Calibration method of industrial robot

Abstract

The invention discloses a calibration method of an industrial robot, and relates to the technical field of bearing processing, image data of a calibration plate is acquired through an image acquisition module, the position of a mark point in the image data is recorded, and mechanical coordinate conversion and direction correction are performed on the acquired image data through a conversion processing module. The conversion processing module comprises a coordinate conversion module and a direction correction module, the processing direction is corrected through the feedback control module based on the processing direction of the conversion processing module, image data are uploaded to the robot actuator terminal, and the processing precision and the positioning precision of the industrial robot can be remarkably improved through an accurate calibration process; along with continuous development and optimization of the calibration technology, equipment and labor cost needed in the calibration process is expected to be reduced, adaptability and flexibility of the industrial robot are improved, automation and intelligence of the machining process can be achieved through advanced technical means such as closed-loop control, and production efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to the technical field of bearing processing, and in particular to a calibration method for an industrial robot. Background Art

[0002] Industrial robot calibration is one of the key technologies for the practical application of offline programming technology. It uses advanced measurement methods and model-based parameter identification methods to identify the accurate parameters of the robot model, thereby improving the absolute accuracy of the robot. The application of industrial robots in bearing processing requires precise calibration to ensure that the robot can perform processing tasks in the predetermined direction and path. Therefore, in scenarios with high precision requirements such as bearing processing, its calibration technology is particularly important. Bearings are important components in mechanical equipment, and their processing accuracy directly affects the overall performance and life of the equipment. Therefore, during the processing process, ensuring the accuracy of the bearing processing direction is a crucial link.

[0003] Existing calibration methods often require complex mathematical models and algorithm support, and require a lot of professional knowledge and experience, which are difficult for non-professionals to master and implement; and during the calibration process, expensive measuring equipment is required, including laser trackers and 3D scanners, which increases the calibration cost; the calibration process is easily affected by environmental factors, resulting in inaccurate calibration data; in addition, the calibration process usually takes a lot of time, especially in multi-robot systems, each robot needs to be calibrated separately, which further increases the time cost and leads to a long calibration cycle. Summary of the invention

[0004] The purpose of the present invention is to provide a calibration method for an industrial robot, which solves the problems raised in the above background technology.

[0005] To achieve the above purpose, the present invention provides the following technical solutions, and the specific calibration method is as follows: Data acquisition, collecting the image data of the calibration plate through the image acquisition module and recording the position of the marking points in the image data; Data processing, through the conversion processing module, the collected image data is converted into mechanical coordinates and oriented. The conversion processing module includes a coordinate conversion module and an orientation correction module; Feedback adjustment, based on the processing direction of the conversion processing module, the processing direction is corrected through the feedback control module; Data upload, upload the image data to the robot actuator terminal; The equipment used in the image acquisition module includes an image sensor and a calibration plate; The conversion processing module includes an image pixel to mechanical coordinate conversion unit and a bearing processing direction correction unit, and the equipment used in the conversion processing module includes image analysis software; The feedback control module includes a feedback adjustment unit.

[0006] Optionally, the calculation formula of the image pixel to mechanical coordinate conversion unit is as follows: X z =(G*(X t -X p ) / Q)+X; Y z =(G*(Y t -Y p ) / Q)+Y; in: X z is the X-axis in the mechanical coordinate system, Y z is the Y axis in the mechanical coordinate system, (X z , Y z ) reflects the specific position of the machining point of the mechanical coordinate axis after conversion; G is the optical magnification value; Q is the scaling factor, which is used to adjust the proportional relationship between the image coordinate system and the mechanical coordinate system; X t is the X axis in the image coordinate system, Y t is the Y axis in the image coordinate system; X p is the X-axis offset value in the image coordinate system, Y p is the Y-axis offset value in the image coordinate system; X is the original mechanical coordinate X axis, and Y is the original mechanical coordinate Y axis; The conversion process of the image pixels to the mechanical coordinate conversion unit is as follows: The image data collected by the image pixel to mechanical coordinate conversion unit through the image acquisition module includes the image coordinate system X axis X t , Y axis Y in the image coordinate system t , X-axis offset value X in the image coordinate system p , Y axis offset value Y in image coordinate system p , and based on the original mechanical coordinate X axis X, the original mechanical coordinate Y axis Y and the optical magnification G, the output mechanical coordinate system X is converted z and the Y axis Y in the mechanical coordinate system z .

