阅读说明：本技术 一种机器人弯管机的坐标系自动标定方法 (Automatic calibration method for coordinate system of robot pipe bender ) 是由 刘坤 黄万永 李聪 童梁 吴钰屾 于 2021-08-17 设计创作，主要内容包括：本发明公开了一种机器人弯管机的坐标系自动标定方法,属于机器人领域,包括：步骤S1,安装探针、第一标定块；步骤S2,示教第一标定块的中心点位,得到针尖工具坐标系；步骤S3,夹紧第二标定块；步骤S4,依次移动至外圆盘上的多个预设示教点位,确定弯管用户坐标系的XYZ轴方向以及外圆盘的圆心坐标；步骤S5,获取第一距离,进而确定弯管用户坐标系；步骤S6,取下探针,弯管手爪夹紧第二标定块；步骤S7,根据主夹模具和辅夹模具的交界处与弯管手爪之间的第二距离进行偏移计算,得到弯管工具坐标系。本发明的有益效果在于：通过自动标定程序和高精度的标定块和探针实现坐标系标定的自动化,简化了标定流程,提高了标定精度。(The invention discloses an automatic calibration method for a coordinate system of a robot pipe bender, which belongs to the field of robots and comprises the following steps: step S1, installing a probe and a first calibration block; step S2, teaching the center point position of the first calibration block to obtain a needle point tool coordinate system; step S3, clamping the second calibration block; step S4, sequentially moving the bent pipe to a plurality of preset teaching point positions on the outer disc, and determining the XYZ axial directions of a bent pipe user coordinate system and the circle center coordinates of the outer disc; step S5, acquiring a first distance, and further determining a bent pipe user coordinate system; step S6, taking down the probe, and clamping the second calibration block by the elbow claw; and step S7, performing offset calculation according to a second distance between the joint of the main clamping mold and the auxiliary clamping mold and the pipe bending paw to obtain a pipe bending tool coordinate system. The invention has the beneficial effects that: the automation of coordinate system calibration is realized through an automatic calibration program, a high-precision calibration block and a probe, the calibration flow is simplified, and the calibration precision is improved.)

1. An automatic calibration method for a coordinate system of a robot pipe bender is characterized by comprising the following steps:

step S1, mounting the probe on a pipe bending paw of the robot pipe bender, and providing a first calibration block which is fixed at a first preset position;

step S2, teaching the needle point of the probe to move to the center point position of the upper surface of the first calibration block, and obtaining and activating a needle point tool coordinate system of the probe according to a preset automatic calibration program of the probe tool coordinate system;

step S3, providing a second calibration block, and clamping the second calibration block through a main clamping die and an auxiliary clamping die of the robot pipe bender;

step S4, teaching the probe to move to the upper surface of the outer disc of the second calibration block, controlling the probe to sequentially move to a plurality of preset teaching point positions on the outer disc according to a preset automatic calibration program of the user coordinate system of the elbow, and determining XYZ axis directions of the user coordinate system of the elbow and coordinates of the center of the circle of the outer disc;

step S5, obtaining a first distance between the junction of the main clamping mold and the auxiliary clamping mold and the outer disc, and determining the user coordinate system of the bent pipe according to the circle center coordinate of the outer disc, the first distance, and the XYZ axis direction of the user coordinate system of the bent pipe;

step S6, the probe is taken down, and the second calibration block is clamped by a pipe bending paw of the robot pipe bender;

and step S7, acquiring a second distance between the junction of the main clamping mold and the auxiliary clamping mold and the pipe bending paw, and performing offset calculation on the calibrated pipe bending user coordinate system according to a preset pipe bending tool coordinate system automatic calibration program and the second distance to obtain a pipe bending tool coordinate system.

2. The method of claim 1, wherein the second calibration block includes:

the inner disc and the outer disc are connected through a shaft rod;

the inner end surface of the inner circular disc is tightly attached to the end surface of the auxiliary clamping die.

3. The method of claim 1, wherein the step S4 specifically includes:

step S41, teaching the probe to move to the upper surface of the outer disc of the second calibration block to obtain a teaching point position;

step S42, obtaining a plurality of first preset teaching point positions located on the upper surface of the outer disc and a plurality of second preset teaching point positions located on the circular arc of the outer disc according to the teaching point positions;

step S43, sequentially moving the probe to the first preset teaching point positions, determining a disc plane equation of the outer disc according to the coordinates of the first preset teaching point positions, and confirming the XYZ-axis direction of the bent pipe user coordinate system according to the disc plane equation of the outer disc;

and step S44, sequentially moving the probe to the plurality of second preset teaching point positions, and calculating according to the coordinates of the plurality of second preset teaching point positions to obtain the center coordinates of the outer disc.

