Automatic calibration method, device and equipment and computer readable storage medium

Abstract

The invention discloses an automatic calibration method, device and equipment and a computer readable storage medium, and belongs to the technical field of automation. The automatic calibration method comprises the following steps: under the condition that a robot moves to a needle replacement position, replacing a robot tool with a new tool; obtaining a deviation value of the new tool under a base coordinate system of the robot; determining a compensation value of the new tool according to the deviation value and a reference attitude of the robot; and determining the calibration parameter of the new tool according to the compensation value and the calibration parameter of the robot tool. After the new tool is replaced by the robot, the new tool is automatically calibrated, so that the calibration efficiency and the calibration accuracy after the tool is replaced are improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to an automatic calibration method, device, equipment and computer-readable storage medium. Background Art

[0002] Gluing equipment is used for different products and uses a wide variety of glues, but they all have one thing in common: over time, glue will clog the glue needle, requiring regular needle replacement. Due to the size and installation errors of the needle itself, it needs to be recalibrated after replacement before it can be put into production again. Currently, after replacing the tool, the glue-applying robot usually uses manual calibration to confirm the tool parameters. This calibration method is mostly done by eye, which is inefficient and inaccurate. Summary of the invention

[0003] The main purpose of this application is to provide an automatic calibration method, device, equipment and computer-readable storage medium, aiming to improve the calibration efficiency and calibration accuracy after tool replacement.

[0004] To achieve the above object, the present application provides an automatic calibration method, which comprises the following steps:

[0005] When the robot moves to the needle changing position, the robot tool is replaced with a new tool;

[0006] Obtaining a deviation value of the new tool in the base coordinate system of the robot;

[0007] Determining a compensation value of the new tool according to the deviation value and a reference posture of the robot;

[0008] The calibration parameters of the new tool are determined according to the compensation value and the calibration parameters of the robot tool.

[0009] Optionally, the step of obtaining the deviation value of the new tool in the base coordinate system of the robot includes:

[0010] Obtaining a new tool coordinate value of the new tool in the base coordinate system of the robot;

[0011] The deviation value is determined based on the new tool coordinate value and the coordinate value of the robot tool in the base coordinate system.

[0012] Optionally, the step of obtaining a new tool coordinate value of the new tool in the base coordinate system of the robot includes:

[0013] Control the robot to move along the positive and negative directions of each coordinate axis of the base coordinate system, and record the positive in-position coordinates and negative in-position coordinates of each coordinate axis through a preset sensor;

[0014] The average value of the positive in-position coordinate and the negative in-position coordinate belonging to the same coordinate axis is used as the coordinate value of the new tool on the corresponding coordinate axis;

[0015] The coordinate values ​​of the new tool on each of the coordinate axes are used as the new tool coordinate values.

[0016] Optionally, the step of determining the compensation value of the new tool according to the deviation value and the reference posture of the robot comprises:

[0017] Determine the angle between the installation direction of the new tool and the projection of the three coordinate axes of the flange coordinate system based on the reference posture of the robot;

[0018] A compensation value for the new tool is determined based on the deviation value and the cosine value of the included angle.

[0019] Optionally, the automatic calibration method further includes:

[0020] When the robot tool is installed for the first time, initializing and calibrating the robot tool to obtain reference calibration parameters;

[0021] Controlling the robot to perform a preset teaching action along a base coordinate system to determine the coordinate value of the robot tool in the base coordinate system;

[0022] The reference calibration parameters and the coordinate values ​​are written into the robot controller as a calibration reference.

[0023] Optionally, after the step of writing the automatic calibration posture and reference point into the robot controller as a calibration reference, the automatic calibration method further comprises:

[0024] Execute robot point teaching and debugging based on the calibration benchmark;

[0025] After the robot position teaching and debugging are completed, the robot is put into production.

[0026] Optionally, after the step of putting the robot into production, the automatic calibration method includes:

[0027] When the robot is put into production for a preset time, the robot is controlled to move to a needle changing position to execute the step of replacing the robot tool with a new tool.

