Robot fixing tool calibration system and method

Abstract

The invention belongs to the technical field of automation equipment manufacturing, and particularly relates to a robot fixing tool calibration system and method.The robot fixing tool calibration system comprises a fixing tool side sensor box, a robot gripper side sensor box, a PC notebook computer, a computer end wireless transceiver and a robot system; the fixing tool side sensor box is installed on the fixing tool and used for measuring the angle value of the fixing tool. The robot gripper side sensor box is installed on a robot gripper tool, connected with a robot, moves along with the robot and is used for measuring the angle value of the robot gripper tool and cooperatively recording position posture information of a robot tool coordinate point TCP. According to the method, the accurate position relation between the robot and the fixed equipment can be quickly established, the offline track is effectively corrected, the manual adjustment and calibration time is greatly shortened, the overall debugging efficiency is improved, and the production progress is accelerated.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated equipment manufacturing, and in particular relates to a robot fixed tooling calibration system and method. Background Art

[0002] In the automotive welding industry, welding fixtures and various types of fixtures are essential for the precise welding and assembly of automotive parts. As the automotive manufacturing industry develops towards high efficiency, high precision, and high automation, the accuracy and stability of the welding process are increasingly required. However, many current fixtures, such as fixed nailing equipment, projection welding nut equipment, fixed glue coating equipment, etc., lack a strict equipment coordinate system, which makes it difficult to establish an accurate positional relationship between the two when working with robots.

[0003] The existing calibration method is to use the calibration software of different brands of robots to build an external TCP to simulate the position relationship. This method has many defects: first, it is time-consuming and affects production efficiency; second, the accuracy of the calibrated external TCP is poor and it is difficult to meet the needs of high-precision production; third, due to the limitations of the robot brand, some brands of robots do not have their own calibration software and cannot be calibrated. During on-site debugging, since the relative position of the robot and the fixed tooling is unknown or inaccurate, the offline program output by the simulation needs to be manually adjusted and calibrated for each welding point and trajectory in actual application, which consumes a lot of manpower and time, and increases production costs. Summary of the invention

[0004] In order to effectively solve the problems in the above background technology, the present invention proposes a robot fixed tool calibration system and method, which aims to accurately calculate the positions of various fixed tools in the robot coordinate system, establish a stable and accurate position relationship, greatly reduce the debugging time of the simulation offline program, improve production efficiency, and reduce production costs.

[0005] The specific technical solutions are as follows:

[0006] A robot fixed tool calibration system comprises a fixed tool side sensor box, a robot gripper side sensor box, a PC laptop computer, a computer-side wireless transceiver and a robot system; the fixed tool side sensor box is installed on the fixed tool and is used to measure the angle value of the fixed tool; the robot gripper side sensor box is installed on the robot gripper tool, connected to the robot and moves with the robot, and is used to measure the angle value of the robot gripper tool and to cooperate in recording the position and posture information of the robot tool coordinate point TCP; the PC laptop computer runs a program system to realize the reading and analysis of sensor data, data interaction with the robot system and core algorithm calculation; the computer-side wireless transceiver is used to read the sensor data and transmit it to the PC laptop computer; the robot system works in coordination with the robot tool alignment system to receive the correction value output by the PC laptop computer and correct the offline trajectory.

[0007] Preferably, the sensor box on the fixed tooling side includes a first extension rod, a second extension rod, a matching glue gun rod avoidance notch and a sensor; the first extension rod and the second extension rod are used to adjust the relative position of the sensor box on the fixed tooling side so that it is in the required measurement position; the matching glue gun rod avoidance notch facilitates the installation of the sensor box on the fixed tooling side onto the glue gun rod of the fixed tooling; the sensor is used to record angle values.

[0008] Preferably, the robot gripper tooling is provided with a sensor box mounting surface, and the robot gripper-side sensor box is provided with a mounting surface matching the sensor box mounting surface, so as to facilitate installation and connection between the two.

[0009] Preferably, when the fixed tooling is a fixed gluing tooling, the glue gun rod and glue gun head of the fixed gluing tooling are parallel and their axes are on the same straight line, and the projection of the glue gun rod on the ground is perpendicular to the side plane of the glue coating bracket mounting base biased towards the glue gun.

