Tire mold drilling robot workpiece coordinate system calibration system and calibration method

Abstract

The invention discloses a tire mold drilling robot workpiece coordinate system calibration system and calibration method, and belongs to the technical field of tire mold machining, the tire mold drilling robot workpiece coordinate system calibration system comprises an auxiliary terminal, an upper computer and a drilling robot, and the upper computer is in communication connection with the auxiliary terminal and the drilling robot; the auxiliary terminal comprises a shell, a key module and a display screen are arranged on the shell, the key module comprises various instruction keys, a mainboard is arranged in the shell, the key module is matched with the mainboard, an instruction is sent to the upper computer through the key module, and the upper computer executes corresponding operation after receiving the instruction; and the upper computer continuously adjusts the position of the drilling robot according to an instruction of the key module, obtains the current coordinate of the drilling robot and sends the current coordinate to the auxiliary terminal until the accurate coordinate of the drilling robot is obtained, and the auxiliary terminal displays and submits the accurate coordinate to the upper computer. The practicability and reliability of the robot machining system are remarkably improved, and the robot machining system has wide industrial popularization value.

Description

Technical Field

[0001] The present invention relates to the technical field of tire mold processing, and particularly to a calibration system and method for the workpiece coordinate system of a drilling robot for tire molds. Background Art

[0002] The statements in this part only provide background technical information related to the present invention, and do not necessarily constitute prior art.

[0003] In a robot processing system, the calibration of the workpiece coordinate system is the core of establishing the spatial position relationship between the end effector of the robot and the workpiece. However, since the tire mold is an irregular polygon, the workpiece coordinate system cannot be directly calibrated, and only multiple points can be calibrated, and the position coordinates of the workpiece coordinate system are indirectly calculated by the upper computer. During the information interaction process between the robot and the upper computer, the operator has to repeat the process of "acquiring points on the teach pendant and obtaining coordinates from the upper computer" multiple times, and has to run frequently between the workpiece processing end and the upper computer control end, which not only leads to low efficiency of human-machine interaction, affects the processing process, but also increases the probability of the operator being bumped or even having an accident during the calibration process. Summary of the Invention

[0004] In view of the above problems, the present invention proposes a calibration system and method for the workpiece coordinate system of a drilling robot for tire molds, which provides a replicable engineering solution for the high-precision calibration of irregular polygon workpieces, significantly improves the practicability and reliability of the robot processing system, and has wide industrial promotion value.

[0005] To achieve the above object, the present invention adopts the following technical solutions: In the first aspect of the present invention, a calibration system for the workpiece coordinate system of a drilling robot for tire molds is provided, including an auxiliary terminal, an upper computer, and a drilling robot. The upper computer is communicatively connected to the auxiliary terminal and the drilling robot respectively; The auxiliary terminal includes a housing, on which a key module and a display screen are provided. The key module includes a variety of instruction keys. Inside the housing is a main board, and the key module is matched with the main board. Instructions are sent to the upper computer through the key module, and the upper computer performs corresponding operations after receiving the instructions; The upper computer continuously adjusts the position of the drilling robot according to the instructions of the key module, and obtains the current coordinates of the drilling robot and sends them to the auxiliary terminal until the accurate coordinates of all calibration points are obtained. The auxiliary terminal displays and submits the final set of calibration point data to the upper computer.

[0006] As a further implementation, the key module includes a variety of instruction keys, and the variety of instruction keys include an acquisition key, a submission key, a fast key, a slow key, a setting key, a numeric keypad, a positioning key, a coordinate key, and a motion control keyboard.

[0007] As a further implementation, the acquisition button is used to send an acquisition instruction to the host computer to acquire an initial set of calibration point data; The submission button is used to submit the final set of calibration point data to the host computer; The setting button is used to set the parameters of the coordinate calibration system; The motion control keyboard is used to send a motion control instruction to the host computer to control the position adjustment of the drilling robot.

[0008] As a further implementation, the coordinate button is used to send an acquisition instruction to the host computer to acquire the current coordinates of the drilling robot; The fast button and the slow button respectively send instructions to control the moving speed of the drilling machine.

[0009] As a further implementation, the numeric keypad is used to input the serial number of a certain calibration point, and cooperates with the positioning button to control the positioning of the drilling robot; The positioning button is used to send a positioning instruction to the host computer to control the positioning of the drilling robot.