[0007] Optionally, the calculation formula of the bearing processing direction correction unit is as follows: ;

[0008] ;

[0009] in: is the processing angle value after correction; is the angle difference before correction; R is the tool radius value; X g is the mechanical coordinate of the tool on the X axis, X m The target point is the mechanical coordinate of the X axis; X new The new mechanical coordinates are X-axis and Y new is the new mechanical coordinate Y axis, (X new , Y new ) indicates the position where the industrial robot executes and reaches the latest mechanical coordinates; X old The old mechanical coordinates are X-axis, Y old is the old mechanical coordinate Y axis, (X old , Y old ) indicates the current position of the industrial robot before it executes and reaches the latest mechanical coordinates; is the target processing angle value; The correction process of the bearing processing direction correction unit is as follows: Based on (X new , Y new )、(X old , Y old ) and target processing angle value , output the angle difference before correction , and according to the tool radius value R, the tool in the X-axis mechanical coordinate X g and the target point in the X-axis mechanical coordinate X m , output the processing direction of the bearing after adjustment, that is, the processing angle value after correction .

[0010] Optionally, the calculation formula of the feedback adjustment unit is as follows: ; ;

[0011] in: X tnew The X-axis and Y-axis are the image coordinates after adjustment. tnew is the Y axis of the image coordinate after adjustment, (X tnew , Y tnew ) reflects the position of the feedback to the image coordinate system after the adjustment feedback; X tf is the X-axis adjustment value, Y tfAdjust the value for the Y axis; Through the feedback control module, and based on the corrected processing angle value output by the bearing processing direction correction unit The output is fed back to the image coordinate system according to the adjustment amount of the mechanical coordinates and the change of the machining direction angle, and the adjusted image coordinate X axis X tnew And the adjusted image coordinate Y axis Y tnew .

[0012] The calibration method of an industrial robot according to claim 5 is characterized in that: based on the feedback adjustment unit, the adjusted image coordinates X axis X tnew And the adjusted image coordinate Y axis Y tnew , as the final adjustment image coordinate axis of calibration, and in the next calibration process, the feedback adjustment unit (X tnew , Y tnew ), replacing the image pixels into the mechanical coordinate conversion unit (X t , Y t ) is input for multiple iterations to guide the next round of processing correction according to the requirements of calibrated processing angles.

[0013] Optionally, after the feedback control module corrects the processing, the workpiece needs to be inspected for quality: S1. Inspection includes verifying whether its size, shape and position meet the design requirements. Inspection methods include visual inspection, measuring tool measurement and three-coordinate measurement; S2. Compare the test results with the design requirements and analyze the existing errors and their causes. The errors include machine tool accuracy, tool wear, and workpiece material deformation. S3. According to the error analysis results, calculate and output the mechanical coordinate value X-axis adjustment value X that needs to be adjusted. tf and Y-axis adjustment value, X-axis adjustment value X tf and Y axis adjustment value Y tf Used to correct subsequent processing paths or workpiece coordinate system settings; S4, the calculated output adjustment amount X axis adjustment value X tf and Y axis adjustment value Y tf The data are input into the machine tool control system as the basis for adjusting the X-axis and Y-axis in the feedback adjustment unit.

[0014] Optionally, the image pixel is converted to an X-axis offset value X in the image coordinate system in the mechanical coordinate conversion unit. p and the Y-axis offset value Y in the image coordinate system p , the known points in the mechanical coordinate system are matched with the corresponding points in the image coordinate system. For example, the original mechanical coordinate X-axis X and the original mechanical coordinate Y-axis Y are matched with the X-axis X in the image coordinate system.t and the Y axis Y in the image coordinate system t By comparing the position differences of these points in the two coordinate systems, the X-axis offset value X in the output image coordinate system is calculated. p And the Y-axis offset value Y in the image coordinate system.

[0015] Optionally, the X-axis offset value X in the image coordinate system p And the Y-axis offset value Y in the image coordinate system p The calculation steps are as follows: X p =X t -X; Y p =Y t -Y.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can significantly improve the processing accuracy and positioning accuracy of industrial robots through a precise calibration process.