[0010] A calibration method based on the robot fixed tooling calibration system comprises the following steps:

[0011] Install the sensor box on the fixed tooling side onto the fixed tooling, adjust the position and record the sensor information;

[0012] Install the robot gripper side sensor box onto the robot gripper tooling to record the position and posture information of the sensor and the robot head TCP;

[0013] The posture relationship between the robot tool coordinate point TCP and the sensor box on the robot gripper side is obtained through mathematical operations, and then the angle posture relationship between the robot TCP and the sensor box on the fixed tooling side is calculated;

[0014] Move the robot to the first offline trajectory key point and record the position deviation;

[0015] According to the known angle posture relationship and position deviation, the accurate position relationship between the robot and the fixed tooling is established, and the external TCP correction offline trajectory is created.

[0016] Preferably, in the step of installing the sensor box on the fixed tooling side onto the fixed tooling, for the fixed gluing tooling, the first extension rod and the second extension rod need to be adjusted so that they are respectively parallel to the plane of the gluing bracket mounting base that is biased towards the glue gun side; in the step of installing the sensor box on the robot gripper side onto the robot gripper tooling, ensure that the mounting surface of the sensor box on the robot gripper side is tightly matched with the mounting surface of the sensor box of the robot gripper tooling.

[0017] Preferably, the mathematical operation is used to obtain the posture relationship between the robot tool coordinate point TCP and the sensor box on the robot gripper side, and the angle posture relationship between the robot TCP and the sensor box on the fixed tooling side is calculated. This is specifically achieved through an algorithm preset in a PC laptop computer program system. The algorithm is based on mathematical principles such as trigonometric functions and vector operations, and is combined with the angle value recorded by the sensor and the position information of the robot TCP for calculation.

[0018] Preferably, after the step of moving the robot to the first key point of the offline trajectory and recording the position deviation, the process also includes clicking calculate on the PC laptop computer, the program system performs internal calculations based on the recorded data and outputs correction values ​​to the robot system, and the robot system corrects the offline trajectory on the teach pendant after receiving the correction values.

[0019] The beneficial effect of the present invention is that the present invention uses sensors to accurately record the postures of important parts on the fixed tooling (such as the glue gun head of the fixed glue coating equipment, the convex welding gun head of the convex welding nut equipment, etc.), as well as the posture of the robot side gripper and the position posture of the robot tool coordinate point TCP, and establishes an accurate positional relationship through mathematical calculations. Compared with traditional methods, the calibration accuracy is significantly improved.

[0020] The present invention can quickly establish an accurate positional relationship between the robot and the fixed equipment, effectively correct the offline trajectory, greatly reduce the time of manual adjustment and calibration, improve the overall debugging efficiency, and speed up the production progress.

[0021] The present invention reduces the manpower and time costs required for manual debugging, avoids production delays caused by excessively long debugging time, reduces production costs, and enhances the market competitiveness of enterprises.

[0022] This calibration system is applicable to a variety of fixed tooling equipment and is not restricted by robot brands. It overcomes the limitations of traditional calibration methods and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is an overall schematic diagram of the fixed glue coating tooling side of the present invention;

[0024] Figure 2 is an overall schematic diagram of the robot gripper side of the present invention;

[0025] Figure 3 It is a schematic diagram of the fixed glue coating tooling of the present invention;

[0026] Figure 4 is a schematic diagram of a sensor box on a fixed tooling side of the present invention;

[0027] Figure 5 is a schematic diagram of a robot gripper tooling of the present invention;

[0028] Figure 6 is a schematic diagram of a sensor box on the robot gripper side of the present invention;

[0029] Figure 7 It is a signal interaction schematic diagram of the present invention. DETAILED DESCRIPTION

[0030] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0031] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0032] See also Figure 1 A robot fixed tool calibration system includes a base 1, a limit bar 2, a fixed gluing tool 3, and a fixed tool side sensor box 4; when using this system for calibration, the fixed tool side sensor box 4 is installed on the fixed gluing tool 3 to measure the angle value.