[0010] As a further implementation, the main board includes a display driving module, a Wi-Fi communication module, a power module, and a peripheral interface module.

[0011] As a further implementation, the display driving module is used to drive the display screen; The Wi-Fi communication module is used to communicate with the host computer; The power module is used to manage the charging and discharging of the battery; The peripheral interface module is used for program burning and battery charging.

[0012] As a further implementation, a switch is also provided on the shell of the auxiliary terminal, and the switch is used to control the start and stop of the auxiliary terminal.

[0013] As a further implementation, a battery is also provided inside the shell of the auxiliary terminal.

[0014] In the second aspect of the present invention, a method for calibrating the workpiece coordinate system of a tire mold drilling robot is provided. Based on the tire mold drilling robot workpiece coordinate system calibration auxiliary terminal described in the first aspect of the present invention, the method includes the following steps: S1. Communicatively connect the auxiliary terminal and the drilling robot to the host computer respectively; S2. Click the acquisition button of the auxiliary terminal to acquire an initial set of calibration point data; S3. According to the initial set of calibration point data, use the numeric keypad of the auxiliary terminal to input the serial number of a certain calibration point, click the positioning button of the auxiliary terminal, and send a positioning instruction to the host computer to make the drilling robot position to the initial position of a certain calibration point; S4. Continuously fine-tune the robot position through the motion control keyboard until the accurate coordinates of the drilling robot at a certain calibration point are obtained; S5. Repeat S3 - S4 until the accurate coordinates of all calibration points are obtained; S6. Display and submit the final set of calibration point data from the auxiliary terminal to the host computer.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: A workpiece coordinate system calibration system and calibration method for a tire mold drilling robot of the present invention designs an auxiliary terminal for calibrating the workpiece coordinate system of a tire mold drilling robot. The key module of the auxiliary terminal includes various instruction keys for inputting various instructions and parameters and sending them to the host computer to achieve human - machine interaction. The host computer continuously adjusts the position of the drilling robot according to the instructions of the key module and obtains the current coordinates of the drilling robot and sends them to the auxiliary terminal until the accurate coordinates of all calibration points are obtained. Finally, the auxiliary terminal displays and submits the final set of calibration point data to the host computer. Through the collaborative operation of the auxiliary terminal, the host computer and the drilling robot, it not only solves the pain points of low efficiency and high safety risks in the traditional process, but also provides a replicable engineering solution for the high - precision calibration of irregular polygon workpieces, significantly improving the practicability and reliability of the robot processing system, and having broad industrial promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0017] Figure 1 It is a schematic diagram of the overall structure of the auxiliary terminal for calibrating the workpiece coordinate system of the tire mold drilling robot of the present invention; Figure 2 It is a schematic diagram of the internal structure of the auxiliary terminal for calibrating the workpiece coordinate system of the tire mold drilling robot of the present invention; Figure 3 It is a flowchart of the calibration method for the workpiece coordinate system of the tire mold drilling robot of the present invention; Figure 4 It is an interaction timing diagram of the auxiliary terminal for calibrating the workpiece coordinate system of the tire mold drilling robot of the present invention with the host computer and the robot.

[0018] Among them, 1. Switch; 2. Housing; 3. Display screen; 4. Key module; 5. Main board; 6. Battery. Detailed implementation mode

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0021] In the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0022] Embodiment 1 As Figure 1-2 shown, this embodiment provides a calibration system for the workpiece coordinate system of a tire mold drilling robot, including an auxiliary terminal, a host computer, and a drilling robot. The host computer is communicatively connected to the auxiliary terminal and the drilling robot respectively.

[0023] The auxiliary terminal includes a housing 2, which plays a role in protection and support. A key module 4 and a display screen 3 are provided on the housing 2. Among them, the key module 4 includes various instruction keys, and the keys are used to input various instructions and parameters to achieve human-computer interaction. The display screen 3 is used to display calibration information. A main board 5 is provided inside the housing 2. The key module 4 matches the main board 5. Instructions are sent to the host computer through the key module 4, and the host computer performs corresponding operations after receiving the instructions.

[0024] The host computer continuously adjusts the position of the drilling robot according to the instructions of the key module 4, and obtains the current coordinates of the drilling robot and sends them to the auxiliary terminal until the accurate coordinates of all calibration points are obtained. The auxiliary terminal displays and submits the final set of calibration point data to the host computer.