[0028] In addition, to achieve the above purpose, the present application also provides an automatic calibration device, the automatic calibration device comprising:

[0029] A replacement module, wherein the replacement module is used to replace the robot tool with a new tool when the robot moves to the needle replacement position;

[0030] An acquisition module, the acquisition module is used to acquire a deviation value of the new tool in the base coordinate system of the robot;

[0031] A compensation module, the compensation module is used to determine a compensation value of the new tool according to the deviation value and a reference posture of the robot;

[0032] A calibration module is used to determine calibration parameters of the new tool according to the compensation value and calibration parameters of the robot tool.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides an automatic calibration device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the automatic calibration method described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the automatic calibration method as described above are implemented.

[0035] The present application proposes an automatic calibration method, device, equipment and computer-readable storage medium, which overcome the technical defects of low efficiency and low accuracy of the human eye calibration method commonly used in the related art. In the automatic calibration method, when the robot moves to the needle changing position, the robot tool is first replaced with a new tool; then the deviation value of the new tool in the base coordinate system of the robot is obtained, that is, the offset value of the end of the new tool relative to the original tool in the robot base coordinate system is determined by the robot with a sensor; then the compensation value of the new tool is determined according to the deviation value and the reference posture of the robot, that is, the compensation value of the new tool is automatically calculated through the offset value of the end of the new tool and the robot posture; finally, the calibration parameters of the new tool are determined according to the compensation value and the calibration parameters of the robot tool, thereby completing the automatic calibration of the new tool, and improving the calibration efficiency and calibration accuracy after tool replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only part of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of a flow chart of an automatic calibration method provided in one embodiment of the present application;

[0038] Figure 2 A schematic flow chart of an automatic calibration method provided in another embodiment of the present application;

[0039] Figure 3 A schematic diagram of the structure of a six-axis robot glue coating and needle changing automatic calibration system involved in an automatic calibration method provided in one embodiment of the present application;

[0040] Figure 4 A schematic diagram of an automatic calibration process of a six-axis robot after tool replacement provided in one embodiment of the present application;

[0041] Figure 5 A schematic diagram of the structure of an automatic calibration device provided in one embodiment of the present application;

[0042] Figure 6 A schematic diagram of the structure of an automatic calibration device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0043] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the embodiments of the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the embodiments of the present application.

[0044] It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0045] It should also be understood that the references to "one embodiment" or "some embodiments" described in the specification of the embodiments of the present application mean that one or more embodiments of the embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0046] With the rapid development of automated production in manufacturing industries such as 3C (computer, communication, consumer), and automobiles, the functional complexity of automated equipment is increasing, and customers are increasingly demanding the convenience of operating automated equipment. After the equipment is put into use, customers are demanding to minimize manual participation and design automated solutions for different application scenarios. At the same time, compared with manual production, many advantages of automated equipment are gradually emerging, and production efficiency and product quality have been significantly improved.

[0047] Gluing or dispensing equipment in the field of automated production equipment is widely used, especially automated equipment with industrial robots, which has the characteristics of simple design, convenient debugging, and easy maintenance. It is increasingly widely used in the assembly of 3C products and the gluing and assembly of complex components. Among them, SCARA (Selective Compliance Assembly Robot Arm) robots are mostly used for gluing and dispensing of curves, points, and straight lines in water; six-axis robots are mostly used for gluing curves and curved surfaces in space.

[0048] The products used by glue coating equipment are different, and many types of glue are used, but they all have one common feature: with long-term use, the glue will clog the glue coating needle, and the needle needs to be replaced regularly. The size error and installation error of the needle itself need to be recalibrated. Only after calibration can it be put into production again.

[0049] After the robot changes the tool, it usually uses manual calibration to confirm the tool parameters. This calibration method is mostly done by human eyes, which has errors. In addition, the automation equipment users have low education and it is difficult for them to master the calibration method and check whether the calibration results are correct.

[0050] Based on this, the embodiments of the present application provide an automatic calibration method, device, equipment and computer-readable storage medium, which overcome the technical defects of low efficiency and low accuracy of the human eye calibration method commonly used in the related art. In the automatic calibration method, when the robot moves to the needle change position, the robot tool is first replaced with a new tool; then the deviation value of the new tool in the base coordinate system of the robot is obtained, that is, the offset value of the end of the new tool relative to the original tool in the robot base coordinate system is realized by the robot and the sensor; then, the compensation value of the new tool is determined according to the deviation value and the reference posture of the robot, that is, the compensation value of the new tool is automatically calculated through the offset value of the end of the new tool and the robot posture; finally, the calibration parameters of the new tool are determined according to the compensation value and the calibration parameters of the robot tool, thereby completing the automatic calibration of the new tool, and improving the calibration efficiency and calibration accuracy after tool replacement.

