Represents the difference values ​​of x-axis, y-axis, and z-axis respectively; N x 、N y 、N z Respectively represent the newly measured coordinate values ​​on the x-axis, y-axis, and z-axis; w x 、w y 、w z Respectively represent the weights on the x-axis, y-axis, and z-axis; S x , S y 、w z Respectively represent the original standard coordinate values ​​on the x-axis, y-axis, and z-axis; b x , b y , b z Respectively represent the reference adjustment values ​​on the x-axis, y-axis, and z-axis.

[0031] Furthermore, according to the difference between the new coordinates and the original recorded standard coordinates of each axis, each axis is corrected and compensated to realize the automatic correction function of the device to the manipulator, including:

[0032] According to the positive or negative difference between the new coordinates and the original recorded standard coordinates of each axis, the direction of adjustment of each axis is determined, and the correction amount of adjustment of each axis is calculated;

[0033] The calculated correction amount is converted into a compensation instruction recognized by the equipment, and the compensation instruction is sent to the equipment control system to control the manipulator to adjust the position;

[0034] During the correction process, the position change of the robot is monitored in real time through sensors. If an abnormality occurs or exceeds the preset range, the correction operation will be stopped and troubleshooting will be carried out;

[0035] After the correction is completed, the actual coordinates of the robot are read again and compared with the standard coordinates. If the difference value is within the preset range, the correction is successful; if it is out of the range, the correction operation is performed again to realize the automatic correction function of the device for the robot.

[0036] Furthermore, the calculation formula for the correction amount of each axis adjustment is:

[0037]

[0038] Among them, C x , C y , C z Respectively represent the correction amount of the x-axis, y-axis, and z-axis; k x , k y , k z Represents the linear coefficients of the x-axis, y-axis, and z-axis respectively; f x 、f y 、f z Represents the coefficients of the logarithmic terms of the x-axis, y-axis, and z-axis respectively; h x 、h y 、h z They represent the cross-term coefficients of the x-axis, y-axis, and z-axis respectively; ∈ represents a small constant.

[0039] In a second aspect, a system for automatically correcting the coordinates of a standard part in a device comprises:

[0040] The acquisition module is used to use the standard block fixed inside the device as the calibration point of the device; use the manipulator to perform calibration operations on the axes inside the device. When the device performs the first calibration on any axis, the device controller controls the manipulator to contact the calibration point, and in the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque values ​​of the corresponding axis motor; when the device controller detects that the torque value reaches a preset set value, the axis coordinate at this time is used as the standard coordinate of the corresponding axis, and the manipulator is controlled to contact the calibration point for the remaining axes in the device in turn to obtain a standard coordinate set;

[0041] The processing module is used to re-measure the new coordinates of each axis of the manipulator relative to the standard block after the manipulator in the equipment has been repaired or replaced; the equipment controller compares the new coordinates with the original recorded standard coordinates of each axis, and calculates the difference between the new coordinates and the original recorded standard coordinates of each axis; based on the difference between the new coordinates and the original recorded standard coordinates of each axis, each axis is corrected and compensated to realize the automatic correction function of the equipment to the manipulator.

[0042] According to a third aspect, a computing device includes:

[0043] one or more processors;

[0044] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described.

[0045] In a fourth aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the method described is implemented.

[0046] The above solution of the present invention includes at least the following beneficial effects:

[0047] The use of fixed standard blocks inside the equipment as calibration points ensures the stability and consistency of the calibration benchmark. Human intervention is reduced through automated processes, errors caused by human factors are avoided, and the accuracy and stability of calibration are improved. The calibration operation is automatically controlled by the equipment controller to obtain and record data in real time, which shortens the calibration time and improves the calibration efficiency. The coordinates of the manipulator may change after repair or replacement. Through this method, the new coordinates can be measured quickly and accurately, and compared and corrected with the original standard coordinates, avoiding operational errors and equipment damage caused by coordinate offset, thereby reducing maintenance costs.

[0048] This method is applicable to automation equipment of different models and specifications. It only needs to set the corresponding standard block inside the equipment and configure the corresponding calibration parameters to realize the automatic calibration function, which enhances the adaptability and versatility of the equipment. Through the automatic control and data recording of the calibration process by the equipment controller, the intelligent management of the manipulator coordinates can be realized. This not only facilitates the traceability and query of the calibration results, but also provides data support for the preventive maintenance and optimization of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flowchart of a method for automatically correcting the coordinates of a standard part in a device provided by an embodiment of the present invention.

[0050] Figure 2It is a schematic diagram of a system for automatically correcting the coordinates of standard parts in a device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0052] like Figure 1 As shown, an embodiment of the present invention provides a method for automatically correcting the coordinates of a standard part in a device, the method comprising the following steps:

[0053] Step 11, using a standard block fixed inside the device as a calibration point for the device;

[0054] Step 12, using a manipulator to perform calibration operations on each axis inside the device. When the device performs the first calibration on any axis, the device controller controls the manipulator to contact the calibration point, and during the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque values ​​of the corresponding axis motor;

[0055] Step 13, when the device controller detects that the torque value reaches a preset set value, the axis coordinate at this time is used as the standard coordinate of the corresponding axis, and the manipulator is controlled to contact the calibration point for the remaining axes in the device in turn to obtain a standard coordinate set;

[0056] Step 14: If the robot in the device has been repaired or replaced, the new coordinates of each axis of the robot relative to the standard block after the change will be remeasured;

[0057] Step 15, the device controller compares the new coordinates with the originally recorded standard coordinates of each axis, and calculates the difference between the new coordinates and the originally recorded standard coordinates of each axis;

[0058] Step 16, according to the difference between the new coordinates and the originally recorded standard coordinates of each axis, each axis is corrected and compensated to realize the automatic correction function of the device to the manipulator.

