CN113021348B - Method applied to point position high-precision conversion among different robots - Google Patents
Method applied to point position high-precision conversion among different robots Download PDFInfo
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- CN113021348B CN113021348B CN202110310217.2A CN202110310217A CN113021348B CN 113021348 B CN113021348 B CN 113021348B CN 202110310217 A CN202110310217 A CN 202110310217A CN 113021348 B CN113021348 B CN 113021348B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention provides a method applied to point location high-precision conversion among different robots, which comprises the following steps: a: calibrating the process; b: point location data conversion process; the calibration process mainly comprises the following steps: a1: acquiring calibration data of the robot, and respectively acquiring four feature point data of the robot 1 and the robot 2; a2: calculating calibration data, namely filling the two groups of data obtained by the step A1 into a calibration operation tool and performing operation to obtain a group of calibration data; the point location data conversion process comprises the following steps: b1: acquiring an execution track of the robot 1; b2: calculating and converting the execution track of B1 through calibration data to obtain calibration data of the robot 2; b3: importing the calibration data of the robot 2 into the robot 2 to complete point location data conversion; by the method, the accurate conversion of the track point locations of different robots can be realized, errors among different robots are eliminated, the debugging time is greatly shortened, and the debugging efficiency is improved.
Description
Technical Field
The invention relates to the technical field of automatic robot machining, in particular to a point position high-precision conversion method applied to different robots.
Background
At present, in the automatic production process, a plurality of robots need to teach each robot to finish the same action, so that a great deal of time is spent; the prior art method is to teach one robot, and then copy the point location program of the robot to other robots, but the installation of robot bodies, the installation of execution tools and the establishment of related coordinate systems among different robots all generate errors, so that accurate point location conversion cannot be performed, when accurate point location conversion is required, a large amount of time is required for debugging the robot, and the debugging efficiency is low.
Disclosure of Invention
In order to solve the problems, the invention provides a point position high-precision conversion method applied to different robots.
The invention is realized by the following technical scheme:
the invention provides a point location high-precision conversion method applied to different robots, which comprises the following steps: a: calibrating the process; b: point location data conversion process; the calibration process mainly comprises the following steps:
a1: acquiring calibration data of the robot, and respectively acquiring four feature point data of the robot 1 and the robot 2;
a2: calculating calibration data, namely filling the two groups of data obtained by the step A1 into a calibration operation tool and performing operation to obtain a group of calibration data;
the point location data conversion process comprises the following steps:
b1: acquiring an execution track of the robot 1;
b2: calculating and converting the execution track of B1 through calibration data to obtain calibration data of the robot 2;
b3: and importing the calibration data of the robot 2 into the robot 2 to complete point location data conversion.
Further, in a1, the feature point data of the robot 1 and the robot 2 is obtained by the following steps:
a11: placing a calibration block in a working area of the robot 1, wherein the relative position of the placement of the calibration block and the placement of an actual product is fixed;
a12: the robot 1 uses a tool to execute four feature points on a calibration block and records the feature points;
a13: the calibration block is placed in the working area of the robot 2, and the relative position of the calibration block to be placed with the actual product is fixed;
a14: the robot 2 uses the tool to execute to four feature points on the calibration block and record.
Furthermore, a calibration operation tool is required to be used in both the calibration process and the point data conversion process, and the calibration operation tool is a software tool used by a computer in cooperation with the robot and is used for recording coordinate data, capturing an execution track of the robot, calculating and converting calibration data and outputting an execution track command.
The invention has the beneficial effects that:
the method for point location high-precision conversion between different robots provided by the invention has the advantages that the execution track of the robot 1 is converted into the execution track of the robot 2 by calibrating the four characteristic points and then converting the calibration data, so that the accurate conversion of the track point locations of different robots is realized, the errors between different robots are eliminated, the debugging time is greatly reduced, and the debugging efficiency is improved.
Drawings
Fig. 1 is a flow chart of the method applied to point location high-precision conversion between different robots in the invention.
Detailed Description
In order to more clearly and completely describe the technical scheme of the invention, the invention is further described with reference to the accompanying drawings.