[0017] 2. With the continuous development and optimization of the calibration technology of the present invention, it is expected to reduce the equipment and labor costs required in the calibration process in the future. The calibration technology can adapt to different processing tasks and workpiece characteristics, improve the adaptability and flexibility of industrial robots, and enhance adaptability.

[0018] 3. The present invention can realize automation and intelligence of the processing process through advanced technical means such as closed-loop control, improve production efficiency and quality, and enhance work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of the calibration method of the industrial robot; Figure 2 Schematic diagram of the overall structural module of the industrial robot calibration method.

[0020] Figure 3 It is a structural schematic diagram of the conversion processing module of the present invention; Figure 4 It is a structural schematic diagram of the feedback control module of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The calibration method of this industrial robot is different from the existing calibration method of industrial robots. The existing calibration method of industrial robots often requires complex mathematical models and algorithm support, which is difficult for non-professionals to master and implement; and in the calibration process, expensive measuring equipment is required, including laser trackers and 3D scanners, which increases the calibration cost; the calibration process is easily affected by environmental factors, resulting in inaccurate calibration data; in addition, the calibration process usually takes a lot of time, especially in a multi-robot system, each robot needs to be calibrated separately, which further increases the time cost and leads to a long calibration cycle. This algorithm unit develops simpler and easier-to-use calibration methods and tools to reduce the requirements for professional knowledge and skills of calibration personnel; studies more accurate calibration algorithms and models to reduce errors and uncertainties in the calibration process; explores more economical and efficient calibration equipment and solutions to reduce the investment costs of enterprises; develops calibration technology that can automatically adapt to environmental changes to improve the stability and reliability of the calibration process.

[0023] For example, see Figures 1 to 4 , this implementation provides a calibration method for an industrial robot, and the specific calibration method is as follows: Data acquisition, collecting the image data of the calibration plate through the image acquisition module and recording the position of the marking points in the image data; Data processing, through the conversion processing module, the collected image data is converted into mechanical coordinates and oriented. The conversion processing module includes a coordinate conversion module and an orientation correction module; Feedback adjustment, based on the processing direction of the conversion processing module, the processing direction is corrected through the feedback control module; Data upload, upload the image data to the robot actuator terminal; The equipment used in the image acquisition module includes an image sensor and a calibration board; The conversion processing module includes an image pixel to mechanical coordinate conversion unit and a bearing processing direction correction unit. The equipment used in the conversion processing module includes image analysis software. The feedback control module includes a feedback adjustment unit.

[0024] In this embodiment, the system cooperates with three algorithm units to form the core calculation part of the industrial robot calibration process. z , Y z )、 and (X tnew , Y tnew) three operation results, as well as the steps of image analysis, coordinate transformation, direction correction and loop feedback, realize the precise mapping and control from the image world to the physical world. This calibration method not only improves the processing accuracy and efficiency, but also ensures the stability and reliability of industrial robots in complex processing tasks. By continuously optimizing and adjusting these calculation formulas and parameters, the performance and processing quality of industrial robots can be further improved. z is the X-axis in the mechanical coordinate system, Y z The conversion of image pixels to mechanical coordinate conversion units is the starting point of the calibration process. Through these conversions, we can accurately know the position of any point in the image in the actual mechanical coordinate system, which is crucial for subsequent processing and positioning. It ensures that the results of image analysis can be directly used to guide mechanical operations. Through accurate coordinate conversion, the accuracy and efficiency of processing can be greatly improved. To correct the processing angle value, the bearing processing direction correction unit ensures the accuracy of the processing direction. It is a key link to ensure the processing quality during the calibration process. By correcting the processing direction, it can ensure that the processing results are consistent with expectations and meet the accuracy requirements. tnew The X-axis and Y-axis are the image coordinates after adjustment. tnew To adjust the Y axis of the image coordinates, the adjustment of the feedback adjustment unit is an important part of the calibration process. It realizes the closed-loop feedback between the processing results and image analysis. Through continuous adjustment and optimization, the processing error can be gradually reduced, the processing accuracy and efficiency can be improved, and (X tnew , Y tnew ) can also affect the feedback to (X z , Y z )and The calculation makes the three algorithms of this system have a high correlation and entanglement, so that the overall algorithm system can perform automatic feedback and optimization according to the actual situation to be closer to reality.