[0059] In the embodiment of the present invention, by setting up a fixed and stable standard block as a calibration reference, the reference point of each calibration is ensured to be consistent, thereby improving the reliability and repeatability of the calibration. The automated calibration process reduces human intervention and improves the calibration efficiency. At the same time, the real-time recorded data provides an accurate basis for subsequent calibration analysis and correction. The torque value is used as the basis for judging whether the calibration is complete, thereby ensuring the accuracy and consistency of the calibration. The axis-by-axis calibration method ensures that each axis can be accurately calibrated. After the manipulator changes, the new coordinates are remeasured in a timely manner, providing basic data for subsequent corrections and compensations, ensuring that the equipment can maintain high precision after repair or replacement.

[0060] By comparing the new coordinates with the original standard coordinates, the changes of the robot can be accurately understood. According to the difference value, each axis is accurately corrected and compensated, ensuring that the robot can accurately reach the preset position during operation, improving the overall accuracy and stability of the equipment.

[0061] In a preferred embodiment of the present invention, the above step 11, using a standard block fixed inside the device as a calibration point of the device, may include:

[0062] When the device needs to be calibrated or the robot needs to be recalibrated after repair or replacement, the device controller will issue a calibration command to trigger the calibration process. The device controller controls the robot to move above the standard block and accurately adjusts the posture of the robot to ensure that it can accurately contact the calibration surface of the standard block. During this process, the device controller will obtain and record the coordinate information of the robot and the torque value of the motor in real time.

[0063] As the robot descends, when it contacts the calibration surface of the standard block, a noticeable torque change occurs. The device controller continuously monitors the torque value, and when it detects that the torque value reaches the preset set value, it considers that the robot has accurately contacted the calibration point. When it is confirmed that the robot has accurately contacted the calibration point, the device controller records the axis coordinates at this time as the standard coordinates of the corresponding axis. This coordinate value represents the precise position information of the robot at a specific position.

[0064] In a preferred embodiment of the present invention, the above step 12, using a manipulator to perform calibration operations on each axis inside the device, when the device performs the first calibration on any axis, the device controller controls the manipulator to contact the calibration point, and in the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque values ​​of the corresponding axis motor, which may include:

[0065] Step 122, start the device controller and the manipulator, and establish a communication connection between the device controller and the manipulator;

[0066] Step 123, setting calibration parameters in the device controller, including the coordinates of the calibration point, the preset torque value range, and the sampling frequency during the calibration process, to control the movement of the manipulator:

[0067] Step 124, according to the set calibration parameters, the device controller sends a command to the manipulator to control the manipulator to move at a predetermined uniform speed until the manipulator contacts the calibration point;

[0068] Step 125, during the movement of the manipulator, the device controller receives the current axis coordinates and torque values ​​fed back by the manipulator in real time through the communication interface, and continuously obtains the coordinates and torque values ​​of the corresponding axis motor from the manipulator at a set sampling frequency.

[0069] In an embodiment of the present invention, in the device controller, the coordinates of the calibration point are set. These coordinates are the target positions that the manipulator needs to contact, and are obtained by pre-measurement and calculation. In order to determine whether the manipulator accurately contacts the calibration point, a preset torque value range needs to be set. When the manipulator contacts the calibration point, the torque value should fall within this range. The sampling frequency during the calibration process is set, that is, the frequency at which the device controller obtains the coordinates and torque values ​​from the manipulator. The higher the sampling frequency, the more detailed the data obtained, but it may also increase the burden of processing data. According to the set calibration parameters, the device controller sends instructions to the manipulator to control it to move at a predetermined uniform speed. This speed is set to ensure the accuracy and safety of the calibration. During the movement of the manipulator, the device controller monitors its status in real time through the communication interface, including the current position, speed, torque, etc. During the movement of the manipulator, the device controller receives the current axis coordinates and torque values ​​fed back by the manipulator in real time. These data are measured by the sensors on the manipulator and sent to the device controller after processing. The device controller continuously obtains the coordinates and torque values ​​of the corresponding axis motor from the manipulator at the set sampling frequency, and records these data in the memory.

[0070] The device controller precisely controls the manipulator to move at a predetermined uniform speed and obtains the coordinates and torque values ​​of the corresponding axis motors in real time, which ensures that the position and force of the manipulator are extremely accurate when it contacts the calibration point. The real-time feedback of the torque value helps the device controller to accurately determine when the manipulator contacts the calibration point, thereby improving the accuracy of the calibration. Continuously obtaining data from the manipulator at a set sampling frequency ensures the integrity and continuity of the data. The automated calibration process reduces human intervention and avoids errors and uncertainties caused by human factors. Real-time data feedback and precise control make the calibration process faster and more efficient. The coordinates and torque values ​​obtained in real time can help the device controller to detect abnormal behavior or potential failures of the manipulator in a timely manner. Once an abnormality is detected, the device controller can immediately stop the calibration process and issue an alarm so that timely measures can be taken to troubleshoot the problem. Through the calibration operation, it can be ensured that each axis of the manipulator reaches the best working state, thereby improving the overall performance and stability of the equipment. Accurate calibration also helps to extend the service life of the equipment and reduce equipment damage or performance degradation caused by error accumulation. It is suitable for different types of manipulators and equipment, and only the calibration parameters need to be adjusted according to specific needs.