[0033] See also Figure 2 , the overall schematic diagram of the robot gripper side, including the robot gripper tooling 5, the robot gripper side sensor box 6,; when using the system for calibration, the robot gripper side sensor box 6 is installed on the robot gripper tooling 5 to measure the angle value.

[0034] The fixed glue coating tooling schematic diagram is shown in Figure 3 The glue gun rod 3.1 and the glue gun head 3.2 are parallel, and the axes are on the same straight line. The projection of the glue gun rod 3.1 on the ground is perpendicular to the glue gun side plane 3.3 of the glue coating bracket mounting base.

[0035] The schematic diagram of the fixed tooling side sensor box is shown in Figure 4 The avoidance gap 4.2 for the glue gun rod is used to avoid the glue gun rod 4.1, so as to facilitate the installation of the tooling side sensor box 4 on the glue gun; the sensor 4.4 is used to record the angle value; the first extension rod 4.1 and the second extension rod 4.3 are used to adjust the relative position of the fixed tooling side sensor box. When the first extension rod 4.1 and the second extension rod 4.3 are adjusted to be parallel to the glue gun side plane 3.3 of the glue bracket mounting base, the current direction of the sensor is the required position.

[0036] The schematic diagram of the robot gripper tooling is shown in Figure 5 , wherein the sensor box mounting surface 5.1 is used to mount the robot gripper side sensor box 6. During the calibration process, the robot gripper tooling is connected to the robot, and the robot can move and rotate with the gripper.

[0037] The schematic diagram of the sensor box on the robot gripper side is shown in Figure 6 , wherein the mounting surface 6.1 is used to match the sensor box mounting surface 5.1, and the sensor 6.2 is used to record the angle value.

[0038] The signal interaction diagram is shown in Figure 7 , where the computer-side wireless transceiver 7.1 is used to read sensor data, the robot system 7.3 represents a robot used together with the robot tool alignment system, and the PC notebook computer 7.2 is used to run the program system, including extracting and writing data to the robot system, reading and analyzing sensor data, etc. The core algorithms are all implemented through the PC notebook computer.

[0039] The working principle of the present invention is as follows: first, the fixed tooling side sensor box 4 is installed on the glue gun rod 3.1 of the fixed glue tooling, and the position is adjusted to record the sensor information; then the robot gripper side sensor box 6 is installed on the robot gripper tooling 5, and the position and posture information of the sensor and the robot head TCP is recorded (the gripper is installed on the robot and moves with the robot); through mathematical operations, we can obtain the posture relationship between the robot tool coordinate point (TCP) and the robot gripper side sensor box 6, and further calculate the angle posture relationship between the robot TCP and the fixed tooling side sensor box 4, that is, the position relationship between the robot TCP and the glue gun head 3.2. Then move the robot to the first offline trajectory key point, record the position deviation at this time, and according to the previously known angle posture relationship and position deviation, the accurate position relationship between the robot and the fixed glue tooling 3 can be established; thus, by creating an external TCP to correct the offline trajectory, the manual adjustment and calibration time can be significantly reduced, the overall debugging efficiency can be improved, and the production cost can be reduced.

[0040] The working process of the present invention is as follows: first, the control cabinet of the PC laptop 7.2 and the robot system 7.3 need to be connected through a network cable, and then the computer-side wireless transceiver 7.1 is inserted into the USB interface of the PC computer, and the fixed tooling side sensor box 4 is installed on the glue gun rod 3.1 of the fixed glue tooling, and the first extension rod 4.1 and the second extension rod 4.3 are adjusted to be parallel to the glue gun side plane 3.3 of the glue bracket mounting base; the robot gripper side sensor box 6 is installed on the robot gripper tooling 5, and the installation surface 6.2 is matched with the sensor box installation surface 5.1 during the installation process. Run the program on the PC computer side to record the angles of the current sensors 4.4 and 6.4, record the position angle information of the current robot tool coordinate point TCP, and then move the robot to the first offline trajectory key point, click calculation on the PD computer side, the program internal calculation and then output the correction value to the robot system, and the offline trajectory is corrected on the robot teaching pendant, and this calibration process ends.