[0051] The automatic calibration method, apparatus, device and computer-readable storage medium provided in the embodiments of the present application are specifically described through the following embodiments. First, the automatic calibration method in the embodiments of the present application is described.

[0052] The present application embodiment provides an automatic calibration method, referring to Figure 1 , Figure 1 A flowchart of an automatic calibration method provided in an embodiment of the present application is provided. The automatic calibration method can be applied to automatic calibration equipment, such as Figure 1 As shown, the automatic calibration method provided in this embodiment includes steps S10 to S40.

[0053] Step S10, when the robot moves to the needle changing position, the robot tool is replaced with a new tool;

[0054] It should be noted that the present embodiment is applied to robots in the production operation process. Specifically, it is used to realize the automatic calibration process of the robot after the tool needs to be replaced during the production operation. The premise of changing the tool is to control the robot to move to a safe needle changing position and replace the old robot tool with a new tool. The needle changing position is different from the material placement position where the robot cyclically performs the production action during the production operation. Taking the production task of gluing as an example, the needle changing position can be set to a position in the current workstation where the robot will not perform the gluing action.

[0055] As an example, the robot in this embodiment may be a six-axis robot for gluing, and the robot tool and the new tool are both needles installed at the end of the six-axis robot for gluing.

[0056] In some feasible embodiments, after the above step S10, the automatic calibration method proposed in the embodiment of the present application further includes:

[0057] Step S11, checking whether the new tool is installed properly;

[0058] In this embodiment, a clamping tool is provided on the end of the robot for installing the tool, and the clamping tool is used to position the tool. If the clamping tool is installed in place, it means that the new tool is installed correctly. If the clamping tool is not installed in place, it means that the new tool is not installed correctly.

[0059] Step S12: if the new tool is not installed properly, output an installation abnormality prompt.

[0060] It is understandable that since different robot tools may have size differences, it is necessary to first check whether the new tool is installed correctly after replacement. Only if it is installed correctly will the subsequent calibration steps be performed. If it is not installed correctly, an installation abnormality prompt will be output to remind the operator to solve the problem immediately and reinstall the new tool.

[0061] Step S20, obtaining the deviation value of the new tool in the base coordinate system of the robot;

[0062] It should be noted that even if the new tool meets the installation specifications, there may be size differences between the tools, which may cause position deviations between the new tool and the original tool. Since the position of the robot is unchanged, and the base coordinate system is a rectangular coordinate system based on the robot's mounting base and used to describe the movement of the robot body, the base coordinate system of the robot is used as a reference to obtain the deviation values ​​of the new tool in each coordinate direction to obtain the position deviation between the new tool and the original tool.

[0063] In some feasible embodiments, the above step S20 may include:

[0064] Step S21, obtaining a new tool coordinate value of the new tool in the base coordinate system of the robot;

[0065] Step S22, determining the deviation value based on the new tool coordinate value and the coordinate value of the robot tool in the base coordinate system.

[0066] It should be noted that, in this embodiment, the deviation value refers to the position deviation between the new tool and the original tool when the robot's base coordinate system is used as a reference. Therefore, it is necessary to first obtain the new tool coordinate value of the new tool in the robot's base coordinate system, and then perform a difference calculation between it and the coordinate value of the replaced original tool in the base coordinate system. The calculation result is the coordinate difference between the two on the three coordinate axes X, Y, and Z in the base coordinate system, that is, the deviation value.

[0067] Reference Figure 2 In some feasible embodiments, the above step S21 may include:

[0068] Step S211, controlling the robot to move along the positive and negative directions of each coordinate axis of the base coordinate system, and recording the positive and negative coordinates of each coordinate axis through a preset sensor;

[0069] Step S212, taking the average of the positive in-position coordinate and the negative in-position coordinate belonging to the same coordinate axis as the coordinate value of the new tool on the corresponding coordinate axis;

[0070] Step S213, taking the coordinate values ​​of the new tool on each coordinate axis as the new tool coordinate values.