4. The method of claim 3, wherein the step S43 specifically includes:

obtaining the Y-axis direction of the bent pipe user coordinate system according to the disc plane equation of the outer disc;

and determining the X-axis direction of the bent pipe user coordinate system according to the YZ-axis direction and the right-hand rule of the bent pipe user coordinate system, wherein the Z-axis direction of the bent pipe user coordinate system is vertical upwards by default.

5. The method of claim 1, wherein the step S5 specifically includes:

step S51, acquiring a first distance between the junction of the main clamping mold and the auxiliary clamping mold and the outer disc;

step S52, the preset automatic calibration program of the bent pipe user coordinate system calculates according to the coordinates of the circle center of the outer disc to obtain the y value of the origin of the bent pipe user coordinate system;

step S53, obtaining the origin coordinate of the bent pipe user coordinate system according to the x value and the z value of the circle center coordinate of the outer disc and the calculated y value of the origin of the bent pipe user coordinate system;

step S54, determining the bent-tube user coordinate system according to the XYZ axis directions of the bent-tube user coordinate system and the origin coordinates of the bent-tube user coordinate system.

6. The method of claim 2, wherein in step S6, the shaft of the second calibration block is clamped by the pipe bending gripper.

7. The method of claim 1, further comprising:

providing an operation guide interface, teaching a teaching point position on the probe or the first calibration block or the second calibration block on the operation guide interface, and guiding a user to complete automatic calibration operation according to a calibration operation process to generate a corresponding coordinate system, wherein the calibration operation process comprises a preset probe tool coordinate system automatic calibration program, a preset bent pipe user coordinate system automatic calibration program and a preset bent pipe tool coordinate system automatic calibration program.

8. The method of claim 1, wherein in step S1, the first predetermined position is within an accessible range of the robotic bender.

Technical Field

The invention relates to the field of robots, in particular to an automatic calibration method for a coordinate system of a robot pipe bender.

Background

The bent pipe is a bent part processed into a specific bending radius, a specific bending angle and a specific shape through a certain pipe processing and forming process, and the quality of the bent pipe directly influences the safety, stability and reliability of a product in the fields of ship manufacturing, furniture, bridges, automobile industries and the like. At present, the demand of various industries on high-precision and intelligent pipe bending technology is more and more urgent, and in the pipe bending process, a coordinate system calibration technology is an important link influencing the precision and the quality of pipe bending.

The robotic bender generally consists of a six-axis robot, a bending gripper 01 mounted to the end of the robot, and a bender head 04. The coordinate system of the robot pipe bender comprises a pipe bending tool coordinate system and a pipe bending user coordinate system. Wherein, the origin of the coordinate system of the pipe bending tool is positioned at the circle center outside the clamping block of the pipe bending paw, the y-axis direction is along the axial direction of the pipe, and the z-axis direction is vertically upward, as shown in fig. 1a and fig. 1 b; the origin of the coordinate system of the pipe bending user is located at the center of the circular groove at the junction of the main clamping mold and the auxiliary clamping mold, and the directions of the x axis, the y axis and the z axis are the same as the coordinate system of the tool, as shown in fig. 2a and fig. 2 b.

In the prior art, when a coordinate system of a robot pipe bender is calibrated, a calibration needle is generally installed on a pipe bending paw, and a needle point tool coordinate system with an original point located at a needle point of the calibration needle is obtained in a manual teaching mode; activating the coordinate system of the needle point tool when calibrating the coordinate system of the bent pipe user; because the error of manually teaching and calibrating a needle to the central point of a circular groove is large and the operation is difficult, a coordinate system with an original point at the top point of a main clamp mold or an auxiliary clamp mold is usually obtained by calibration, and the directions of x, y and z axes and the position of the original point are determined by utilizing the edge of the mold; after the position information of the user coordinate system is obtained, offset calculation is carried out on the user coordinate system according to the size information of the die, and a bent pipe user coordinate system can be obtained. When calibrating a pipe bending tool coordinate system, clamping a pipe fitting by using a main clamp die of a pipe bending machine, and teaching a robot to a proper position so that the pipe fitting is not deformed when a pipe bending claw clamps the pipe fitting; and measuring the distance from the original point of the user coordinate system to the outer side of the clamping block of the pipe bending paw, and calculating the offset distance of the user coordinate system to obtain the pipe bending tool coordinate system.

At present, the coordinate system of a conventional robot pipe bender is calibrated by teaching point positions manually, the calibration process is relatively complex, the requirement on the skill of operating workers is high, a large amount of time is consumed, and the precision of the whole pipe bending procedure is affected due to the large error of the obtained pipe bending coordinate system.