[0025] See also Figures 1 to 4 , the calculation formula from image pixel to mechanical coordinate conversion unit is as follows: X z =(G*(X t -X p ) / Q)+X Y z =(G*(Y t -Y p ) / Q)+Y; in: X z is the X-axis in the mechanical coordinate system, Y z is the Y axis in the mechanical coordinate system, (X z , Y z) reflects the specific position of the machining point of the mechanical coordinate axis after conversion; G is the optical magnification value; Q is the scaling factor, which is used to adjust the proportional relationship between the image coordinate system and the mechanical coordinate system; X t is the X axis in the image coordinate system, Y t is the Y axis in the image coordinate system; X p is the X-axis offset value in the image coordinate system, Y p is the Y-axis offset value in the image coordinate system; X is the original mechanical coordinate X axis, and Y is the original mechanical coordinate Y axis; The conversion process of the image pixels to the mechanical coordinate conversion unit is as follows: The image data collected by the image pixel to mechanical coordinate conversion unit through the image acquisition module includes the image coordinate system X axis X t , Y axis Y in the image coordinate system t , X-axis offset value X in the image coordinate system p , Y axis offset value Y in image coordinate system p , and based on the original mechanical coordinate X axis X, the original mechanical coordinate Y axis Y and the optical magnification G, the output mechanical coordinate system X is converted z and the Y axis Y in the mechanical coordinate system z ; The image pixel is converted to the X-axis offset value X in the image coordinate system in the mechanical coordinate conversion unit. p and the Y-axis offset value Y in the image coordinate system p , the known points in the mechanical coordinate system are matched with the corresponding points in the image coordinate system. For example, the original mechanical coordinate X-axis X and the original mechanical coordinate Y-axis Y are matched with the X-axis X in the image coordinate system. t and the Y axis Y in the image coordinate system t By comparing the position differences of these points in the two coordinate systems, the X-axis offset value X in the output image coordinate system is calculated. p And the Y-axis offset value Y in the image coordinate system p , X-axis offset value X in the image coordinate system p And the Y-axis offset value Y in the image coordinate system p The calculation steps are as follows: X p =X t -X; Y p =Y t -Y.

[0026] In this embodiment: First, the original mechanical coordinate X-axis X and the original mechanical coordinate Y-axis in this algorithm unit are the origin coordinates Y of the mechanical coordinate system, representing the reference point in the mechanical system, and the X-axis X in the image coordinate system t and the Y axis Y in the image coordinate system t is a point in the image coordinate system, and the X-axis offset value X in the image coordinate system p And the Y-axis offset value Y in the image coordinate system p is the origin offset of the image coordinate system. Since the installation position of the image capture system may not be perfectly aligned with the origin of the mechanical coordinate system, these offsets are needed to correct this difference. p =X t -X and Y p =Y t -Y, to calculate the X-axis offset value X in the output image coordinate system p And the Y-axis offset value Y in the image coordinate system p The optical magnification value G is determined by the optical system and focal length of the image sensor, which is crucial for the calibration process. It can convert the pixel coordinates in the image into the actual size in the mechanical coordinate system. Since the resolution of the image capture system does not completely match the accuracy of the mechanical system, adjustments need to be made. Therefore, by inputting the scaling factor Q, the proportional relationship between the image coordinate system and the mechanical coordinate system is adjusted, and the output reflects the specific position of the machining point of the mechanical coordinate axis after the conversion (X z , Y z ).

[0027] This unit establishes a precise mapping relationship between image coordinates and mechanical coordinates, allowing the robot to accurately find and operate the target in the physical world based on the target position information in the image; through precise coordinate conversion, the robot can achieve high-precision positioning, which is particularly important for industrial applications that require high-precision processing.

[0028] See also Figures 1 to 4 , the calculation formula of the bearing processing direction correction unit is as follows: ;

[0029] ;

[0030] in: is the processing angle value after correction; is the angle difference before correction; R is the tool radius value; X g is the mechanical coordinate of the tool on the X axis, X m The target point is the mechanical coordinate of the X axis; Xnew The new mechanical coordinates are X-axis and Y new is the new mechanical coordinate Y axis, (X new , Y new ) indicates the position where the industrial robot executes and reaches the latest mechanical coordinates; X old The old mechanical coordinates are X-axis, Y old is the old mechanical coordinate Y axis, (X old , Y old ) indicates the current position of the industrial robot before it executes and reaches the latest mechanical coordinates; is the target processing angle value; The correction process of the bearing processing direction correction unit is as follows: Based on (X new , Y new )、(X old , Y old ) and target processing angle value , output the angle difference before correction , and according to the tool radius value R, the tool in the X-axis mechanical coordinate X g and the target point in the X-axis mechanical coordinate X m , output the processing direction of the bearing after adjustment, that is, the processing angle value after correction .

