A method and system for automatically correcting the coordinates of a manipulator in a device

Abstract

The present invention provides a method and system for automatically correcting the coordinates of a manipulator in a device, relating to the technical field of automated equipment calibration. The method includes: using a standard part fixedly arranged inside the device as a calibration point of the device; using the 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 acquires and records the coordinates and torque values of the motors corresponding to the axis; 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 for the remaining axes in the device, the manipulator is sequentially controlled to contact the calibration point to obtain a set of standard coordinates. The present invention ensures the accuracy and stability of the manipulator, can quickly restore the performance of the device after maintenance or replacement, reduces the calibration cost and improves the work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic equipment calibration, and particularly to a method and system for automatically correcting the coordinates of a manipulator in a device. Background Art

[0002] During actual operation, the manipulator faces various challenges that may cause the deviation or change of its coordinate system. On the one hand, over time, mechanical components will gradually lose their original precision due to wear. For example, the wear of bearings, the slack of transmission belts, and the increase of gear clearances may all cause deviations in the movement trajectory of the manipulator. On the other hand, when the manipulator needs to be repaired or parts are replaced, such as replacing servo motors, sensors, or transmission mechanisms, these changes often lead to significant changes in its coordinate system.

[0003] Traditional calibration methods are inadequate in the face of these challenges. First, these methods require manual intervention, including manually adjusting the position of the manipulator, measuring and recording various parameters, and making corresponding adjustments according to the measurement results. This process is not only time-consuming and laborious but also inefficient, unable to meet the requirements of high efficiency and rapid response in modern automated production. Second, manual calibration is easily affected by human factors, such as the skill level, fatigue degree, and judgment error of operators, which may all 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 a manipulator in a device, so as to improve the overall performance and production efficiency of the automated equipment.

[0005] To solve the above technical problem, the technical solution of the present invention is as follows:

[0006] In a first aspect, a method for automatically correcting the coordinates of a manipulator in a device, the method includes:

[0007] Taking the standard parts fixedly arranged inside the device as the calibration points of the device;

[0008] Using the 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 acquires 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, taking the axis coordinates at this time as the standard coordinates of the corresponding axis, and for the remaining axes in the device, controlling the manipulator to contact the calibration point in sequence to obtain a set of standard coordinates;

[0010] If the manipulator inside the equipment is repaired or replaced, the new coordinates of each axis of the manipulator with respect to the standard part after the change will be re-measured;

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

[0012] Based on the difference value between the new coordinates and the original recorded standard coordinates of each axis, each axis is corrected and compensated to achieve the automatic correction function of the equipment for the manipulator.

[0013] Furthermore, use the manipulator to perform calibration operations on each axis inside the equipment. When the equipment performs the first calibration on any axis, the equipment controller controls the manipulator to contact the calibration point, and during the process of the manipulator contacting the calibration point, the equipment controller continuously acquires and records the coordinates and torque values of the corresponding axis motor, including:

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

[0015] Set calibration parameters in the equipment 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:

[0016] According to the set calibration parameters, the equipment controller sends an instruction to the manipulator to control the manipulator to move at a predetermined uniform speed until the manipulator contacts the calibration point;

[0017] During the movement of the manipulator, the equipment controller receives the current axis coordinates and torque values feedback by the manipulator through the communication interface, and continuously acquires the coordinates and torque values of the corresponding axis motor from the manipulator at the set sampling frequency.

[0018] Furthermore, according to the set calibration parameters, the equipment controller sends an instruction to the manipulator to control the manipulator to move at a predetermined uniform speed until the manipulator contacts the calibration point, including:

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

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

[0021] If the position of the manipulator deviates from the predetermined trajectory or an abnormal situation occurs, the equipment controller issues a warning or stop instruction in a timely manner;

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

[0023] Furthermore, 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 each of 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 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] in, 、 、 Respectively axis, axis, The difference value of the axis; 、 、 Respectively expressed in axis, axis, The newly measured coordinate values on the axis; 、 、 Respectively expressed in axis, axis, Axis weights; 、 、 Respectively expressed in axis, axis, The original standard coordinate values on the axis; 、 、 Respectively expressed in axis, axis, The base adjustment value on the axis.

[0031] Furthermore, according to the difference values between the new coordinates and the standard coordinates of each axis recorded originally, corrections and compensations are performed on each axis to achieve the automatic calibration function of the device for the manipulator, including:

[0032] Determine the adjustment directions of each axis according to the positive and negative of the difference values between the new coordinates and the standard coordinates of each axis recorded originally, and calculate the correction amounts for the adjustment of each axis;

[0033] Convert the calculated correction amounts into compensation instructions recognizable by the device, and send the compensation instructions to the device control system to control the manipulator to perform position adjustment;

[0034] 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 correction operation will be stopped and troubleshooting will be carried out;

[0035] After the correction is completed, read the actual coordinates of the manipulator again, and compare the actual coordinates with the standard coordinates. If the difference value is within the preset range, the correction is successful; if it exceeds the range, the correction operation is performed again to achieve the automatic calibration function of the device for the manipulator.