Disclosure of Invention

In order to solve the technical problems, the invention provides an automatic calibration method for a coordinate system of a robot pipe bender, which can realize automatic calibration of a needle point tool coordinate system, a bent pipe user coordinate system and a bent pipe tool coordinate system of a probe only by processing a corresponding calibration block and executing a corresponding automatic calibration program without manually teaching point positions, simplifies the complex process of the conventional calibration method and improves the calibration precision of the coordinate system.

The technical problem solved by the invention can be realized by adopting the following technical scheme:

a coordinate system automatic calibration method of a robot pipe bender comprises the following steps:

step S1, mounting the probe on a pipe bending paw of the robot pipe bender, and providing a first calibration block which is fixed at a first preset position;

step S2, teaching the needle point of the probe to move to the center point position of the upper surface of the first calibration block, and obtaining and activating a needle point tool coordinate system of the probe according to a preset automatic calibration program of the probe tool coordinate system;

step S3, providing a second calibration block, and clamping the second calibration block through a main clamping die and an auxiliary clamping die of the robot pipe bender;

step S4, teaching the probe to move to the upper surface of the outer disc of the second calibration block, controlling the probe to sequentially move to a plurality of preset teaching point positions on the outer disc according to a preset automatic calibration program of the user coordinate system of the elbow, and determining XYZ axis directions of the user coordinate system of the elbow and coordinates of the center of the circle of the outer disc;

step S5, obtaining a first distance between the junction of the main clamping mold and the auxiliary clamping mold and the outer disc, and determining the user coordinate system of the bent pipe according to the circle center coordinate of the outer disc, the first distance, and the XYZ axis direction of the user coordinate system of the bent pipe;

step S6, the probe is taken down, and the second calibration block is clamped by a pipe bending paw of the robot pipe bender;

and step S7, acquiring a second distance between the junction of the main clamping mold and the auxiliary clamping mold and the pipe bending paw, and performing offset calculation on the calibrated pipe bending user coordinate system according to a preset pipe bending tool coordinate system automatic calibration program and the second distance to obtain a pipe bending tool coordinate system.

Preferably, the second calibration block includes:

the inner disc and the outer disc are connected through a shaft rod;

the inner end surface of the inner circular disc is tightly attached to the end surface of the auxiliary clamping die.

Preferably, the step S4 specifically includes:

step S41, teaching the probe to move to the upper surface of the outer disc of the second calibration block to obtain a teaching point position;

step S42, obtaining a plurality of first preset teaching point positions located on the upper surface of the outer disc and a plurality of second preset teaching point positions located on the circular arc of the outer disc according to the teaching point positions;

step S43, sequentially moving the probe to the first preset teaching point positions, determining a disc plane equation of the outer disc according to the coordinates of the first preset teaching point positions, and confirming the XYZ-axis direction of the bent pipe user coordinate system according to the disc plane equation of the outer disc;

and step S44, sequentially moving the probe to the plurality of second preset teaching point positions, and calculating according to the coordinates of the plurality of second preset teaching point positions to obtain the center coordinates of the outer disc.

Preferably, in step S43, the method specifically includes:

obtaining the Y-axis direction of the bent pipe user coordinate system according to the disc plane equation of the outer disc;

and determining the X-axis direction of the bent pipe user coordinate system according to the YZ-axis direction and the right-hand rule of the bent pipe user coordinate system, wherein the Z-axis direction of the bent pipe user coordinate system is vertical upwards by default.

Preferably, the step S5 specifically includes:

step S51, acquiring a first distance between the junction of the main clamping mold and the auxiliary clamping mold and the outer disc;

step S52, the preset automatic calibration program of the bent pipe user coordinate system calculates according to the coordinates of the circle center of the outer disc to obtain the y value of the origin of the bent pipe user coordinate system;

step S53, obtaining the origin coordinate of the bent pipe user coordinate system according to the x value and the z value of the circle center coordinate of the outer disc and the calculated y value of the origin of the bent pipe user coordinate system;

step S54, determining the bent-tube user coordinate system according to the XYZ axis directions of the bent-tube user coordinate system and the origin coordinates of the bent-tube user coordinate system.

Preferably, in step S6, the shaft of the second calibration block is clamped by the elbow gripper.

Preferably, the method further comprises the following steps:

providing an operation guide interface, teaching a teaching point position on the probe or the first calibration block or the second calibration block on the operation guide interface, and guiding a user to complete automatic calibration operation according to a calibration operation process to generate a corresponding coordinate system, wherein the calibration operation process comprises a preset probe tool coordinate system automatic calibration program, a preset bent pipe user coordinate system automatic calibration program and a preset bent pipe tool coordinate system automatic calibration program.

Preferably, in the step S1, the first preset position is within the reach of the robotic bender.