[0025] The key module 4 includes various instruction keys, and the various instruction keys include an acquisition key, a submission key, a fast key, a slow key, a setting key, a numeric keypad, a positioning key, a coordinate key, and a motion control keyboard.

[0026] Among them, the acquisition key is used to send an acquisition instruction to the host computer to obtain the initial set of calibration point data; the submission key is used to submit the final set of calibration point data to the host computer; the setting key is used to set the parameters of the coordinate system calibration system; the motion control keyboard includes six keys: X+, X-, Y+, Y-, Z+, and Z-, which are used to send motion control instructions to the host computer to control the position adjustment of the drilling robot.

[0027] The coordinate keys are used to send acquisition instructions to the host computer to obtain the current coordinates of the drilling robot; the fast key and the slow key respectively send instructions to control the moving speed of the drilling machine. The numeric keypad includes ten keys from 0 to 9 and a decimal point key, which are used to input the serial number of the current calibration point, and cooperate with the positioning key to control the drilling robot to move to the initial position of the current calibration point; the positioning key is used to send a positioning instruction to the host computer to control the positioning of the drilling robot.

[0028] The main board 5 includes a display driving module, a Wi-Fi communication module, a power module and a peripheral interface module. Among them, the display driving module is used to drive the display screen 3; the Wi-Fi communication module is used to communicate with the host computer; the power module is used to manage the charging and discharging of the battery 6; the peripheral interface module is used for program burning and battery 6 charging.

[0029] A switch 1 is also provided on the shell of the auxiliary terminal, and the switch 1 is used to control the start and stop of the auxiliary terminal. A battery 6 is also provided inside the shell of the auxiliary terminal to supply power to the auxiliary terminal.

[0030] Embodiment 2 As Figure 3-4 shown, this embodiment provides a method for calibrating the workpiece coordinate system of a tire mold drilling robot. Based on the auxiliary terminal for calibrating the workpiece coordinate system of a tire mold drilling robot in Embodiment 1, the method includes the following steps: S1. Connect the auxiliary terminal and the drilling robot to the host computer for communication respectively; S2. Click the acquisition button of the auxiliary terminal to obtain the initial set of calibration point data; S3. According to the initial set of calibration point data, use the numeric keypad of the auxiliary terminal to input the serial number of a certain calibration point, click the positioning button of the auxiliary terminal, and send a positioning instruction to the host computer to make the drilling robot move to the initial position of a certain calibration point; S4. Continuously fine-tune the position of the robot through the motion control keyboard until the accurate coordinates of the drilling robot at a certain calibration point are obtained; S5. Repeat S3 - S4 until the accurate coordinates of all calibration points are obtained; S6. The auxiliary terminal displays and submits the final set of calibration point data to the host computer.

[0031] In the above step S2, to obtain the set of calibration point data, the acquisition instruction ($GetData#) is sent to the host computer through the acquisition button. After receiving the instruction, the host computer returns the set of calibration point data (${(workpiece coordinates)-(initial coordinates)}#) to this terminal; the coordinate format is: (sequence number Index: X coordinate, Y coordinate, Z coordinate).

[0032] In the above step S3, to move to the initial position of a certain calibration point, first switch the current calibration point through the numeric keypad, and then send the running instruction ($Run: Index#) of the current calibration point number to the host computer through the running button. After receiving the instruction, the host computer controls the robot to move to the initial position with the serial number Index; for the subsequent switching of calibration points, the same method is adopted, which is realized by the cooperation of the numeric keypad and the running button.

[0033] In the above steps S3 and S4, the movement speed of the robot can be adjusted through the fast button and the slow button.

[0034] In the above step S4, to finely adjust the position of the robot through the motion control keyboard, the motion control instruction ($X+# or $X-# or $Y+# or $Y-# or $Z+# or $Z-#) is sent to the host computer through the motion control keyboard. After receiving the instruction, the host computer controls the robot to perform the corresponding motion.

[0035] In the above step S5, to obtain the accurate coordinates of the robot at all calibration points, the acquisition instruction ($GetPos#) is sent to the host computer through the coordinate button. After receiving the instruction, the host computer obtains the accurate coordinates of the robot and returns them to the terminal in the format ($X coordinate, Y coordinate, Z coordinate#), and the terminal replaces the initial coordinates with the accurate coordinates.