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

[0037] ;

[0038] Where, , , respectively represent axis, axis, the correction amount of the , , respectively represent axis, axis, the linear coefficient of the , , respectively represent axis, axis, the coefficient of the logarithmic term of the , , respectively represent axis, axis, the cross-term coefficient of the represents a small constant.

[0039] In the second aspect, a system for automatically calibrating the coordinates of a manipulator in a device includes:

[0040] An acquisition module, configured to use the standard parts fixedly arranged inside the device as the calibration points of the device; use 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 that the manipulator contacts the calibration point, the device controller continuously acquires and records the coordinates and torque values of the motors of the corresponding axis; when the device controller detects that the torque value reaches the preset set value, take the axis coordinates at this time as the standard coordinates of the corresponding axis, and for the remaining axes in the device, control the manipulator to contact the calibration point in sequence to obtain a set of standard coordinates;

[0041] A processing module, configured to if the manipulator inside the device is repaired or replaced, re-measure the new coordinates of each axis of the changed manipulator with respect to the standard parts; the device controller compares the new coordinates with the original recorded standard coordinates of each axis, and calculates the difference value between the new coordinates and the original recorded standard coordinates of each axis; according to the difference value between the new coordinates and the original recorded standard coordinates of each axis, perform correction and compensation on each axis to implement the automatic correction function of the device for the manipulator.

[0042] In a third aspect, a computing device includes:

[0043] One or more processors;

[0044] A storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the described method.

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

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

[0047] Using the standard parts fixedly arranged inside the device as the calibration points ensures the stability and consistency of the calibration reference. By reducing human intervention through an automated process, it avoids errors caused by human factors, thereby improving the accuracy and stability of calibration. By automatically controlling the manipulator by the device controller to perform calibration operations and acquiring and recording data in real time, it shortens the calibration time and improves the calibration efficiency. After the manipulator is repaired or replaced, its coordinates may change. Through this method, the new coordinates can be quickly and accurately measured, compared with the original standard coordinates and corrected, avoiding operation errors and equipment damage caused by coordinate offset, thereby reducing the maintenance cost.

[0048] This method is applicable to automated equipment of different models and specifications. By simply setting corresponding standard parts inside the equipment and configuring corresponding calibration parameters, the automatic calibration function can be achieved, enhancing the adaptability and versatility of the equipment. Through the automatic control and data recording of the calibration process by the equipment controller, 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 FIG. is a schematic flow chart of a method for automatically correcting the coordinates of a manipulator in an automatic correction device provided by an embodiment of the present invention.

[0050] Figure 2 FIG. is a schematic diagram of a system for automatically correcting the coordinates of a manipulator in an automatic correction device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the 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 so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0052] As Figure 1 shown, an embodiment of the present invention provides a method for automatically correcting the coordinates of a manipulator in an automatic correction device, and the method includes the following steps:

[0053] Step 11: Set the standard parts fixedly arranged inside the equipment as the calibration points of the equipment;

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

[0055] Step 13: When the equipment controller detects that the torque value reaches the preset set value, take the axis coordinates at this time as the standard coordinates of the corresponding axis, and for the remaining axes in the equipment, control the manipulator to contact the calibration point in sequence to obtain a set of standard coordinates; <{

[0056] Step 14: If the manipulator inside the equipment is repaired or replaced, re-measure the new coordinates of each axis of the manipulator with respect to the standard parts after the change;

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

[0058] Step 16: According to the difference values between the new coordinates and the standard coordinates of each axis recorded originally, perform correction and compensation on each axis to implement the automatic correction function of the device for the manipulator.

[0059] In the embodiment of the present invention, by setting up a fixed and stable standard part as the calibration reference, it is ensured that the reference points for each calibration are consistent, improving the reliability and repeatability of calibration. The automated calibration process reduces human intervention and improves calibration efficiency. At the same time, the data recorded in real time provides an accurate basis for subsequent calibration analysis and correction. Using the torque value as the judgment basis for the completion of calibration ensures the accuracy and consistency of calibration. The method of calibrating each axis one by one ensures that each axis can be accurately calibrated. After the manipulator changes, the new coordinates are measured in a timely manner, providing the basic data for subsequent correction and compensation, and ensuring that the device can still maintain high precision after maintenance or replacement.

[0060] By comparing the new coordinates with the original standard coordinates, the changes of the manipulator can be accurately understood. Precise correction and compensation are performed on each axis according to the difference values, ensuring that the manipulator can accurately reach the preset position during operation, and improving the overall accuracy and stability of the device.

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

[0062] When the device needs to be calibrated or the manipulator needs to be recalibrated after maintenance or replacement, the device controller issues a calibration instruction to trigger the calibration process. The device controller controls the manipulator to move above the standard part and precisely adjusts the posture of the manipulator to ensure that it can accurately contact the calibration surface of the standard part. During this process, the device controller obtains and records the coordinate information of the manipulator and the torque value of the motor in real time.