[0071] It should be noted that the process of acquiring the coordinate values ​​of the new tool is consistent with the process of acquiring the coordinate values ​​of the original tool in the base coordinate system. The robot movement mode in the process of acquiring the coordinate values ​​is automatically realized based on the robot's preset teaching actions. The preset sensor is an in-place sensor installed on the robot's operating station. It is installed in the positive and negative directions of the X, Y, and Z coordinate axes of the robot's base coordinate system to limit the robot's maximum range of motion during work.

[0072] As an example, in this embodiment, the robot is first controlled to move along the positive direction of the X-axis of the base coordinate system until the laser signal between the two relatively arranged in-place sensors in the positive direction of the X-axis is blocked, and the coordinate at this time is recorded as the positive in-place coordinate of the X-axis, and the robot is controlled to move along the negative direction of the X-axis until the laser signal between the two relatively arranged in-place sensors in the negative direction of the X-axis is blocked, and the coordinate at this time is recorded as the negative in-place coordinate of the X-axis; similarly, the robot is controlled to move along the Y-axis and the Z-axis to obtain the positive in-place coordinate of the Y-axis, the negative in-place coordinate of the Y-axis, the positive in-place coordinate of the Z-axis, and the negative in-place coordinate of the Z-axis. After obtaining the positive in-place coordinate and the negative in-place coordinate of each coordinate axis, the average value of the two is taken as the coordinate value of the new tool on the coordinate axis, that is, the coordinate value of the new tool on the X-axis is the average value of the positive in-place coordinate of the X-axis and the negative in-place coordinate of the X-axis, the coordinate value of the new tool on the Y-axis is the average value of the positive in-place coordinate of the Y-axis and the negative in-place coordinate of the Y-axis, and the coordinate value of the new tool on the Z-axis is the average value of the positive in-place coordinate of the Z-axis and the negative in-place coordinate of the Z-axis.

[0073] As an example, the in-position sensor may be a cross-beam sensor.

[0074] It is understandable that in practical applications, the order in which the robot moves along the three coordinate axes in the base coordinate system during the teaching process can be flexibly adjusted as long as the complete coordinates of the tool in the base coordinate system can be obtained.

[0075] Step S30, determining a compensation value of the new tool according to the deviation value and the reference posture of the robot;

[0076] It should be noted that the reference posture is a fixed working posture of the robot, that is, the state of the robot when it is at the mechanical origin; since the deviation value is obtained in the robot base coordinate system, it is the value of the new tool relative to the original tool with the robot mounting base as a reference, and cannot directly represent the deviation of the tool parameters. The tool is installed on the flange at the end of the robot. When the robot does not change its working posture, although there may be size differences between the original tool and the new tool, the installation direction remains consistent. Therefore, before and after the tool is replaced, the angle between the installation direction of the tool and the flange coordinate system on the flange at the end of the robot remains unchanged. The deviation value is calculated in combination with the angle to obtain a compensation value that can directly adjust the original tool parameters.

[0077] In some feasible embodiments, the above step S30 includes:

[0078] Step S301, determining the angle between the installation direction of the new tool and the projection of the three coordinate axes of the flange coordinate system based on the reference posture of the robot;

[0079] Step S302, determining the compensation value of the new tool based on the deviation value and the cosine value of the angle.

[0080] As an example, when the angles between the installation direction of the tool and the projections of the X-axis, Y-axis, and Z-axis of the flange coordinate system are α, β, and γ respectively, the X-axis compensation value of the new tool is the product of the X-axis deviation value in the base coordinate system and cosα, the Y-axis compensation value is the product of the Y-axis deviation value in the base coordinate system and cosβ, and the Z-axis compensation value is the product of the Z-axis deviation value in the base coordinate system and cosγ.

[0081] Step S40, determining calibration parameters of the new tool according to the compensation value and the calibration parameters of the robot tool.

[0082] In this embodiment, the calibration parameters of the robot tool are the calibration parameters of the original tool before replacing the new tool. The calculated X-axis, Y-axis, and Z-axis compensation values ​​in the flange coordinate system are added to the X-axis, Y-axis, and Z-axis coordinate values ​​in the flange coordinate system in the calibration parameters of the original tool, respectively. The new X-axis, Y-axis, and Z-axis coordinate values ​​in the flange coordinate system can be used as the calibration parameters of the new tool.