[0071] When specifically applied, the above content specifically includes:

[0072] In order to accurately determine whether the manipulator has contacted the calibration point, a torque value range is set. When the actual torque value falls within this range, the manipulator is considered to have accurately contacted. The frequency at which the device controller obtains coordinates and torque values ​​from the manipulator is set. The selection of sampling frequency requires a balance between data detail and processing burden, and a high frequency can obtain more details. The device controller sends instructions to the manipulator according to the preset calibration parameters to control it to move to the calibration point at a predetermined uniform speed. This speed selection is intended to ensure the accuracy of calibration and the safety of operation. During the movement of the manipulator, the device controller monitors its status in real time through the communication interface, including key parameters such as current position, speed, and torque. The high-precision sensor on the manipulator measures the coordinates and torque values ​​of the current axis in real time, and sends these raw data to the device controller after processing. The device controller continuously obtains the precise coordinates and torque values ​​of the corresponding axis motor from the manipulator according to the set sampling frequency, and records these key data in the memory. When the device controller detects that the torque value reaches the preset set value range, it is considered that the manipulator has accurately contacted the calibration point. At this time, the device controller records the current axis coordinates as the standard coordinates of the axis.

[0073] Suppose there is a two-axis robot for an automated assembly line, and the X-axis and Y-axis need to be calibrated. The X-axis calibration point coordinates are set to (500, 0), and the Y-axis calibration point coordinates are set to (0, 400). The preset torque value range is set to 4-6N·m to determine whether the robot has accurately contacted the calibration point. The sampling frequency is set to 50Hz to reduce the processing burden while maintaining data detail. The device controller sends instructions to the robot to control it to first move along the X-axis to the calibration point (500, 0) at a uniform speed of 50mm / s. Then, the robot moves along the Y-axis to the calibration point (0, 400) at the same speed. During the movement of the robot, the device controller monitors the current position, speed, and torque value of its X-axis and Y-axis in real time through the communication interface. The high-precision sensors on the robot measure these parameters at a high frequency. The device controller continuously obtains the precise coordinates and torque values ​​of the X-axis and Y-axis motors at a sampling frequency of 50Hz and records these data in memory. When the device controller detects that the torque values ​​of the X-axis and Y-axis have reached the preset range of 4-6N·m, it is considered that the manipulator has accurately touched the calibration point. At this time, the device controller records the current coordinates of the X-axis and Y-axis (500.02, 0.01) and (0.03, 400.05) as their respective standard coordinates.

[0074] In another preferred embodiment of the present invention, the above step 124, according to the set calibration parameters, the device controller sends a command to the manipulator to control the manipulator to move at a predetermined uniform speed until the manipulator contacts the calibration point, may include:

[0075] Step 1244, the device controller constructs a movement instruction according to the calibration parameters, the movement instruction including the target position, movement speed, and acceleration parameters, and sends the constructed instruction to the manipulator through the communication interface;

[0076] Step 1245, the manipulator feeds back the position information and status information to the device controller;

[0077] Step 1246, if the position of the robot deviates from the predetermined trajectory or an abnormal situation occurs, the device controller promptly issues a warning or a stop command;

[0078] Step 1247, when the manipulator moves to above the calibration point, the device controller sends a new instruction to control the manipulator to descend at a predetermined uniform speed until the manipulator touches the calibration point.

[0079] In an embodiment of the present invention, the device controller constructs movement instructions based on preset calibration parameters, such as target position, moving speed, acceleration, etc. These instructions are accurately sent to the manipulator through the communication interface to guide it to move in a predetermined manner. During the movement of the manipulator, the current position information and status information are continuously fed back to the device controller. The device controller receives and processes this information in real time to monitor the actual motion state of the manipulator. The device controller compares the actual position of the manipulator with the predetermined trajectory. If it is found that the deviation exceeds the allowable range, or the manipulator has an abnormal situation, such as abnormal speed, jitter, etc., it will immediately issue a warning or stop command to ensure the accuracy and safety of the calibration process. When the manipulator moves above the calibration point, the device controller will send a new instruction to control the manipulator to descend at a predetermined uniform speed. By real-time monitoring of parameters such as torque value, the device controller can accurately determine when the manipulator contacts the calibration point and record the coordinates at this time as standard coordinates.

[0080] By accurately constructing and sending movement instructions through the device controller, as well as real-time feedback and monitoring of the robot's motion status, it is possible to ensure that the robot moves according to the predetermined trajectory and speed, thereby improving the accuracy of calibration. The device controller can monitor the robot's motion status in real time, and once deviations or abnormalities are found, it can quickly issue warnings or stop instructions to avoid possible safety hazards. Through the close cooperation between the device controller and the robot, as well as real-time data processing and analysis, the calibration process can be optimized, manual intervention and errors can be reduced, and calibration efficiency can be improved. The automation and intelligence of the robot calibration process are realized, the complexity and uncertainty of manual operation are reduced, and the overall automation level is improved.

[0081] When specifically applied, the above content specifically includes:

[0082] The device controller constructs movement instructions based on calibration parameters, such as target position (precise coordinates of the calibration point), movement speed (ensuring calibration accuracy while considering the performance of the manipulator), acceleration (ensuring smooth start and stop of the manipulator), etc. These instructions are accurately sent to the manipulator through communication interfaces, such as serial communication, Ethernet, etc. During the movement of the manipulator, the built-in sensor measures its position information and status information in real time, such as current coordinates, speed, torque, etc., and feeds this information back to the device controller. After receiving the feedback information, the device controller performs real-time processing and analysis to monitor whether the actual movement state of the manipulator is consistent with the predetermined trajectory and speed. The device controller compares the actual position of the manipulator with the predetermined trajectory. If the deviation is found to exceed the preset allowable range, or the manipulator has abnormal conditions, such as speed fluctuations, jitters, overheating, etc., it will immediately trigger a warning mechanism, such as sound and light alarms, or display warning information on the user interface. In severe cases, the device controller will send a stop command to stop the manipulator from moving immediately to prevent damage or safety accidents. When the manipulator moves above the calibration point, the device controller will send a new instruction to control the manipulator to descend at a predetermined uniform speed. This speed is low to ensure that the robot can smoothly contact the calibration point. By monitoring parameters such as torque value in real time, the machine controller can accurately determine when the robot touches the calibration point. Once in contact, the machine controller records the coordinates at this time as the standard coordinates of the axis and completes the calibration of the axis.