[0063] As the manipulator descends, when it contacts the calibration surface of the standard part, an obvious torque change will occur. The device controller continuously monitors the torque value and, when detecting that the torque value reaches the preset set value, considers that the manipulator has accurately contacted the calibration point. When it is confirmed that the manipulator 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 manipulator at a specific position.

[0064] In a preferred embodiment of the present invention, in the above step 12, when the device uses the 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 motor of the corresponding axis, 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: Set 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 manipulator:

[0067] Step 124: 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;

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

[0069] In the embodiment of the present invention, in the device controller, the coordinates of the calibration points are set. These coordinates are the target positions that the manipulator needs to touch and are obtained through pre-measurement and calculation. In order to determine whether the manipulator accurately touches the calibration point, a preset torque value range needs to be set. When the manipulator touches the calibration point, the torque value should fall within this range. Set the sampling frequency during the calibration process, 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 obtained data, 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 state in real time through the communication interface, including the current position, speed, torque, etc. During the movement of the manipulator, the device controller receives in real time the current axis coordinates and torque values fed back by the manipulator. These data are measured by the sensors on the manipulator and sent to the device controller after being processed. 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] Precisely controlling the manipulator to move at a predetermined uniform speed through the device controller and obtaining the coordinates and torque values of the corresponding axis motor in real time can ensure that the position and force of the manipulator when touching the calibration point are extremely accurate. The torque value fed back in real time helps the device controller accurately judge when the manipulator touches the calibration point, thereby improving the calibration accuracy. Continuously obtaining data from the manipulator at the set sampling frequency ensures the integrity and continuity of the data. The automated calibration process reduces human intervention and avoids errors and uncertainties brought by human factors. Real-time data feedback and precise control make the calibration process faster and more efficient.

[0071] The coordinates and torque values obtained in real time can help the device controller detect abnormal behaviors or potential faults 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 measures can be taken in time for troubleshooting. Through calibration operations, it can be ensured that each axis of the manipulator reaches the optimal working state, thereby improving the overall performance and stability of the device. Precise calibration also helps to extend the service life of the device and reduce device damage or performance degradation caused by error accumulation. It is applicable to different types of manipulators and devices, and only needs to adjust the calibration parameters according to specific requirements.

[0072] When specifically applied, the above content specifically includes:

[0073] In order to accurately judge whether the manipulator has contacted the calibration point, a torque value range is set. When the actual torque value falls within this range, it is considered that the manipulator has accurately contacted. The frequency at which the device controller obtains the coordinates and torque values from the manipulator is set. The choice of the sampling frequency needs to balance 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. The choice of this speed aims 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 the current position, speed, and torque. The high-precision sensors on the manipulator measure the coordinates and torque values of the current axis in real time and send the processed raw data to the device controller. The device controller continuously obtains the accurate 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 this axis.

[0074] Suppose there is a two-axis manipulator for an automated assembly line that needs to calibrate X axis and Y axis. X The calibration point coordinates of the axis are set to (500, 0), and the calibration point coordinates of the Y axis are set to (0, 400). The preset torque value range is set to 4 - 6 X to judge whether the manipulator 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 manipulator to control it to first move to the calibration point (500, 0) along the YThe axis moves to the calibration point (0, 400). During the movement of the robotic arm, the device controller monitors its X axis and Y the current position, speed, and torque values of the X axis and Y axis motors in real time through the communication interface. The high-precision sensors on the robotic arm measure these parameters at a high frequency. The device controller continuously obtains the exact coordinates and torque values of the X axis and Y axis motors at a sampling frequency of 50 Hz and records this data in memory. When the device controller detects that the torque values of the X axis and Y axis both reach the preset 4 - 6 range, it is considered that the robotic arm has accurately contacted the calibration point. At this time, the device controller respectively records the current coordinates (500.02, 0.01) and (0.03, 400.05) of the X axis and Y axis as their respective standard coordinates.

[0075] In another preferred embodiment of the present invention, in step 124 above, according to the set calibration parameters, the device controller sends an instruction to the robotic arm to control the robotic arm to move at a predetermined uniform speed until the robotic arm contacts the calibration point, which may include:

[0076] Step 1244, the device controller constructs a movement instruction according to the calibration parameters. The movement instruction includes the target position, movement speed, and acceleration parameters, and sends the constructed instruction to the robotic arm through the communication interface;

[0077] Step 1245, the robotic arm feeds back the position information and status information to the device controller;

[0078] Step 1246, if the position of the robotic arm deviates from the predetermined trajectory or an abnormal situation occurs, the device controller issues a warning or a stop instruction in a timely manner;

[0079] Step 1247, when the robotic arm moves above the calibration point, the device controller sends a new instruction to control the robotic arm to descend at a predetermined uniform speed until the robotic arm contacts the calibration point.

[0080] In an embodiment of the present invention, the device controller constructs movement instructions according to preset calibration parameters, such as target position, movement 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, it continuously feeds back its current position information and status information to the device controller. The device controller receives and processes this information in real time to monitor the actual movement status 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 abnormal conditions, such as abnormal speed, jitter, etc., it will immediately issue a warning or stop instruction to ensure the accuracy and safety of the calibration process. After 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 monitoring parameters such as torque value in real time, the device controller can accurately judge when the manipulator touches the calibration point and record the coordinates at this time as the standard coordinates.