[0083] This embodiment provides an automatic calibration method, in which the robot tool is replaced with a new tool when the robot moves to the needle changing position, thereby ensuring the safety of tool replacement; then, based on the preset teaching action of the robot, the new tool coordinate value in the robot's base coordinate system is obtained, and compared with the coordinate value of the original tool in the base coordinate system to obtain the deviation value of the new tool in the base coordinate system, thereby realizing accurate knowledge of the offset value of the end of the new tool relative to the original tool in the robot's base coordinate system through the robot equipped with a sensor; then, the compensation value of the new tool is determined according to the deviation value and the reference posture of the robot, that is, based on the robot posture Determine the angle between the tool installation direction and the projection of each coordinate axis of the flange coordinate system, and then calculate the compensation value of the new tool based on the offset value and the cosine value of the angle; finally, add the compensation value to the coordinate value of the original tool in the flange coordinate system, and the coordinate value of the new tool in the flange coordinate system is the calibration parameter of the new tool. The automatic calibration of the new tool is now completed. The entire calibration process does not require human intervention, avoiding calibration errors caused by operator errors, improving the calibration efficiency and accuracy of the robot after tool replacement, and overcoming the technical defects of the low efficiency and low accuracy of the human eye calibration method commonly used in related technologies.

[0084] In some feasible embodiments, after the above step S40, the automatic calibration method further includes:

[0085] Step S50, writing the calibration parameters of the new tool into the robot controller so that the robot can continue to be put into production.

[0086] In this embodiment, after the calibration parameters of the new tool are determined, instructions are used to write the calibration parameter values ​​of the new tool into the robot controller. At this point, the robot tool parameters are calibrated and can continue to be put into production without changing the robot's working program.

[0087] In some feasible embodiments, before the above step S10, the automatic calibration method further includes:

[0088] Step S01, when the robot tool is installed for the first time, initializing and calibrating the robot tool to obtain reference calibration parameters;

[0089] Step S02, controlling the robot to perform a preset teaching action along the base coordinate system to determine the coordinate value of the robot tool in the base coordinate system;

[0090] Step S03, writing the reference calibration parameters and coordinate values ​​into the robot controller as the calibration reference.

[0091] In this embodiment, the robot tool can be initialized and calibrated using the three-point method through the robot's own function, and the three-axis coordinates of the robot tool in the flange coordinate system can be obtained as reference calibration parameters; after completing the calibration, the robot is controlled to perform a preset teaching action, that is, by controlling the robot to move, the robot tool installed at the end of the robot is moved to the focus of the laser emitted by the preset position sensor in the positive and negative directions of the three coordinate axes in the base coordinate system, and the coordinate value of the robot tool in the base coordinate system of the robot is obtained as a reference standard for deriving the deviation value after the tool is replaced; the reference calibration parameters and the coordinate value of the robot tool in the base coordinate system are written into the robot controller as the calibration reference, so that in the subsequent production process, when the robot needs to be recalibrated after replacing a new tool, the calibration parameters of the new tool can be quickly determined directly based on the calibration reference in the robot controller.

[0092] In some feasible embodiments, after the above step S03, the automatic calibration method further includes:

[0093] Step S04, performing robot point teaching and debugging based on the calibration reference;

[0094] Step S05, when the robot position teaching and debugging are completed, the robot is put into production.

[0095] It is understandable that after completing the initialization calibration of the robot tool, it is also necessary to control the robot for point teaching and debugging based on the current calibration reference, determine the motion path from the calibration reference to each working point of the robot, and then derive the complete robot work program before the robot can be put into production.

[0096] In some feasible embodiments, after the above step S05, the automatic calibration method further includes:

[0097] Step S06, when the robot is put into production for a preset time, control the robot to move to the needle changing position and execute the above step S10.

[0098] It is understandable that the preset duration can be set by testing the duration that a single robot tool can be used continuously, or it can be set after a comprehensive analysis of the historical duration data of continuous use of multiple robot tools recorded during the production process. The purpose is to replace the robot tools in a timely manner to ensure production efficiency.