[0031] In this embodiment, first, In , the ratio of the change in the X and Y directions of the new and old mechanical coordinates is calculated, which represents the change in the actual processing direction. , convert the above ratio into an angle to get the angle of the actual processing direction, and then subtract the target processing angle value from the angle of the actual processing direction , output the angle difference before correction , and the tool radius value R and (X g -X m ) 2 The calculated relative position between the tool and the target can ensure that there is no collision during the processing, and adjust the processing direction to achieve the best effect. Finally, by correcting the processing direction, the processing result is ensured to be consistent with the expectation, and the output is the corrected processing angle value that meets the accuracy requirements. ; This algorithm unit can achieve precise control of the processing direction by calculating the angle correction amount, that is, the deviation between the actual processing direction of the robot and the target processing direction, to ensure that the robot performs processing in a predetermined direction. Specifically, by calculating the angle correction amount, the robot can adjust its processing direction to ensure that the actual processing direction is consistent with the target direction, thereby reducing processing errors; and direction correction can significantly improve processing quality, especially for applications that require precise control of processing direction, such as precision machining and drilling.

[0032] See also Figures 1 to 4 , the calculation formula of the feedback adjustment unit is as follows: ; ; in: X tnew The X-axis and Y-axis are the image coordinates after adjustment. tnew is the Y axis of the image coordinate after adjustment, (X tnew , Y tnew ) reflects the position of the feedback to the image coordinate system after the adjustment feedback; X tf is the X-axis adjustment value, Y tf Adjust the value for the Y axis; Through the feedback control module, and based on the corrected processing angle value output by the bearing processing direction correction unit The output is fed back to the image coordinate system according to the adjustment amount of the mechanical coordinates and the change of the machining direction angle, and the adjusted image coordinate X axis X tnew And the adjusted image coordinate Y axis Y tnew .

[0033] The calibration method of an industrial robot according to claim 5 is characterized in that: based on the feedback adjustment unit, the adjusted image coordinates X axis X tnew And the adjusted image coordinate Y axis Y tnew , as the final adjustment image coordinate axis of calibration, and in the next calibration process, the feedback adjustment unit (X tnew , Y tnew ), replacing the image pixels into the mechanical coordinate conversion unit (X t , Y t ) is input for multiple iterations to guide the next round of processing correction according to the requirements of calibrated processing angles.

[0034] In this embodiment, the algorithm unit first calculates the corrected machining angle value output by the bearing machining direction correction unit. , the image pixel to the image coordinate system of the mechanical coordinate conversion unit X axis X t , Y axis Y in the image coordinate systemt , the original mechanical coordinate X-axis X, the original mechanical coordinate Y-axis Y, and use the optical magnification value G and the scaling factor Q to convert the mechanical coordinate system back to the feedback adjustment state of the image coordinate system for calibration; This algorithm unit adjusts the points in the image coordinate system according to the feedback of the processing results, realizing the key step of closed-loop control. By comparing the difference between the actual processing results and the expected results and adjusting the parameters in the image coordinate system accordingly, the adaptive adjustment of the processing process can be realized; the robot can make adaptive adjustments according to the feedback of the processing results, thereby improving the stability and accuracy of the processing process, and through continuous feedback and adjustment, the robot can continuously optimize its processing process to adapt to different processing tasks and changing conditions.

[0035] See also Figures 1 to 4 Based on the feedback adjustment unit, the output of the adjusted image coordinate X axis X tnew And the adjusted image coordinate Y axis Y tnew , as the final adjustment image coordinate axis of the calibration, and in the next calibration process, the feedback adjustment unit (X tnew , Y tnew ), replaces the image pixels into the mechanical coordinate conversion unit (X t , Y t ) is input for multiple iterations to guide the next round of processing correction according to the requirements of calibrated processing angles.