[0081] By accurately constructing and sending movement instructions by the device controller, and providing real-time feedback and monitoring of the movement status of the manipulator, it can ensure that the manipulator moves according to the predetermined trajectory and speed, thereby improving the calibration accuracy.

[0082] The device controller can monitor the movement status of the manipulator in real time. Once a deviation or abnormal condition is found, it can quickly issue a warning or stop instruction to avoid potential safety hazards. Through the close cooperation between the device controller and the manipulator, as well as real-time data processing and analysis, the calibration process can be optimized, manual intervention and errors can be reduced, and the calibration efficiency can be improved. The automation and intelligence of the manipulator calibration process are realized, the complexity and uncertainty of manual operation are reduced, and the overall automation level is improved.

[0083] When specifically applied, the above content specifically includes:

[0084] The device controller constructs movement instructions based on calibration parameters such as the target position (precise coordinates of the calibration point), movement speed (considering the performance of the robotic arm while ensuring calibration accuracy), acceleration (ensuring smooth start and stop of the robotic arm), etc. These instructions are accurately sent to the robotic arm through communication interfaces such as serial communication, Ethernet, etc. During the movement of the robotic arm, its position information and status information such as the current coordinates, speed, torque, etc. are measured in real time through built-in sensors and fed 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 robotic arm conforms to the predetermined trajectory and speed. The device controller compares the actual position of the robotic arm with the predetermined trajectory. If it is found that the deviation exceeds the preset allowable range, or if the robotic arm shows abnormal conditions such as speed fluctuations, jitters, overheating, etc., it will immediately trigger a warning mechanism, such as emitting an audible and visual alarm or displaying a warning message on the user interface. In severe cases, the device controller will send a stop instruction to make the robotic arm stop moving immediately to prevent damage or safety accidents. When the robotic arm moves above the calibration point, the device controller will send a new instruction to control the robotic arm to descend at a predetermined uniform speed. This speed is relatively low to ensure that the robotic arm can smoothly contact the calibration point. By monitoring parameters such as the torque value in real time, the device controller can accurately determine when the robotic arm contacts the calibration point. Once contact is made, the device controller will record the coordinates at this time as the standard coordinates of this axis and complete the calibration of this axis.

[0085] Suppose there is a three-axis robotic arm that needs to calibrate the X axis, Y axis, and Z axis. The specific application steps are as follows:

[0086] X Set the calibration point coordinates of the Y axis to (100, 0, 0), Z Set the calibration point coordinates of the X axis to (0, 150, 0), Z Set the calibration point coordinates of the X axis to (0, 0, 200). Set the movement speed to 50 mm / s and the acceleration to 5 mm / s² to ensure smooth movement of the robotic arm. The device controller constructs movement instructions for the X axis according to the calibration parameters and sends them to the robotic arm through the communication interface. The instructions include parameters such as the target position (100, 0, 0), movement speed 50 mm / s, acceleration 5 mm / s², etc. After receiving the instructions, the robotic arm starts to move according to the predetermined speed and trajectory.

[0087] During the movement of the robotic arm, it feeds back its current position information and status information to the device controller in real time.

[0088] The device controller receives and processes this information, monitoring the actual motion state of the manipulator. If any deviation or abnormal situation is detected, warning or stop instructions are issued in a timely manner. When the manipulator moves to X above the axis calibration point, the device controller sends a new instruction to control the manipulator to descend at a predetermined uniform speed until it touches the calibration point. By monitoring parameters such as the torque value in real time, the device controller determines that the manipulator has accurately touched the calibration point and records the X axis coordinates at this time as the standard coordinates. Repeat the above steps to complete the calibration of the Y axis and the Z axis respectively.

[0089] In a preferred embodiment of the present invention, in step 13 above, 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 for the remaining axes in the device, the manipulator is sequentially controlled to touch the calibration point to obtain a set of standard coordinates, which may include:

[0090] Step 133, when the torque value reaches the preset set value, the device controller sends a signal indicating that the manipulator has touched the calibration point;

[0091] Step 134, at the moment when the torque value reaches the preset set value, the device controller immediately records the axis coordinates at this time and uses the coordinates as the standard coordinates of this axis;

[0092] Step 135, the device controller repeats the calibration operation and sequentially controls the manipulator to touch the calibration points of the remaining axes;

[0093] Step 136, for each remaining axis, the device controller performs operations of sending a movement instruction, monitoring the torque value, and recording the standard coordinates to obtain a set of standard coordinates.

[0094] In an embodiment of the present invention, the device controller monitors the torque value of the manipulator in real time during the movement process. When the torque value reaches the preset set value, the device controller determines that the manipulator has touched 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 is stored in the memory of the device controller.