[0083] Suppose there is a three-axis robot and the X-axis, Y-axis and Z-axis need to be calibrated. The specific application steps are:

[0084] The X-axis calibration point coordinates are set to (100, 0, 0), the Y-axis calibration point coordinates are set to (0, 150, 0), and the Z-axis calibration point coordinates are set to (0, 0, 200). The moving speed is set to 50 mm / s and the acceleration is set to 5 mm / s 2 To ensure smooth movement of the robot. The device controller constructs a movement command for the X-axis based on the calibration parameters and sends it to the robot through the communication interface. The command includes the target position (100, 0, 0), the movement speed 50 mm / s, and the acceleration 5 mm / s 2After receiving the command, the robot starts to move at a predetermined speed and trajectory. During the movement, the robot feeds back its current position information and status information to the device controller in real time. The device controller receives and processes this information to monitor the actual movement status of the robot. If deviations or abnormalities are found, a warning or stop command is issued in time. When the robot moves above the X-axis calibration point, the device controller sends a new command to control the robot to descend at a predetermined uniform speed until it contacts the calibration point. By real-time monitoring of parameters such as torque value, the device controller determines that the robot has accurately contacted the calibration point and records the X-axis coordinate at this time as the standard coordinate. Repeat the above steps to complete the calibration of the Y-axis and Z-axis respectively.

[0085] In a preferred embodiment of the present invention, in the above step 13, when the device controller detects that the torque value reaches a preset set value, the axis coordinates at this time are used as the standard coordinates of the corresponding axis, and the manipulator is controlled to contact the calibration points for the remaining axes in the device in turn to obtain a standard coordinate set, which may include:

[0086] Step 133, when the torque value reaches a preset set value, the device controller sends a signal indicating that the manipulator has contacted the calibration point;

[0087] Step 134, when the torque value reaches the preset value, the device controller immediately records the axis coordinates at this time and uses the coordinates as the standard coordinates of the axis;

[0088] Step 135, the device controller repeats the calibration operation, sequentially controlling the manipulator to contact the calibration points of the remaining axes;

[0089] Step 136 , for each remaining axis, the device controller executes the operations of sending movement instructions, monitoring torque values, and recording standard coordinates to obtain a standard coordinate set.

[0090] In an embodiment of the present invention, the device controller monitors the torque value of the manipulator during the movement process in real time. When the torque value reaches the preset set value, the device controller determines that the manipulator has contacted the calibration point and sends a signal for confirmation. At the moment when the torque value reaches the preset set value, the device controller immediately records the axis coordinates at this time. This coordinate is used as the standard coordinate of this axis and stored in the memory of the device controller. The device controller controls the manipulator to contact the calibration points of the remaining axes in sequence according to the preset calibration point sequence. For each remaining axis, the device controller repeats the operations of sending movement instructions, monitoring torque values, and recording standard coordinates. Through the above operations, the device controller can obtain a set of standard coordinates of all axes, that is, a standard coordinate set. This standard coordinate set will be used for subsequent manipulator motion control and precision verification.

[0091] By automating the calibration process, the machine controller can quickly and accurately control the manipulator to contact each calibration point and record the standard coordinates, thereby improving calibration efficiency. The machine controller monitors the torque value in real time and immediately records the coordinates when the preset set value is reached, ensuring the accuracy of the calibration. By repeating the calibration operation, the error can be further reduced and the reliability of the calibration can be improved. This simplifies the operation process of the manipulator and improves work efficiency. Accurate calibration can ensure the movement accuracy and stability of the manipulator, thereby improving the performance of the entire device.

[0092] When specifically applied, the above content specifically includes:

[0093] The device controller is integrated with a high-precision torque sensor, which can collect the torque value data of the manipulator in real time during the movement process. When the manipulator approaches the calibration point, the torque value gradually increases as the contact force increases. The device controller continuously analyzes the torque value data and is ready to respond when it reaches the preset set value. When the torque value reaches the preset set value, the device controller determines that the manipulator has contacted the calibration point and immediately sends a signal to confirm. The signal may be displayed in the form of an electrical signal, a change in the indicator light, or a user interface prompt to notify the operator or trigger subsequent operations. At the moment when the torque value reaches the preset set value, the device controller obtains the current axis coordinate through its position sensor. This coordinate value is used as the standard coordinate of this axis and is immediately stored in the non-volatile memory of the device controller to ensure that the data will not be lost even if the power is off. The order of the calibration points and the corresponding axis information are preset inside the device controller. According to the preset order, the device controller controls the manipulator to move to the top of each calibration point one by one, and repeats the operations of sending movement instructions, monitoring torque values, and recording standard coordinates. Finally, the device controller generates a set of standard coordinates of all axes - the standard coordinate set, for subsequent use.