[0036] In this embodiment, the algorithm unit feeds back the adjusted image coordinates (X tnew , Y tnew ), which indirectly affects the subsequent calibration process, including the coordinate conversion using image pixels to mechanical coordinate conversion units again; The significance of this cyclical impact is: 1. Through continuous feedback and adjustment, the matching degree between the image analysis system and the mechanical processing system can be gradually optimized, the overall calibration accuracy can be improved, and the calibration purpose of continuous improvement can be achieved.

[0037] 2. Faced with different processing tasks and changes in conditions, the system can automatically adjust parameters and strategies to adapt to new processing requirements and ensure adaptive effects.

[0038] 3. Through the closed-loop control mechanism, the system can maintain high processing stability and consistency, reduce processing deviations caused by external interference or internal errors, and improve the stability of industrial robot calibration.

[0039] For example 2, please refer to Figures 1 to 4 After the feedback control module corrects the processing, the workpiece needs to be inspected for quality: S1. Inspection includes verifying whether its size, shape and position meet the design requirements. Inspection methods include visual inspection, measuring tool measurement and three-coordinate measurement; S2. Compare the test results with the design requirements and analyze the existing errors and their causes. The errors include machine tool accuracy, tool wear, and workpiece material deformation. S3. According to the error analysis results, calculate and output the mechanical coordinate value X-axis adjustment value X that needs to be adjusted. tf and Y-axis adjustment value, X-axis adjustment value X tf and Y axis adjustment value Y tf Used to correct subsequent processing paths or workpiece coordinate system settings; S4, the calculated output adjustment amount X axis adjustment value X tf and Y axis adjustment value Y tf The data are input into the machine tool control system as the basis for adjusting the X-axis and Y-axis in the feedback adjustment unit.

[0040] In this embodiment, it should be noted that before the start of processing, a reference coordinate system needs to be determined. This coordinate system is the reference for all subsequent processing and measurement, that is, the position of the origin of the workpiece coordinate system in the mechanical coordinate system. After the processing is completed, the size, shape and position of the workpiece are accurately measured using a measuring device to obtain the actual processing results. The actual processing results are compared with the expected design requirements, and the error values ​​in various directions are calculated. These error values ​​may include position error, size error, and shape error, and the error value output is the X-axis adjustment value X input to the feedback adjustment unit. tf and Y axis adjustment value Y tf .

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A calibration method for an industrial robot, characterized in that: The specific calibration method is as follows: Data acquisition, collecting the image data of the calibration plate through the image acquisition module and recording the position of the marking points in the image data; Data processing, through the conversion processing module, the collected image data is converted into mechanical coordinates and the direction is corrected. The conversion processing module includes a coordinate conversion module and a direction correction module; Feedback adjustment, based on the processing direction of the conversion processing module, the processing direction is corrected through the feedback control module; Data upload, upload the image data to the robot actuator terminal.

2. The calibration method of an industrial robot according to claim 1, characterized in that: The equipment used in the image acquisition module includes an image sensor and a calibration plate; The conversion processing module includes an image pixel to mechanical coordinate conversion unit and a bearing processing direction correction unit, and the equipment used in the conversion processing module includes image analysis software; The feedback control module includes a feedback adjustment unit.

3. The calibration method of an industrial robot according to claim 2, characterized in that: The calculation formula of the image pixel to mechanical coordinate conversion unit is as follows: X z =(G*(X t -X p ) / Q)+X; AND z =(G*(Y t -AND p () / Q+Y; in: X z is the X-axis in the mechanical coordinate system, Y z is the Y axis in the mechanical coordinate system, (X z , Y z ) reflects the specific position of the machining point of the mechanical coordinate axis after conversion; G is the optical magnification value; Q is the scaling factor, which is used to adjust the proportional relationship between the image coordinate system and the mechanical coordinate system; X t is the X axis in the image coordinate system, Y t is the Y axis in the image coordinate system; X p is the X-axis offset value in the image coordinate system, Y p is the Y-axis offset value in the image coordinate system; X is the original mechanical coordinate X axis, and Y is the original mechanical coordinate Y axis; The conversion process of the image pixels to the mechanical coordinate conversion unit is as follows: The image data collected by the image pixel to mechanical coordinate conversion unit through the image acquisition module includes the image coordinate system X axis X t , Y axis Y in the image coordinate system t , X-axis offset value X in the image coordinate system p , Y axis offset value Y in image coordinate system p , and based on the original mechanical coordinate X axis X, the original mechanical coordinate Y axis Y and the optical magnification G, the output mechanical coordinate system X is converted z and the Y axis Y in the mechanical coordinate system z .