[0095] The device controller sequentially controls the manipulator to touch the calibration points of the remaining axes according to the preset calibration point order. For each remaining axis, the device controller repeats the operations of sending a movement instruction, monitoring the torque value, and recording the standard coordinates. Through the above operations, the device controller can obtain a set containing the standard coordinates of all axes, that is, the set of standard coordinates. This set of standard coordinates will be used for subsequent manipulator motion control and accuracy verification.

[0096] Through an automated calibration process, the equipment controller can quickly and accurately control the manipulator to contact each calibration point and record the standard coordinates, thus improving the calibration efficiency. The equipment controller monitors the torque value in real time and records the coordinates immediately when the preset set value is reached, ensuring the accuracy of calibration. By repeating the calibration operation, the error can be further reduced and the reliability of calibration can be improved. This simplifies the operation process of the manipulator and improves the work efficiency. Accurate calibration can ensure the motion accuracy and stability of the manipulator, thus enhancing the performance of the entire equipment.

[0097] When specifically applied, the above content specifically includes:

[0098] The equipment controller is integrated with a high-precision torque sensor, which can collect torque value data of the manipulator during movement in real time. When the manipulator approaches the calibration point, as the contact force increases, the torque value gradually rises.

[0099] The equipment controller continuously analyzes the torque value data and is ready to respond when the preset set value is reached. When the torque value reaches the preset set value, the equipment controller determines that the manipulator has contacted the calibration point and immediately sends a signal for confirmation. This signal may be presented in the form of an electrical signal, a change in the indicator light, or a user interface prompt, etc., to notify the operator or trigger subsequent operations. At the moment when the torque value reaches the preset set value, the equipment controller obtains the current axis coordinates 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 equipment controller to ensure that the data will not be lost even if the power is cut off. The equipment controller internally presets the order of the calibration points and the information of the corresponding axes. According to the preset order, the equipment controller controls the manipulator to move above each calibration point one by one, and repeats the operations of sending movement instructions, monitoring the torque value, and recording the standard coordinates. Finally, the equipment controller generates a set of standard coordinates containing all axis standard coordinates for subsequent use.

[0100] Suppose there is a six-axis industrial robot that needs to perform precise calibration on each axis. The specific calibration process, including the calibration point coordinates and calibration operations for each axis:

[0101] The equipment controller presets the coordinates of six calibration points, corresponding to six axes respectively. Set the standard for each axis when the torque value reaches the preset set value to be 10 Nm . Calibration coordinates = (100, 0, 0, 0, 0, 0) (assuming only the movement of the first axis is considered and the positions of other axes are 0). The equipment controller controls the first axis of the manipulator to move to above the calibration point, sends a movement instruction, and makes the manipulator descend at a predetermined speed. When the torque value reaches 10 NmWhen the device controller determines that the robot has touched the calibration point, it sends a signal to confirm. The axis coordinates at this time are recorded as the standard coordinates of the first axis, for example: Standard = (100.00, 0.00, 0.00, 0.00, 0.00, 0.00) (Here it is assumed that the coordinate values are recorded to two decimal places). Calibration coordinates = (0, 150, 0, 0, 0, 0) Repeat the first axis calibration process, when the torque value reaches 10 Nm When recording the standard coordinates of the second axis, for example: Standard = (0.00, 150.00, 0.00, 0.00, 0.00, 0.00). Calibration coordinates = (0, 0,200, 0, 0, 0) Repeat the above process and record the standard coordinates of the third axis, for example: Standard = (0.00, 0.00, 200.00, 0.00, 0.00, 0.00). Coordinates of calibration points = (0, 0, 0, 250, 0, 0) Repeat the above process and record the standard coordinates of the fourth axis, for example: Standard = (0.00, 0.00, 0.00, 250.00, 0.00, 0.00). Calibration point coordinates =(0, 0, 0, 0, 300, 0) Repeat the above process and record the standard coordinates of the fifth axis, for example: Standard = (0.00, 0.00, 0.00, 0.00, 300.00, 0.00). Calibration point coordinates = (0, 0, 0, 0, 0, 350) Repeat the above process and record the standard coordinates of the sixth axis, for example: Standard = (0.00, 0.00, 0.00, 0.00, 0.00, 350.00). After the above steps, a standard coordinate set containing six axis standard coordinates is generated inside the device controller. The standard coordinate set = { standard, standard, standard, standard, standard, standard}

[0102] In a preferred embodiment of the present invention, the above step 14, if the manipulator in the device has been repaired or replaced, re-measuring the new coordinates of each axis of the manipulator relative to the standard part after the change, may include:

[0103] When the robot within the equipment fails, wears out, or needs upgrading, it is repaired or replaced.

[0104] After maintenance or replacement, the physical structure or parameters of the manipulator may change, so recalibration is required.