[0036] In the above step S6, the final form of the calibration point data set is: ($(workpiece coordinates)-(accurate coordinates)#).

[0037] In the above steps S2 - S6, the instructions and calibration point data are transmitted in Json format through Wi-Fi; The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0038] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. A calibration system for the workpiece coordinate system of a tire mold drilling machine, characterized in that It includes an auxiliary terminal, a host computer, and a drilling robot. The host computer is communicatively connected to the auxiliary terminal and the drilling robot respectively; The auxiliary terminal includes a housing. A key module and a display screen are provided on the housing. The key module includes various instruction keys. A main board is provided inside the housing. The key module is matched with the main board. Instructions are sent to the host computer through the key module. After the host computer receives the instructions, it performs corresponding operations; The host computer continuously adjusts the position of the drilling robot according to the instructions of the key module, and obtains the current coordinates of the drilling robot and sends them to the auxiliary terminal until the accurate coordinates of all calibration points are obtained. The auxiliary terminal displays and submits the final set of calibration point data to the host computer.

2. The calibration system of the workpiece coordinate system of the tire mold drilling machine as described in claim 1, wherein, The key module includes various instruction keys. The various instruction keys include an acquisition key, a submission key, a fast key, a slow key, a setting key, a numeric keypad, a positioning key, a coordinate key, and a motion control keyboard.

3. The calibration system of the workpiece coordinate system of the tire mold drilling machine as described in claim 2, characterized in that, The acquisition key is used to send an acquisition instruction to the host computer to obtain an initial set of calibration point data; The submission key is used to submit the final set of calibration point data to the host computer; The setting key is used to set the parameters of the coordinate system calibration system; The motion control keyboard is used to send a motion control instruction to the host computer to control the position adjustment of the drilling robot.

4. The calibration system of the workpiece coordinate system of the tire mold drilling machine as described in claim 2, wherein, The coordinate key is used to send an acquisition instruction to the host computer to obtain the current coordinates of the drilling robot; The fast key and the slow key respectively send instructions to control the moving speed of the drilling machine.

5. The calibration system of the workpiece coordinate system of the tire mold drilling machine as described in claim 2, characterized in that, The numeric keypad is used to input the serial number of a certain calibration point and cooperate with the positioning key to control the positioning of the drilling robot; The positioning key is used to send a positioning instruction to the host computer to control the positioning of the drilling robot.

6. The calibration system for the workpiece coordinate system of the tire mold drilling machine as described in claim 1, characterized in that, The main board includes a display driving module, a Wi-Fi communication module, a power module, and a peripheral interface module.

7. The calibration system of the workpiece coordinate system of the tire mold drilling machine according to claim 6, characterized in that The display driving module is used to drive the display screen; The Wi-Fi communication module is used to communicate with the host computer; The power module is used to manage the charging and discharging of the battery; The peripheral interface module is used for program burning and battery charging.

8. The calibration system for the workpiece coordinate system of the tire mold drilling machine as described in claim 1, characterized in that, A switch is also provided on the housing of the auxiliary terminal. The switch is used to control the start and stop of the auxiliary terminal.

9. The calibration system for the workpiece coordinate system of the tire mold drilling machine as described in claim 1, wherein, A battery is also provided inside the housing of the auxiliary terminal.

10. A method for calibrating the workpiece coordinate system of a tire mold drilling machine, characterized in that, Based on the workpiece coordinate system calibration system of the tire mold drilling robot according to any one of claims 1-9, it includes the following steps: S1. Communicatively connect the auxiliary terminal and the drilling robot to the host computer respectively; S2. Click the acquisition key of the auxiliary terminal to obtain an initial set of calibration point data; S3. According to the initial set of calibration point data, use the numeric keypad of the auxiliary terminal to input the serial number of a certain calibration point, click the positioning key of the auxiliary terminal, and send a positioning instruction to the host computer to make the drilling robot position to the initial position of a certain calibration point; S4. Continuously fine-tune the position of the robot through the motion control keyboard until the accurate coordinates of the drilling robot at a certain calibration point are obtained; S5. Repeat S3-S4 until the accurate coordinates of all calibration points are obtained; S6. The auxiliary terminal displays and submits the final set of calibration point data to the host computer.

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