[0099] As an example, the above embodiment can be based on Figure 3The six-axis robot glue coating needle changing automatic calibration system shown is implemented, the system includes a six-axis robot and UI (User Interface) software 15, a cross-beam sensor 16, a robot calibration program 17 and a tool parameter writing program 18. Among them, the robot calibration program 17 is used for the automatic operation of the robot, and is used with the cross-beam sensor 16 to automatically find the end position of the new tool to be replaced. The robot calibration program exists in the controller of the six-axis robot 15, and can be triggered by a remote device to start the robot automatic operation program. The program functions include the robot automatically running along the set direction until the sensor ON or OFF signal is detected, obtaining the robot position information, tool parameter compensation algorithm, and writing tool parameters.

[0100] As an example, see Figure 4 ,The automatic calibration process of the six-axis robot after tool change can include the following steps:

[0101] Step 0: Initial stage of equipment commissioning.

[0102] Step 1: Install the robot fixture and supporting equipment.

[0103] Step 2: Use the robot's built-in function to calibrate the robot tool using the three-point method.

[0104] Step 3: Set the points of the calibration program according to the characteristics of the robot fixture.

[0105] Step 4: Manually run the calibration program to obtain the original reference point of the robot under the current tool and save the point information.

[0106] Step 5: Teach and debug the robot's working positions, and deliver it for production after meeting the requirements.

[0107] Step 6: After the equipment has been running for a period of time, it prompts for maintenance, or manual identification and intervention for maintenance.

[0108] Step 7. Operate the equipment operation interface to start the needle change calibration work, and the robot automatically moves to a safe position.

[0109] Step 8: The operator replaces the needle according to the specifications.

[0110] Step 9: The operator starts the automatic calibration procedure and uses sensors to detect whether the tool is installed properly.

[0111] Step 10. If the tool is not installed properly, return to step 7.

[0112] Step 11: The robot tool installation test is qualified and the program runs automatically.

[0113] Step 12: The robot automatically executes the calibration procedure to obtain the calibration result.

[0114] Step 13: Automatically write the calibration results into the robot controller.

[0115] Step 14: The calibration process ends.

[0116] In addition, the present application also provides an automatic calibration device, referring to Figure 5 , Figure 5 A schematic diagram of the structure of an automatic calibration device provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, in this embodiment, the automatic calibration device includes: a replacement module 100, an acquisition module 200, a compensation module 300 and a calibration module 400.

[0117] The replacement module 100 is used to replace the robot tool with a new tool when the robot moves to the needle replacement position;

[0118] The acquisition module 200 is used to acquire the deviation value of the new tool in the base coordinate system of the robot;

[0119] The compensation module 300 is used to determine the compensation value of the new tool according to the deviation value and the reference posture of the robot;

[0120] The calibration module 400 is used to determine the calibration parameters of the new tool according to the compensation value and the calibration parameters of the robot tool.

[0121] In some feasible embodiments, the automatic calibration device further includes: a detection module, the detection module is used to detect whether the new tool is installed in a standard manner; if the new tool is not installed in a standard manner, output an installation abnormality prompt.

[0122] In some feasible embodiments, the acquisition module 200 is also used to acquire new tool coordinate values ​​of the new tool in the base coordinate system of the robot; and determine the deviation value based on the new tool coordinate values ​​and the coordinate values ​​of the robot tool in the base coordinate system.

[0123] In some feasible embodiments, the acquisition module 200 is also used to control the robot to move in the positive and negative directions of each coordinate axis of the base coordinate system, and record the positive in-place coordinates and negative in-place coordinates of each coordinate axis through a preset sensor; the average value of the positive in-place coordinates and the negative in-place coordinates belonging to the same coordinate axis is used as the coordinate value of the new tool on the corresponding coordinate axis; the coordinate value of the new tool on each coordinate axis is used as the coordinate value of the new tool.

[0124] In some feasible embodiments, the compensation module 300 is also used to determine the angle between the installation direction of the new tool and the projection of the three coordinate axes of the flange coordinate system based on the reference posture of the robot; and determine the compensation value of the new tool based on the deviation value and the cosine value of the angle.