[0105] Before recalibration, ensure that the device controller and the manipulator are in normal working condition. Prepare standard parts and calibration tools to ensure they meet the calibration requirements. Preset the coordinates of the calibration points and the set values of the torque values, and these set values will be based on the original calibration data of the manipulator. For each axis of the manipulator, perform the calibration operation in sequence. The device controller controls the manipulator to move above the preset calibration point, and then sends a movement instruction to make the manipulator descend at a predetermined speed. During the process of the manipulator contacting the standard part, the device controller monitors the torque value 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 to confirm. At this moment, the device controller immediately records the current axis coordinate, and this coordinate is the new coordinate of the axis of the manipulator with respect to the standard part after the change. For each axis, the device controller will repeat the above calibration process and record the new coordinate. The new coordinates of all axes will be stored in the memory of the device controller to form a new set of standard coordinates. This new set of standard coordinates will overwrite the previous coordinate set and become the benchmark for subsequent manipulator 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 abnormality or error is found, the device controller will automatically make corresponding adjustments. Finally, the device controller will update the new set of standard coordinates to the control system to ensure that the manipulator can accurately follow the instructions in subsequent motion control.

[0106] In a preferred embodiment of the present invention, in step 15 above, the calculation formula for the difference value between the new coordinates and the standard coordinates of each axis recorded originally is:

[0107] ;

[0108] Where, 、 、 respectively represent axis, axis, the difference value of the axis; 、 、 respectively represent the newly measured coordinate values on axis, axis, axis; 、 、 respectively represent the weights on axis, axis, axis; 、 , respectively represent the original standard coordinate values on the axis, axis, axis; , , respectively represent the reference adjustment values on the axis, axis, axis.

[0109] In the embodiments of the present invention, the differences are calculated by subtracting the original standard coordinate values ( , , ) from the newly measured coordinate values ( , , ). This is a direct manifestation of the coordinate value differences, reflecting the changes in the position of the manipulator after maintenance or replacement. In practical applications, the position changes of different axes may have different impacts on the overall accuracy. Therefore, weights ( , , ) are introduced to reflect such differences. The weight is a multiplier used to amplify or reduce the impact of the coordinate value differences, so as to more accurately evaluate the impact of the position change of the manipulator on the overall accuracy. The reference adjustment values ( , , ). This is because in some cases, it is necessary to adjust a fixed reference value 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 differences. For the axis, the difference value is equal to the weight multiplied by (the newly measured coordinate value minus the original standard coordinate value plus the reference adjustment value ). Similarly, for the axis and the axis, the difference values and are calculated using the corresponding weights and reference adjustment values respectively.

[0110] By calculating the difference values between the newly measured coordinates and the original standard coordinates, a quantitative evaluation index is provided for the operator. This helps to accurately understand the changes in the position of the manipulator. Weight coefficients ( , , ), enabling the differential values of non - coaxial axes to be differentially processed according to their importance and the degree of impact on the overall accuracy. This helps to improve the flexibility and precision of calibration, meeting the requirements of different application scenarios. The reference adjustment value ( 、 、 ), enabling fine - tuning of specific axes during the calibration process 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 manipulator can be achieved. This helps to improve the automation level of the production line, reducing manual intervention and errors. The continuous monitoring and recording of differential values can provide valuable data support for equipment fault diagnosis and prediction. By analyzing the change trend of differential values, potential problems such as manipulator wear and looseness can be detected in a timely manner, and corresponding preventive measures can be taken.

[0111] In a preferred embodiment of the present invention, step 16, according to the differential values between the new coordinates and the standard coordinates of each axis recorded originally, performing correction and compensation on each axis to achieve the automatic correction function of the equipment for the manipulator, may include:

[0112] Step 166, determining the adjustment direction of each axis according to the positive and negative of the differential values between the new coordinates and the standard coordinates of each axis recorded originally, and calculating the correction amount for each axis adjustment;

[0113] Step 167, converting the calculated correction amount into a compensation instruction recognized by the equipment, and sending the compensation instruction to the equipment control system to control the manipulator to perform position adjustment;

[0114] Step 168, during the correction process, real - time monitoring of the position change of the manipulator through sensors. If an abnormality occurs or exceeds the preset range, the correction operation will be stopped and fault troubleshooting will be carried out;

[0115] Step 169, after the correction is completed, reading the actual coordinates of the manipulator again, and comparing the actual coordinates with the standard coordinates. If the differential value is within the preset range, the correction is successful; if it exceeds the range, the correction operation is performed again to achieve the automatic correction function of the equipment for the manipulator.

[0116] In the embodiment of the present invention, by comparing the newly measured coordinate values with the original standard coordinate values, and considering the weights and reference adjustment values, the differential values of each axis ( x axis, y axis, zThe difference value of the [[axis]]. Based on the positive or negative of the difference value, determine the adjustment direction for each axis. For example, if the difference value is positive, it means 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 magnitude of the difference value and the preset correction rules, calculate the correction amount required for each axis. The magnitude of the correction amount is usually proportional to the difference value, but it may also be affected by other factors (such as weights, device characteristics, etc.). Convert the calculated correction amount into compensation instructions that the device can recognize. These instructions include information such as the adjustment direction, step size, or speed, so that the device control system can accurately perform the correction operation. Send the compensation instructions to the device control system. After receiving the instructions, the control system will control the manipulator to perform the corresponding position adjustment. 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 conduct troubleshooting to ensure the safety and stability of the device. 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, it means the correction is successful; if it exceeds the range, the correction operation needs to be performed again until the requirements are met.