[0041] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A robot fixed tool calibration system, characterized in that: It includes a sensor box on the fixed tooling side, a sensor box on the robot gripper side, a PC laptop, a computer-side wireless transceiver and a robot system; the sensor box on the fixed tooling side is installed on the fixed tooling and is used to measure the angle value of the fixed tooling; the sensor box on the robot gripper side is installed on the robot gripper tooling, connected to the robot and moves with the robot, and is used to measure the angle value of the robot gripper tooling and to cooperate in recording the position and posture information of the robot tool coordinate point TCP; the PC laptop runs a program system to realize the reading and analysis of sensor data, data interaction with the robot system and core algorithm calculation; the computer-side wireless transceiver is used to read sensor data and transmit it to the PC laptop; the robot system works in conjunction with the robot tool alignment system to receive the correction value output by the PC laptop and correct the offline trajectory.

2. The robot fixed tooling calibration system according to claim 1, characterized in that: The sensor box on the fixed tooling side includes a first extension rod, a second extension rod, a matching glue gun rod avoidance notch and a sensor; the first extension rod and the second extension rod are used to adjust the relative position of the sensor box on the fixed tooling side so that it is in the required measurement position; the matching glue gun rod avoidance notch facilitates the installation of the sensor box on the fixed tooling side onto the glue gun rod of the fixed tooling; the sensor is used to record angle values.

3. The robot fixed tool calibration system according to claim 1, characterized in that: The robot gripper tooling is provided with a sensor box mounting surface, and the robot gripper side sensor box is provided with a mounting surface matching the sensor box mounting surface, so as to facilitate the installation and connection of the two.

4. The robot fixed tool calibration system according to claim 1, characterized in that: When the fixed tooling is a fixed gluing tooling, the glue gun rod and the glue gun head of the fixed gluing tooling are parallel and the axes are on the same line, and the projection of the glue gun rod on the ground is perpendicular to the side plane of the glue coating bracket mounting base biased towards the glue gun.

5. A calibration method based on the robot fixed tooling calibration system according to any one of claims 1 to 4, characterized in that: The following steps are involved: Install the sensor box on the fixed tooling side onto the fixed tooling, adjust the position and record the sensor information; Install the robot gripper side sensor box onto the robot gripper tooling to record the position and posture information of the sensor and the robot head TCP; The posture relationship between the robot tool coordinate point TCP and the sensor box on the robot gripper side is obtained through mathematical operations, and then the angle posture relationship between the robot TCP and the sensor box on the fixed tooling side is calculated; Move the robot to the first offline trajectory key point and record the position deviation; According to the known angle posture relationship and position deviation, the accurate position relationship between the robot and the fixed tooling is established, and the external TCP correction offline trajectory is created.

6. The calibration method according to claim 5, characterized in that: In the step of installing the sensor box on the fixed tooling side onto the fixed tooling, for the fixed gluing tooling, it is necessary to adjust the first extension rod and the second extension rod so that they are respectively parallel to the plane of the glue gun side of the gluing bracket mounting base; in the step of installing the sensor box on the robot gripper side onto the robot gripper tooling, ensure that the mounting surface of the sensor box on the robot gripper side is tightly matched with the mounting surface of the sensor box of the robot gripper tooling.

7. The calibration method according to claim 5, characterized in that: The method of obtaining the posture relationship between the robot tool coordinate point TCP and the sensor box on the robot gripper side through mathematical operations, as well as calculating the angular posture relationship between the robot TCP and the sensor box on the fixed tooling side, is specifically implemented through an algorithm preset in a PC laptop computer program system. The algorithm is based on mathematical principles such as trigonometric functions and vector operations, and is calculated in combination with the angle value recorded by the sensor and the position information of the robot TCP.

8. The calibration method according to claim 5, characterized in that: After the step of moving the robot to the first key point of the offline trajectory and recording the position deviation, the process also includes clicking calculate on the PC laptop computer, the program system performs internal calculations based on the recorded data and outputs correction values ​​to the robot system, and the robot system corrects the offline trajectory on the teach pendant after receiving the correction values.

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