[0125] In some feasible embodiments, the calibration module 400 is also used to initialize the calibration of the robot tool to obtain benchmark calibration parameters when the robot tool is installed for the first time; control the robot to perform preset teaching actions along the base coordinate system to determine the coordinate value of the robot tool in the base coordinate system; and write the benchmark calibration parameters and the coordinate value into the robot controller as a calibration benchmark.

[0126] In some feasible embodiments, the automatic calibration device further includes: a debugging module, which is used to perform robot point teaching and debugging based on the calibration reference; when the robot point teaching and debugging are completed, the robot is put into production.

[0127] In some feasible embodiments, the replacement module 100 is also used to control the robot to move to the needle changing position and execute the step of replacing the robot tool with a new tool when the robot has been in production for a preset time.

[0128] The automatic calibration device provided in this embodiment and the automatic calibration method provided in the above embodiment belong to the same inventive concept. The technical details not fully described in this embodiment can be referred to any of the above embodiments, and this embodiment has the same beneficial effects as executing the automatic calibration method.

[0129] In addition, the embodiment of the present application further provides an automatic calibration device, and the automatic calibration method applied to the automatic calibration device can be performed by an automatic calibration device, and the automatic calibration device can be implemented by software and / or hardware and integrated in the automatic calibration device. The automatic calibration device can be a mobile device such as a mobile phone, a notebook, or a tablet computer that can communicate with the network side.

[0130] Reference Figure 6 , Figure 6 This is a schematic diagram of the hardware structure of an automatic calibration device provided in the first embodiment of the present application. Figure 6As shown, the automatic calibration device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0131] Those skilled in the art will understand that Figure 6 The structure shown in does not constitute a limitation on the automatic calibration device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0132] like Figure 6 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and a computer program.

[0133] exist Figure 6 In the automatic calibration device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in this embodiment can be set in the automatic calibration device, and the automatic calibration device calls the computer program stored in the memory 1005 through the processor 1001 and performs the following operations:

[0134] When the robot moves to the needle changing position, the robot tool is replaced with a new tool;

[0135] Obtaining a deviation value of the new tool in the base coordinate system of the robot;

[0136] Determining a compensation value of the new tool according to the deviation value and a reference posture of the robot;

[0137] The calibration parameters of the new tool are determined according to the compensation value and the calibration parameters of the robot tool.

[0138] Further, the processor 1001 may call the computer program stored in the memory 1005 and perform the following operations:

[0139] Obtaining a new tool coordinate value of the new tool in the base coordinate system of the robot;

[0140] The deviation value is determined based on the new tool coordinate value and the coordinate value of the robot tool in the base coordinate system.

[0141] Further, the processor 1001 may call the computer program stored in the memory 1005 and perform the following operations:

[0142] Control the robot to move along the positive and negative directions of each coordinate axis of the base coordinate system, and record the positive in-position coordinates and negative in-position coordinates of each coordinate axis through a preset sensor;

[0143] The average value of the positive in-position coordinate and the negative in-position coordinate belonging to the same coordinate axis is used as the coordinate value of the new tool on the corresponding coordinate axis;

[0144] The coordinate values ​​of the new tool on each of the coordinate axes are used as the new tool coordinate values.

[0145] Further, the processor 1001 may call the computer program stored in the memory 1005 and perform the following operations:

[0146] Determine the angle between the installation direction of the new tool and the projection of the three coordinate axes of the flange coordinate system based on the reference posture of the robot;

[0147] A compensation value for the new tool is determined based on the deviation value and the cosine value of the included angle.

[0148] Further, the processor 1001 may call the computer program stored in the memory 1005 and perform the following operations:

[0149] When the robot tool is installed for the first time, initializing and calibrating the robot tool to obtain reference calibration parameters;

[0150] Controlling the robot to perform a preset teaching action along a base coordinate system to determine the coordinate value of the robot tool in the base coordinate system;

[0151] The reference calibration parameters and the coordinate values ​​are written into the robot controller as a calibration reference.

[0152] Further, the processor 1001 may call the computer program stored in the memory 1005 and perform the following operations:

[0153] Execute robot point teaching and debugging based on the calibration benchmark;

[0154] After the robot position teaching and debugging are completed, the robot is put into production.

[0155] Further, the processor 1001 may call the computer program stored in the memory 1005 and perform the following operations:

[0156] When the robot is put into production for a preset time, the robot is controlled to move to a needle changing position to execute the step of replacing the robot tool with a new tool.