[0117] 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 ensure that the calibration accuracy of the manipulator reaches the preset requirements, thereby improving the overall accuracy and stability of the device. Through the troubleshooting mechanism, potential problems can be detected and processed in a timely manner to ensure the reliability and safety of the device.

[0118] Implementing the automatic correction function of the device for the manipulator can improve the automation level of the production line, reduce labor costs and operation 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 upgrade of the device.

[0119] When specifically applied, the above content specifically includes:

[0120] Use a measuring device to obtain the x axis, y axis, z axis coordinate values ( , , ), and calculate the difference value. Determine the adjustment direction for each axis according to the positive or negative of the difference value. For example, if >0, it means the x-axis needs to be adjusted in the negative direction; if <0, it means The axis needs to be adjusted in the positive direction. Calculate the correction amount required for each axis according to the magnitude of the difference value and the preset correction rules. The correction amount is usually proportional to the difference value, but may also be affected by factors such as weight and equipment characteristics. Convert the calculated correction amount into a compensation instruction that the device can recognize, including information such as the adjustment direction, step size, or speed. Send the compensation instruction to the device control system. After receiving the instruction, the control system will control the manipulator to perform the corresponding position adjustment. 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 conduct a fault investigation. 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, it indicates that the correction is successful; if it exceeds the range, the correction operation needs to be performed again.

[0121] Assume that the original standard coordinate values of a three-axis manipulator are = 100, = 200, = 300, and the weights are = 1, = 1, = 1, and the reference adjustment values are = 0, = 0, = 0. The newly measured coordinate values are = 105, = 198, = 302. The difference values are calculated as:

[0122] = 1 (105 - 100 + 0) = 5

[0123] = 1 (198 - 200 + 0) = -2

[0124] = 1 (302 - 300 + 0) = 2. According to the formula, the axis needs to be adjusted in the negative direction (because > 0); the axis needs to be adjusted in the positive direction (because < 0); the z-axis needs to be adjusted in the negative direction (because although > 0, in this example, it is assumed that the axis also needs to approach the standard value, that is, to be adjusted in the negative direction to reduce the difference). Assume that the preset correction rule is that the absolute value of the difference value is directly used as the correction amount (in actual applications, it may need to be adjusted according to equipment characteristics and accuracy requirements). Therefore, the correction amount of the axis is -5, The axis correction amount is 2, The axis correction amount is -2. Convert the correction amount into a compensation instruction that the device can recognize, for example: The axis moves 5 units in the negative direction. The axis moves 2 units in the positive direction. The compensation command is sent to the device control system, which then controls the robot to make the appropriate position adjustments. During the correction process, sensors monitor the robot's position changes in real time to ensure that there are no anomalies or situations outside the preset range. After the correction is complete, the robot's actual coordinates are read again and compared with the standard coordinates. If the difference is within the preset range (for example, ±1 unit), the correction is successful; otherwise, the correction operation must be repeated.

[0125] In a preferred embodiment of the present invention, the calculation formula for the correction amount of each axis adjustment is:

[0126] ;

[0127] in, 、 、 Respectively axis, axis, Axis correction amount; 、 、 Respectively axis, axis, Linear coefficient of the axis; 、 、 Respectively axis, axis, The coefficient of the logarithmic term of the axis; 、 、 Respectively axis, axis, The cross-term coefficients of the axes; Represents a small constant.

[0128] In the embodiment of the present invention, the linear term Indicates the difference between the correction amount and the displacement of the corresponding axis ( ). Linear coefficient (in Pick , , )(which) determines the slope and direction of this linear relationship. When there is an error directly proportional to the displacement in the system, the linear term can effectively correct it. The logarithmic term is used to handle those errors that grow non-linearly with the displacement. The coefficient controls the degree of influence of the logarithmic term. When the displacement is large, the growth rate of the logarithmic term will gradually slow down, which helps to handle some errors that increase non-linearly under large displacements, such as the elastic deformation of materials, the non-linear response of sensors, etc. The cross term considers the influence of the interaction between different axes on the correction amount. This interaction may be caused by factors such as the coupling of the mechanical system, the cross-interference of sensors, etc. By introducing the cross term, the formula can more accurately describe and correct these complex error patterns.

[0129] For example, in the calculation of , the cross term is , which means the correction amount of the axis depends in part on the product of the displacements of the axis and the axis, and is normalized by . This normalization ensures that when is close to zero, the influence of the cross term will not become too large or unstable.

[0130] By comprehensively considering various error sources such as linear, non-linear, and inter-axis interactions, the correction amounts of each axis can be calculated more accurately. This helps to reduce the errors in the actual operation of the mechanical system and improve the overall accuracy and performance. The coefficients ( , , ) can be adjusted according to the actual situation to make the calculation of the correction amount more in line with the characteristics of the specific mechanical system. This flexibility enables the formula to adapt to different types of mechanical systems and working environments. The logarithmic term can handle non-linear errors, the cross term considers the inter-axis interaction, and the small constant is introduced, which helps to prevent the denominator from becoming zero, thus ensuring the stability of the numerical calculation.