[0094] Suppose there is a six-axis industrial robot and each axis needs to be accurately calibrated. The specific calibration process includes the calibration point coordinates and calibration operations of each axis:

[0095] The device controller presets the coordinates of six calibration points, corresponding to six axes respectively. The standard for each axis torque value reaching the preset set value is set to 10Nm. Calibration coordinate X1 = (100, 0, 0, 0, 0, 0) (assuming that only the movement of the first axis is considered, and the positions of other axes are 0) The device controller controls the first axis of the manipulator to move above the X1 calibration point, and sends a movement command to make the manipulator descend at a predetermined speed. When the torque value reaches 10Nm, the device controller determines that the manipulator has contacted the calibration point and sends a signal to confirm. Record the axis coordinates at this time as the standard coordinates of the first axis, for example: X1 standard = (100.00, 0.00, 0.00, 0.00, 0.00, 0.00) (here it is assumed that the coordinate values ​​are recorded accurately to two decimal places). Calibration coordinates X2 = (0, 150, 0, 0, 0) Repeat the process of first axis calibration. When the torque value reaches 10 Nm, record the standard coordinates of the second axis, for example: X2 standard = (0.00, 150.00, 0.00, 0.00, 0.00, 0.00). Calibration coordinates X3 = (0, 0, 200, 0, 0) Repeat the above process and record the standard coordinates of the third axis, for example: X3 standard = (0.00, 0.00, 200.00, 0.00, 0.00, 0.00). Calibration point coordinates X4 = (0, 0, 0, 250, 0, 0) Repeat the above process and record the standard coordinates of the fourth axis, for example: X4 standard = (0.00, 0.00, 0.00, 250.00, 0.00, 0.00). Calibration point coordinates X5 = (0, 0, 0, 0, 300, 0) Repeat the above process to record the standard coordinates of the fifth axis, for example: X5 standard = (0.00, 0.00, 0.00, 0.00, 300.00, 0.00). Calibration point coordinates X6 = (0, 0, 0, 0, 0, 350) Repeat the above process to record the standard coordinates of the sixth axis, for example: X6 standard = (0.00, 0.00, 0.00, 0.00, 0.00, 350.00). After the above steps, a standard coordinate set containing the standard coordinates of the six axes is generated inside the device controller, and the standard coordinate set = {X1 standard, X2 standard, X3 standard, X4 standard, X5 standard, X6 standard}

[0096] In a preferred embodiment of the present invention, the above step 14, if the manipulator in the device is repaired or replaced, re-measuring the new coordinates of each axis of the manipulator relative to the standard block after the change, may include:

[0097] When the manipulator in the device fails, wears out, or needs to be upgraded, it will be repaired or replaced. After repair or replacement, the physical structure or parameters of the manipulator may change, so recalibration is required. Before recalibration, make sure that the device controller and manipulator are in normal working condition. Prepare the standard block and calibration tools to ensure that they meet the calibration requirements. Preset the coordinates of the calibration point and the torque value setting values, which are based on the original calibration data of the manipulator. For each axis of the manipulator, the calibration operation is performed in turn. The device controller controls the manipulator to move above the preset calibration point, and then sends a move command to make the manipulator descend at a predetermined speed. During the process of the manipulator contacting the standard block, the device controller monitors the torque value in real time. When the torque value reaches the preset setting value, the device controller determines that the manipulator has contacted the calibration point and sends a signal to confirm. At this moment, the device controller immediately records the current axis coordinate, which is the new coordinate of the manipulator axis to the standard block after the change. For each axis, the device controller repeats the above calibration process and records the new coordinates. The new coordinates of all axes are stored in the memory of the device controller to form a new standard coordinate set. This new standard coordinate set will overwrite the previous coordinate set and become the benchmark for subsequent robot motion control and accuracy verification. After completing the calibration of all axes, the device controller may perform a series of verification operations to ensure the accuracy of the new coordinates. If any anomalies or errors are found, the device controller will automatically make corresponding adjustments. Finally, the device controller will update the new standard coordinate set to the control system to ensure that the robot can accurately follow the instructions in subsequent motion control.

[0098] In a preferred embodiment of the present invention, in the above step 15, the calculation formula for the difference between the new coordinates and the original recorded standard coordinates of each axis is:

[0099]

[0100] Among them, D x , D y , D z Represents the difference values ​​of x-axis, y-axis and z-axis respectively; D x , D y 、N z Respectively represent the newly measured coordinate values ​​on the x-axis, y-axis, and z-axis; w x 、w y 、w z Respectively represent the weights on the x-axis, y-axis, and z-axis; S x , S y 、w z Respectively represent the original standard coordinate values ​​on the x-axis, y-axis, and z-axis; b x , b y , b zRespectively represent the reference adjustment values ​​on the x-axis, y-axis, and z-axis.

[0101] In the embodiment of the present invention, the newly measured coordinate value (N x 、N y 、N z ) minus the original standard coordinate value (S x , S y 、w z ) to calculate the difference. This is a direct reflection of the difference in coordinate values, reflecting the change in position after the robot is repaired or replaced. In practical applications, the position change of different axes may have different effects on the overall accuracy. Therefore, the weight (w z 、w y 、w z ) reflects this difference. The weight is a multiplier that is used to amplify or reduce the impact of the difference in coordinate values, thereby more accurately evaluating the impact of the robot's position change on the overall accuracy. x , b y , b z ). This is because in some cases, a fixed reference value needs to be adjusted in order to more accurately calculate the difference value. The reference adjustment value can be a positive or negative number used to fine-tune the coordinate value difference. For the x-axis, the difference value D x Equal to weight w x Multiply by (new measured coordinate value N x Subtract the original standard coordinate value S x Add the baseline adjustment value b x ). Similarly, for the y-axis and z-axis, the difference value D is calculated using the corresponding weight and benchmark adjustment value. y and D z .

[0102] By calculating the difference between the new measured coordinates and the original standard coordinates, a quantitative evaluation index is provided to the operator. This helps to accurately understand the change in the position of the robot. The weight coefficient (w x 、w y 、w z ), so that the difference values ​​of different axes can be treated differently according to their importance and the degree of impact on the overall accuracy. This helps to improve the flexibility and accuracy of calibration and meet the needs of different application scenarios. x , b y , b z), so that during the calibration process, specific axes can be fine-tuned to adapt to the influence of external factors (such as environmental changes, equipment aging, etc.). This helps to improve the adaptability and accuracy of calibration. It provides a basis for automated calibration, and combined with the equipment control system, the automatic correction function of the robot can be realized. This helps to improve the automation level of the production line and reduce manual intervention and errors. Continuous monitoring and recording of difference values ​​can provide valuable data support for equipment fault diagnosis and prediction. By analyzing the changing trend of the difference value, potential problems such as wear and looseness of the robot can be discovered in time, and corresponding preventive measures can be taken.