Referring to fig. 1, the present invention provides a method for point-to-point high-precision conversion between different robots, including: a: calibrating the process; b: and point location data conversion process. The calibration process mainly comprises the following steps: a1: acquiring calibration data of the robot, and respectively acquiring four feature point data of the robot 1 and the robot 2; a2: and (4) calibration data calculation, namely filling the two groups of data obtained by the step A1 into a calibration calculation tool and calculating to obtain a group of calibration data. The point location data conversion process comprises the following steps: b1: acquiring an execution track of the robot 1; b2: calculating and converting the execution track of B1 through calibration data to obtain calibration data of the robot 2; b3: and importing the calibration data of the robot 2 into the robot 2 to complete point location data conversion. In step a1, feature point data of robot 1 and robot 2 is obtained by the following steps: a11: placing a calibration block in a working area of the robot 1, wherein the relative position of the placement of the calibration block and the placement of an actual product is fixed; a12: the robot 1 uses a tool to execute four feature points on a calibration block and records the feature points; a13: the calibration block is placed in the working area of the robot 2, and the relative position of the calibration block to be placed with the actual product is fixed; a14: the robot 2 uses the tool to execute to four feature points on the calibration block and record. The calibration process and the point data conversion process both need to use a calibration operation tool, and the calibration operation tool is a software tool used by a computer in cooperation with the robot and used for recording coordinate data, capturing an execution track of the robot, calculating and converting calibration data and outputting an execution track command.
In the present embodiment, the present invention is applied to the work of an automated processing machine, the robot 1 and the robot 2 are two different robots, both of which are controlled by a hardware system and a software system, and the software system is equipped with a calibration calculation tool, which has a common coordinate calculation function and can perform operations such as coordinate data recording, robot execution trajectory capturing, calibration data calculation conversion, and execution trajectory command output. When the robot 1 works, the robot 2 needs to perform the same work as the robot 1, and the method can be used for performing accurate track point position conversion. The same calibration block and an actual product are used for data acquisition, four characteristic points are arranged on the calibration block, and data coordinates can be converted through accurate positioning of the four characteristic points. In the step a1, object coordinates corresponding to the four feature points of the robot 1 and the robot 2 are respectively obtained, calibration operation is performed by using a calibration operation tool to obtain a set of corresponding calibration data, and then data conversion is performed on the set of calibration data corresponding to the execution trajectory of the robot 1 to obtain the execution trajectory of the robot 2, so that high-precision conversion of different robot point locations is realized. The execution tracks of different robots are different due to different positions of the robots when actual products are installed, and the calculation of the execution tracks of different robots by calibrating fixed characteristic points is the key point of the method, the execution tracks of the robot 1 are corresponding to the characteristic points by using the characteristic points, the execution tracks of the robot 2 are calculated, and point position conversion can be accurately carried out.
Of course, the present invention may have other embodiments, and based on the embodiments, those skilled in the art can obtain other embodiments without any creative effort, and all of them are within the protection scope of the present invention.
Claims (2)
1. A method applied to point location high-precision conversion between different robots is characterized by comprising the following steps: a: calibrating the process; b: point location data conversion process; the calibration process mainly comprises the following steps:
a1: acquiring calibration data of the robot, and respectively acquiring four feature point data of the robot 1 and the robot 2;
a2: calculating calibration data, namely filling the two groups of data obtained by the step A1 into a calibration operation tool and performing operation to obtain a group of calibration data;
the point location data conversion process comprises the following steps:
b1: acquiring an execution track of the robot 1;
b2: calculating and converting the execution track of B1 through calibration data to obtain calibration data of the robot 2;
b3: importing the calibration data of the robot 2 into the robot 2 to complete point location data conversion;
in a1, feature point data of the robot 1 and the robot 2 is obtained by the following steps:
a11: placing a calibration block in a working area of the robot 1, wherein the relative position of the placement of the calibration block and the placement of an actual product is fixed;
a12: the robot 1 uses a tool to execute four feature points on a calibration block and records the feature points;
a13: the calibration block is placed in the working area of the robot 2, and the relative position of the calibration block to be placed with the actual product is fixed;
a14: the robot 2 uses the tool to execute to four feature points on the calibration block and record.
2. The method as claimed in claim 1, wherein the calibration process and the point data conversion process both require calibration calculation tools, and the calibration calculation tools are software tools used by a computer in cooperation with the robot, and are used for recording coordinate data, capturing an execution trajectory of the robot, calculating and converting calibration data, and outputting an execution trajectory command.
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