[0157] The automatic calibration device proposed in this embodiment and the automatic calibration method applied to the automatic calibration device proposed in the above embodiment belong to the same inventive concept. The technical details not described in detail in this embodiment can be referred to any of the above embodiments, and this embodiment has the same beneficial effects as executing the automatic calibration method.

[0158] In addition, an embodiment of the present application also proposes a computer-readable storage medium, which is applied to a computer. The computer-readable storage medium can be a non-volatile computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the automatic calibration method of any of the embodiments described above is implemented.

[0159] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0160] The above is a specific description of the preferred implementation of the embodiments of the present application, but the embodiments of the present application are not limited to the above-mentioned implementation methods. Technical personnel familiar with the field can also make various equivalent modifications or substitutions without violating the spirit of the embodiments of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the embodiments of the present application.

Claims

1. An automatic calibration method, characterized in that: The automatic calibration method comprises the following steps: When the robot moves to the needle changing position, the robot tool is replaced with a new tool; Obtaining a deviation value of the new tool in the base coordinate system of the robot; Determining a compensation value of the new tool according to the deviation value and a reference posture of the robot; The calibration parameters of the new tool are determined according to the compensation value and the calibration parameters of the robot tool.

2. The automatic calibration method according to claim 1, characterized in that: The step of obtaining the deviation value of the new tool in the base coordinate system of the robot comprises: Obtaining a new tool coordinate value of the new tool in the base coordinate system of the robot; The deviation value is determined based on the new tool coordinate value and the coordinate value of the robot tool in the base coordinate system.

3. The automatic calibration method according to claim 2, characterized in that: The step of obtaining a new tool coordinate value of the new tool in the base coordinate system of the robot comprises: Control the robot to move along the positive and negative directions of each coordinate axis of the base coordinate system, and record the positive in-position coordinates and negative in-position coordinates of each coordinate axis through a preset sensor; The average value of the positive in-position coordinate and the negative in-position coordinate belonging to the same coordinate axis is used as the coordinate value of the new tool on the corresponding coordinate axis; The coordinate values ​​of the new tool on each of the coordinate axes are used as the new tool coordinate values.

4. The automatic calibration method according to claim 1, characterized in that: The step of determining the compensation value of the new tool according to the deviation value and the reference posture of the robot comprises: Determine the angle between the installation direction of the new tool and the projection of the three coordinate axes of the flange coordinate system based on the reference posture of the robot; A compensation value for the new tool is determined based on the deviation value and the cosine value of the included angle.

5. The automatic calibration method according to any one of claims 1 to 4, characterized in that: The automatic calibration method also includes: When the robot tool is installed for the first time, initializing and calibrating the robot tool to obtain reference calibration parameters; Controlling the robot to perform a preset teaching action along a base coordinate system to determine the coordinate value of the robot tool in the base coordinate system; The reference calibration parameters and the coordinate values ​​are written into the robot controller as a calibration reference.

6. The automatic calibration method according to claim 5, characterized in that: After the step of writing the reference calibration parameters and the coordinate values ​​into the robot controller as calibration references, the automatic calibration method further comprises: Execute robot point teaching and debugging based on the calibration benchmark; After the robot position teaching and debugging are completed, the robot is put into production.

7. The automatic calibration method according to claim 6, characterized in that: After the step of putting the robot into production, the automatic calibration method comprises: When the robot is put into production for a preset time, the robot is controlled to move to a needle changing position to execute the step of replacing the robot tool with a new tool.

8. An automatic calibration device, characterized in that: The automatic calibration device comprises: A replacement module, wherein the replacement module is used to replace the robot tool with a new tool when the robot moves to the needle replacement position; An acquisition module, the acquisition module is used to acquire a deviation value of the new tool in the base coordinate system of the robot; A compensation module, the compensation module is used to determine a compensation value of the new tool according to the deviation value and a reference posture of the robot; A calibration module is used to determine calibration parameters of the new tool according to the compensation value and calibration parameters of the robot tool.

9. An automatic calibration device, characterized in that: The automatic calibration device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the automatic calibration method according to any one of claims 1 to 7 when executed by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the automatic calibration method according to any one of claims 1 to 7 are implemented.

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