[0103] In a preferred embodiment of the present invention, the above step 16, according to the difference between the new coordinates and the originally recorded standard coordinates of each axis, corrects and compensates each axis to realize the automatic correction function of the device to the manipulator, which may include:

[0104] Step 166, determining the direction of adjustment of each axis according to the sign of the difference between the new coordinates and the originally recorded standard coordinates of each axis, and calculating the correction amount of adjustment of each axis;

[0105] Step 167, converting the calculated correction amount into a compensation instruction recognized by the device, and sending the compensation instruction to the device control system to control the manipulator to adjust the position;

[0106] Step 168, during the correction process, the position change of the manipulator is monitored in real time through the sensor. If an abnormality occurs or exceeds a preset range, the correction operation will be stopped and troubleshooting will be performed;

[0107] Step 169, after the correction is completed, the actual coordinates of the manipulator are read again, and the actual coordinates are compared with the standard coordinates. If the difference value is within the preset range, the correction is successful; if it is out of the range, the correction operation is performed again to realize the automatic correction function of the device for the manipulator.

[0108] In an embodiment of the present invention, by comparing the newly measured coordinate value with the original standard coordinate value, and taking into account the weight and the reference adjustment value, the difference value of each axis (x-axis, y-axis, z-axis) is calculated. According to the positive or negative difference value, the direction in which each axis needs to be adjusted is determined. For example, if the difference value is positive, it means that the newly measured coordinate value is larger than the original standard coordinate value, so it needs to be adjusted in the negative direction; conversely, if the difference value is negative, it needs to be adjusted in the positive direction. According to the size of the difference value and the preset correction rule, the correction amount required to adjust each axis is calculated. The size of the correction amount is usually proportional to the difference value, but may also be affected by other factors (such as weight, device characteristics, etc.). The calculated correction amount is converted into a compensation instruction that can be recognized by the device. These instructions include information such as the direction, step size or speed of adjustment, so that the device control system can accurately perform the correction operation. The compensation instruction is sent to the device control system. After receiving the instruction, the control system will control the manipulator to make corresponding position adjustments. During the correction process, the position change of the manipulator is monitored in real time by the sensor. If an abnormality occurs or exceeds the preset range, the control system will immediately stop the correction operation and perform troubleshooting to ensure the safety and stability of the equipment. After the correction is completed, the actual coordinates of the robot are read again and compared with the standard coordinates. If the difference value is within the preset range, it means that the correction is successful; if it is out of the range, the correction operation needs to be repeated until the requirements are met.

[0109] By automatically calculating the difference value, determining the adjustment direction, calculating the correction amount and sending compensation instructions, the calibration efficiency can be significantly improved, and manual intervention and errors can be reduced. Through real-time monitoring and correction verification, it can be ensured that the calibration accuracy of the robot meets the preset requirements, thereby improving the overall accuracy and stability of the equipment. Through the troubleshooting mechanism, potential problems can be discovered and handled in a timely manner to ensure the reliability and safety of the equipment. The automatic correction function of the equipment to the robot can improve the automation level of the production line, reduce labor costs and operational complexity. By recording and analyzing the data during the correction process, the calibration rules and parameters can be continuously optimized to support the continuous improvement and upgrading of the equipment.

[0110] When specifically applied, the above content specifically includes:

[0111] Use the measuring device to obtain the x-axis, y-axis, and z-axis coordinate values ​​of the robot at the new position (N x 、N y 、N z ), calculate the difference value. Determine the direction in which each axis needs to be adjusted based on the positive or negative difference value. For example, if D x >0, it means that the x-axis needs to be adjusted in the negative direction; if D x<0, it means that the x-axis needs to be adjusted in the positive direction. The correction amount that needs to be adjusted for each axis is calculated based on the size of the difference value and the preset correction rules. The correction amount is usually proportional to the difference value, but it may also be affected by factors such as weight and device characteristics. The calculated correction amount is converted into a compensation instruction that the device can recognize, including information such as the direction, step size or speed of adjustment. The compensation instruction is sent to the device control system, and the control system will control the manipulator to make corresponding position adjustments after receiving the instruction. During the correction process, the position change of the manipulator is monitored in real time through sensors. If an abnormality occurs or exceeds the preset range, the control system will immediately stop the correction operation and perform troubleshooting. After the correction is completed, the actual coordinates of the manipulator are read again and compared with the standard coordinates. If the difference value is within the preset range, it means that the correction is successful; if it exceeds the range, the correction operation needs to be performed again.

[0112] Assume that the original standard coordinate value of a three-axis manipulator is S x =100, S y =200, S z =300, weight is w x =1,w y =1,w z =1, the base adjustment value is b x =0, b y =0, b z = 0. The new measured coordinate value is N x =105,N y =198,N z =302. The difference is calculated as:

[0113] D x =1×(105-100+0)=5

[0114] D y =1×(198-200+0)=-2

[0115] D z =1×(302-300+0)=2. According to the formula, the x-axis needs to be adjusted in the negative direction (because D x >0); the y axis needs to be adjusted in the positive direction (because D y <0); the z axis needs to be adjusted in the negative direction (because although D z>0, but in this example, it is assumed that the z-axis also needs to be close to the standard value, that is, adjusted in the negative direction to reduce the difference). Assume that the preset compensation rule is that the absolute value of the difference value is directly used as the correction amount (in actual application, it may need to be adjusted according to the device characteristics and accuracy requirements). Therefore, the correction amount of the x-axis is -5, the correction amount of the y-axis is 2, and the correction amount of the z-axis is -2. Convert the correction amount into a compensation instruction that the device can recognize, for example: "The x-axis moves 5 units in the negative direction, the y-axis moves 2 units in the positive direction, and the z-axis moves 2 units in the negative direction." Send the compensation instruction to the device control system, and the control system will control the manipulator to make corresponding position adjustments after receiving the instruction. During the correction process, the position change of the manipulator is monitored in real time through the sensor to ensure that there is no abnormality or exceeding the preset range. After the correction is completed, read the actual coordinates of the manipulator again and compare them with the standard coordinates. If the difference value is within the preset range (for example, within ±1 unit), it means that the correction is successful; otherwise, the correction operation needs to be performed again.

[0116] In a preferred embodiment of the present invention, the calculation formula for the correction amount of each axis adjustment is:

[0117]

[0118] Among them, C x , C y , C z Respectively represent the correction amount of the x-axis, y-axis, and z-axis; k x , k y , k z Represents the linear coefficients of the x-axis, y-axis, and z-axis respectively; f z 、f y 、f z Represents the coefficients of the logarithmic terms of the x-axis, y-axis, and z-axis respectively; h x 、h y 、h z They represent the cross-term coefficients of the x-axis, y-axis, and z-axis respectively; ∈ represents a small constant.

[0119] In the embodiment of the present invention, the linear term k i D i Indicates the displacement difference between the correction amount and the corresponding axis (D i ). Linear coefficient k i (where i is x, y, z) determines the slope and direction of this linear relationship. When the system has an error that is directly proportional to the displacement, the linear term can effectively correct it. The logarithmic term f x log1+|D x |) is used to deal with errors that grow nonlinearly with displacement. The coefficient f i Controls the influence of logarithmic terms. iWhen it is large, the growth rate of the logarithmic term will gradually slow down, which helps to deal with some errors that increase nonlinearly under large displacements, such as elastic deformation of materials, nonlinear response of sensors, etc. The effect of the interaction between different axes on the correction is considered. This interaction may be caused by factors such as coupling of the mechanical system and cross interference of the sensor. By introducing cross terms, the formula can more accurately describe and correct these complex error modes.

[0120] For example, in C x In the calculation of , the cross term is This means that the x-axis correction part depends on the product of the y-axis and z-axis displacements and is expressed by D z +∈ is normalized. This normalization ensures that when D z As it approaches zero, the effect of the cross term does not become too large or unstable. ∈ is a small constant used to prevent the denominator from being zero and to provide stability in numerical calculations. Its presence ensures the continuity and smoothness of the formula, and a reasonable correction can be obtained even when the displacement of some axes is small (close to zero).

[0121] By comprehensively considering various error sources such as linear, nonlinear and axis interaction, the correction amount of each axis can be calculated more accurately. This helps to reduce the error of the mechanical system in actual operation and improve the overall accuracy and performance. i , f i ,h i ) can be adjusted according to the actual situation, so that the correction calculation is more in line with the characteristics of the specific mechanical system. This flexibility allows the formula to adapt to different types of mechanical systems and working environments. The logarithmic term can handle nonlinear errors, and the cross term takes into account the interaction between axes and introduces a small constant ∈, which helps prevent the denominator from being zero, thereby ensuring the stability of the numerical calculation.

[0122] like Figure 2 As shown, an embodiment of the present invention further provides a system information processing system 20 based on power data, comprising:

[0123] The acquisition module 21 is used to use the standard block fixed inside the device as the calibration point of the device; use the manipulator to perform calibration operations on the axes inside the device. When the device performs the first calibration on any axis, the device controller controls the manipulator to contact the calibration point, and in the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque value of the corresponding axis motor; when the device controller detects that the torque value reaches a preset set value, the axis coordinate at this time is used as the standard coordinate of the corresponding axis, and the manipulator is controlled to contact the calibration point for the remaining axes in the device in turn to obtain a standard coordinate set;

[0124] The processing module 22 is used to re-measure the new coordinates of each axis of the manipulator relative to the standard block after the manipulator in the equipment has been repaired or replaced; the equipment controller compares the new coordinates with the original recorded standard coordinates of each axis, and calculates the difference between the new coordinates and the original recorded standard coordinates of each axis; and corrects and compensates each axis according to the difference between the new coordinates and the original recorded standard coordinates of each axis, so as to realize the automatic correction function of the equipment to the manipulator.

[0125] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0126] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0127] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0128] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for automatically correcting the coordinates of a standard part in a device, characterized in that: The method comprises: The standard block fixed inside the equipment is used as the calibration point of the equipment; Use the manipulator to calibrate each axis inside the device. When the device calibrates any axis for the first time, the device controller controls the manipulator to contact the calibration point. During the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque values ​​of the corresponding axis motor. When the device controller detects that the torque value reaches the preset set value, the axis coordinates at this time are used as the standard coordinates of the corresponding axis, and the manipulator is controlled to contact the calibration points for the remaining axes in the device in turn to obtain a standard coordinate set; If the robot in the equipment has been repaired or replaced, the new coordinates of each axis of the robot relative to the standard block will be remeasured; The device controller compares the new coordinates with the originally recorded standard coordinates of each axis, and calculates the difference between the new coordinates and the originally recorded standard coordinates of each axis; According to the difference between the new coordinates and the original recorded standard coordinates of each axis, each axis is corrected and compensated to realize the automatic correction function of the equipment to the robot.