[0131] As shown in Figure 2 , an embodiment of the present invention also provides a system 20 for automatically correcting the coordinates of a manipulator in a device, including:

[0132] An acquisition module 21 is configured to use the standard parts fixedly arranged inside the device as the calibration points of the device; a manipulator is used 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 acquires and records the coordinates and torque values of the motors of the corresponding axis. 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 for the remaining axes in the device, the manipulator is sequentially controlled to contact the calibration point to obtain a set of standard coordinates;

[0133] A processing module 22 is configured to, if the manipulator inside the device is repaired or replaced, re-measure the new coordinates of each axis of the changed manipulator with respect to the standard parts; the device controller compares the new coordinates with the original recorded standard coordinates of each axis, and calculates the difference value between the new coordinates and the original recorded standard coordinates of each axis; according to the difference value between the new coordinates and the original recorded standard coordinates of each axis, correction and compensation are performed on each axis to implement the automatic correction function of the device for the manipulator.

[0134] It should be noted that this system corresponds to the above method, and all implementation manners in the above method embodiments are applicable to this embodiment and can also achieve the same technical effects.

[0135] An embodiment of the present invention further provides a computing device, including: a processor and a memory storing a computer program. When the computer program is run by the processor, it executes the method as described above. All implementation manners in the above method embodiments are applicable to this embodiment and can also achieve the same technical effects.

[0136] An embodiment of the present invention further provides a computer-readable storage medium storing instructions. When the instructions are run on a computer, the computer is made to execute the method as described above. All implementation manners in the above method embodiments are applicable to this embodiment and can also achieve the same technical effects.

[0137] The above is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for automatically correcting the coordinates of a robot in a device, characterized in that: The method comprises: Use the standard parts fixed inside the equipment as the calibration points of the equipment; Use the robot to calibrate each axis inside the device. When the device calibrates any axis for the first time, the device controller controls the robot to contact the calibration point. During the process of the robot 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 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; If the robot in the equipment has been repaired or replaced, the new coordinates of each axis of the robot relative to the standard parts 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 manipulator, including: determining the adjustment direction of each axis and calculating the correction amount of each axis adjustment according to the positive or negative difference between the new coordinates and the original recorded standard coordinates of each axis; converting the calculated correction amount into a compensation instruction recognized by the equipment, and sending the compensation instruction to the equipment control system to control the manipulator to adjust the position; during the correction process, the position change of the manipulator is monitored in real time by sensors. If an abnormality occurs or exceeds the preset range, the correction operation will be stopped and troubleshooting will be performed; 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 exceeds the range, the correction operation is performed again to realize the automatic correction function of the equipment to the manipulator.

2. The method for automatically correcting the coordinates of a robot in a device according to claim 1, characterized in that: Use the robot to calibrate each axis inside the device. When the device calibrates any axis for the first time, the device controller controls the robot to contact the calibration point. During the process of the robot 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 calibration to control the movement of the robot: 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; 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 a robot in a device according to claim 2, characterized in that: Based on 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 based on the calibration parameters. The movement instruction includes the 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 manipulator moves 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.

4. The method for automatically correcting the coordinates of a robot in a device according to claim 3, wherein: When the device controller detects that the torque value reaches the preset set value, the axis coordinate at this time is used as the standard coordinate of the corresponding axis, and the robot is controlled to contact the calibration point 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 operations of sending movement instructions, monitoring torque values, and recording standard coordinates to obtain a standard coordinate set.

5. The method for automatically correcting the coordinates of a robot 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: ； in, 、 、 Respectively axis, axis, The difference value of the axis; 、 、 Respectively expressed in axis, axis, The newly measured coordinate values on the axis; 、 、 Respectively expressed in axis, axis, Axis weights; 、 、 Respectively expressed in axis, axis, The original standard coordinate values on the axis; 、 、 Respectively expressed in axis, axis, The base adjustment value on the axis.

6. The method for automatically correcting the coordinates of a robot in a device according to claim 5, characterized in that: The calculation formula for the correction amount of each axis adjustment is: ； in, 、 、 Respectively axis, axis, Axis correction amount; 、 、 Respectively axis, axis, Linear coefficient of the axis; 、 、 Respectively axis, axis, The coefficient of the logarithmic term of the axis; 、 、 Respectively axis, axis, The cross-term coefficients of the axes; Represents a small constant.

7. A system for automatically correcting the coordinates of a robot in a device, characterized in that: include: The acquisition module is used to use a standard part fixed inside the device as the calibration point of the device; use 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. 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 a preset set value, the axis coordinate at this time is used as the standard coordinate of the corresponding axis, and the manipulator is sequentially controlled to contact the calibration point for each remaining axis in the device 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 parts after the repair or replacement of the manipulator in the equipment; the equipment 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; based on 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 equipment to the manipulator.

8. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

9. 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 6.

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