4. The calibration method of an industrial robot according to claim 3, characterized in that: The calculation formula of the bearing processing direction correction unit is as follows: ； ； in: is the processing angle value after correction; is the angle difference before correction; R is the tool radius value; X g is the mechanical coordinate of the tool on the X axis, X m The target point is the mechanical coordinate of the X axis; X new The new mechanical coordinates are X-axis and Y new is the new mechanical coordinate Y axis, (X new , Y new ) indicates the position where the industrial robot executes and reaches the latest mechanical coordinates; X old The old mechanical coordinates are X-axis, Y old is the old mechanical coordinate Y axis, (X old , Y old ) indicates the current position of the industrial robot before it executes and reaches the latest mechanical coordinates; is the target processing angle value; The correction process of the bearing processing direction correction unit is as follows: Based on (X new , Y new )、(X old , Y old ) and target processing angle value , output the angle difference before correction , and according to the tool radius value R, the tool in the X-axis mechanical coordinate X g and the target point in the X-axis mechanical coordinate X m , output the processing direction of the bearing after adjustment, that is, the processing angle value after correction .

5. The calibration method of an industrial robot according to claim 4, characterized in that: The calculation formula of the feedback adjustment unit is as follows: ； ； in: X tnew The X-axis and Y-axis are the image coordinates after adjustment. tnew is the Y axis of the image coordinate after adjustment, (X tnew , Y tnew ) reflects the position of the feedback to the image coordinate system after the adjustment feedback; X tf is the X-axis adjustment value, Y tf Adjust the value for the Y axis; Through the feedback control module, and based on the corrected processing angle value output by the bearing processing direction correction unit The output is fed back to the image coordinate system according to the adjustment amount of the mechanical coordinates and the change of the machining direction angle, and the adjusted image coordinate X axis X tnew And the adjusted image coordinate Y axis Y tnew .

6. The calibration method of an industrial robot according to claim 5, characterized in that: Based on the feedback adjustment unit, the adjusted image coordinates X-axis X tnew And the adjusted image coordinate Y axis Y tnew , as the final adjustment image coordinate axis of calibration, and in the next calibration process, the feedback adjustment unit (X tnew , Y tnew ), replacing the image pixels into the mechanical coordinate conversion unit (X t , Y t ) is input for multiple iterations to guide the next round of processing correction according to the requirements of calibrated processing angles.

7. The calibration method of an industrial robot according to claim 5, characterized in that: After the correction processing by the feedback control module, the workpiece needs to be inspected for quality: S1. Inspection includes verifying whether its size, shape and position meet the design requirements. Inspection methods include visual inspection, measuring tool measurement and three-coordinate measurement; S2. Compare the test results with the design requirements and analyze the existing errors and their causes. The errors include machine tool accuracy, tool wear, and workpiece material deformation. S3. According to the error analysis results, calculate and output the mechanical coordinate value X-axis adjustment value X that needs to be adjusted. tf and Y-axis adjustment value, X-axis adjustment value X tf and Y axis adjustment value Y tf Used to correct subsequent processing paths or workpiece coordinate system settings; S4, the calculated output adjustment amount X axis adjustment value X tf and Y axis adjustment value Y tf The data are input into the machine tool control system as the basis for adjusting the X-axis and Y-axis in the feedback adjustment unit.

8. The method for calibrating an industrial robot according to claim 3, characterized in that: The image pixel is converted to the X-axis offset value X in the image coordinate system in the mechanical coordinate conversion unit p and the Y-axis offset value Y in the image coordinate system p , the known points in the mechanical coordinate system are matched with the corresponding points in the image coordinate system. For example, the original mechanical coordinate X-axis X and the original mechanical coordinate Y-axis Y are matched with the X-axis X in the image coordinate system. t and the Y axis Y in the image coordinate system t By comparing the position differences of these points in the two coordinate systems, the X-axis offset value X in the output image coordinate system is calculated. p And the Y-axis offset value Y in the image coordinate system p .

9. The method for calibrating an industrial robot according to claim 7, characterized in that: The X-axis offset value X in the image coordinate system p And the Y-axis offset value Y in the image coordinate system p The calculation formula is as follows: X p =X t -X; AND p =And t -AND.

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