2. The method for automatically correcting the coordinates of standard parts in a device according to claim 1, characterized in that: Use the manipulator to calibrate each axis inside the device. When the device calibrates any axis for the first time, the device controller controls the manipulator to contact the calibration point. During the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque values ​​of the corresponding axis motor, including: Start the device controller and the manipulator, and establish a communication connection between the device controller and the manipulator; Set the calibration parameters in the device controller, including the coordinates of the calibration points, the preset torque value range, and the sampling frequency during the calibration process to control the movement of the robot: According to the set calibration parameters, the device controller sends instructions to the manipulator to control the manipulator to move at a predetermined uniform speed until the manipulator touches the calibration point; During the movement of the robot, the device controller receives the current axis coordinates and torque values ​​fed back by the robot in real time through the communication interface, and continuously obtains the coordinates and torque values ​​of the corresponding axis motor from the robot at a set sampling frequency.

3. The method for automatically correcting the coordinates of standard parts in a device according to claim 2, characterized in that: According to the set calibration parameters, the device controller sends instructions to the robot to control the robot to move at a predetermined uniform speed until the robot touches the calibration point, including: The device controller constructs a movement instruction according to the calibration parameters. The movement instruction includes target position, movement speed, and acceleration parameters, and sends the constructed instruction to the robot through the communication interface; The robot feeds back position and status information to the equipment controller; If the position of the robot deviates from the predetermined trajectory or an abnormal situation occurs, the equipment controller will issue a warning or stop command in time; When the robot moves above the calibration point, the device controller sends a new instruction to control the robot to descend at a predetermined uniform speed until the robot touches the calibration point.

4. The method and system for automatically calibrating the coordinates of standard parts in a device according to claim 3, characterized in that: When the device controller detects that the torque value reaches the preset set value, the axis coordinates at this time are used as the standard coordinates of the corresponding axis, and the manipulator is controlled to contact the calibration points for the remaining axes in the device in turn to obtain a standard coordinate set, including: When the torque value reaches the preset set point, the equipment controller sends a signal indicating that the manipulator has contacted the calibration point; At the moment when the torque value reaches the preset value, the equipment controller immediately records the axis coordinates at this time and uses the coordinates as the standard coordinates of this axis; The device controller repeats the calibration operation, sequentially controlling the manipulator to contact the calibration points of the remaining axes; For each of the remaining axes, the device controller performs the operations of sending movement instructions, monitoring torque values, and recording standard coordinates to obtain a standard coordinate set.

5. The method and system for automatically calibrating the coordinates of standard parts in a device according to claim 4, characterized in that: The calculation formula for the difference between the new coordinates and the original recorded standard coordinates of each axis is: Among them, D x , D y , D z Represents the difference values ​​of x-axis, y-axis, and z-axis respectively; N x 、N y 、N z Respectively represent the newly measured coordinate values ​​on the x-axis, y-axis, and z-axis; w x 、w y 、w z Respectively represent the weights on the x-axis, y-axis, and z-axis; S x , S y 、w z Respectively represent the original standard coordinate values ​​on the x-axis, y-axis, and z-axis; b x , b y , b z Respectively represent the reference adjustment values ​​on the x-axis, y-axis, and z-axis.

6. The method for automatically correcting the coordinates of a standard part in a device according to claim 5, characterized in that: According to the difference between the new coordinates and the original recorded standard coordinates of each axis, each axis is corrected and compensated to realize the automatic correction function of the equipment to the manipulator, including: According to the positive or negative difference between the new coordinates and the original recorded standard coordinates of each axis, the direction of adjustment of each axis is determined, and the correction amount of adjustment of each axis is calculated; The calculated correction amount is converted into a compensation instruction recognized by the equipment, and the compensation instruction is sent to the equipment control system to control the manipulator to adjust the position; During the correction process, the position change of the robot is monitored in real time through sensors. If an abnormality occurs or exceeds the preset range, the correction operation will be stopped and troubleshooting will be carried out; After the correction is completed, the actual coordinates of the robot are read again and compared with the standard coordinates. If the difference value is within the preset range, the correction is successful; if it is out of the range, the correction operation is performed again to realize the automatic correction function of the device for the robot.

7. The method for automatically correcting the coordinates of a standard part in a device according to claim 6, characterized in that: The calculation formula for the correction amount of each axis adjustment is: Among them, C x , C y , C z Respectively represent the correction amount of the x-axis, y-axis, and z-axis; k x , k y , k z Represents the linear coefficients of the x-axis, y-axis, and z-axis respectively; f x 、f y 、f z Represents the coefficients of the logarithmic terms of the x-axis, y-axis, and z-axis respectively; h x 、h y 、h z They represent the cross-term coefficients of the x-axis, y-axis, and z-axis respectively; ∈ represents a small constant.

8. A system for automatically correcting the coordinates of standard parts in a device, characterized in that: include: The acquisition module is used to use the standard block fixed inside the device as the calibration point of the device; use the manipulator to perform calibration operations on the axes inside the device. When the device performs the first calibration on any axis, the device controller controls the manipulator to contact the calibration point, and in the process of the manipulator contacting the calibration point, the device controller continuously obtains and records the coordinates and torque values ​​of the corresponding axis motor; when the device controller detects that the torque value reaches a preset set value, the axis coordinate at this time is used as the standard coordinate of the corresponding axis, and the manipulator is controlled to contact the calibration point for the remaining axes in the device in turn to obtain a standard coordinate set; The processing module is used to re-measure the new coordinates of each axis of the manipulator relative to the standard block after the manipulator in the equipment has been repaired or replaced; the equipment controller compares the new coordinates with the original recorded standard coordinates of each axis, and calculates the difference between the new coordinates and the original recorded standard coordinates of each axis; based on the difference between the new coordinates and the original recorded standard coordinates of each axis, each axis is corrected and compensated to realize the automatic correction function of the equipment to the manipulator.

9. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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