The invention has the beneficial effects that:

the calibration block and the probe with high precision are utilized, the automation of coordinate system calibration is realized through an automatic calibration program, the calibration process is simplified, the teaching of all calibration point positions is not required manually, the workload of coordinate system teaching is greatly reduced, the coordinate system error caused by manually teaching point positions is reduced, and the coordinate system calibration precision is improved.

Drawings

FIGS. 1a and 1b are schematic diagrams of coordinate directions of a prior art pipe bending tool coordinate system;

FIGS. 2a and 2b are schematic diagrams of coordinate directions of a user coordinate system of a bent pipe in the prior art;

FIG. 3 is a schematic flow chart of a method for automatically calibrating a coordinate system of a robotic tube bender according to the present invention;

FIG. 4 is a schematic view of the probe mounting structure in step S1 according to the present invention;

FIG. 5 is a schematic view illustrating an installation structure of the second calibration block in step S3 according to the present invention;

FIG. 6 is a schematic structural diagram of a specific embodiment of a first calibration block according to the present invention;

FIG. 7 is a schematic structural diagram of a second exemplary calibration block according to the present invention;

FIG. 8 is a schematic structural view of an embodiment of a probe according to the present invention;

FIG. 9 is a flowchart illustrating an embodiment of step S4 according to the present invention;

FIG. 10 is a flowchart illustrating an embodiment of step S5 according to the present invention;

11a-11c are calibration diagrams of embodiments of a calibration process for a bent-tube user coordinate system in accordance with the present invention;

fig. 12a-12b are schematic diagrams illustrating calibration of an embodiment of a calibration process of a coordinate system of a pipe bending tool according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

The invention provides a method for automatically calibrating a coordinate system of a robot pipe bender, which uses a high-precision calibration block and a probe, realizes the automation of coordinate system calibration through an automatic calibration program, does not need to manually teach a calibration point, reduces teaching workload and teaching errors, and improves the calibration precision, and referring to figures 1-12, the calibration method comprises the following steps:

step S1, mounting the probe 1 on the bending claw 01 of the robot bender to provide a first calibration block 2, and fixing the first calibration block 2 at a first predetermined position, referring to fig. 6, which is a schematic structural diagram of the first calibration block 2, and referring to fig. 8, which is a schematic structural diagram of the probe 1;

in a preferred embodiment, in step S1, the first predetermined position is within reach of the robotic bender.

Step S2, teaching that the needle point of the probe 1 moves to the center point position of the upper surface of the first calibration block 2, and obtaining and activating a needle point tool coordinate system of the probe 1 according to a preset automatic calibration program of the probe tool coordinate system;

step S3, providing a second calibration block 3, and clamping the second calibration block 3 by the main clamp mold 02 and the auxiliary clamp mold 03 of the robot tube bender;

among them, as a preferred embodiment, referring to fig. 7, the second calibration block 3 includes:

an inner disk 32 and an outer disk 31, the inner disk 32 and the outer disk 31 being connected by a shaft 33;

the inner end surface of the inner disc 32 is closely attached to the end surface of the auxiliary clamping die 03.

Step S4, the teaching probe 1 moves to the upper surface of the outer disc 31 of the second calibration block 3, and controls the probe 1 to sequentially move to a plurality of preset teaching points on the outer disc 31 according to a preset automatic calibration program of the user coordinate system of the bent pipe, so as to determine the XYZ axis directions of the user coordinate system of the bent pipe and the coordinates of the center of the circle of the outer disc 31;

step S5, obtaining a first distance between the junction of the main clamping mold 02 and the auxiliary clamping mold 03 and the outer disc 31, and determining a user coordinate system of the bent pipe according to the circle center coordinate and the first distance of the outer disc 31 and the XYZ-axis direction of the user coordinate system of the bent pipe;

step S6, taking down the high-precision probe 1, and clamping the second calibration block 3 through a pipe bending paw 01 of the robot pipe bender;

in step S6, the high precision probe 1 is removed and the robot is moved to a proper position so that the second calibration block 3 is not deformed while the bending claw 01 clamps the shaft rod between the outer and inner disks of the second calibration block 3.

In a preferred embodiment, in step S6, the shaft 33 of the second calibration block 3 is clamped by the elbow gripper 01.

Step S7, as shown in fig. 12a-12b, obtaining a second distance between the junction of the main clamping mold 02 and the auxiliary clamping mold 03 and the pipe bending gripper 01, and performing offset calculation on the calibrated pipe bending user coordinate system according to a preset pipe bending tool coordinate system automatic calibration program and the second distance to obtain a pipe bending tool coordinate system, where the center coordinates of the circle are (x ', y ', z ').

Specifically, in this embodiment, the calibration method may be divided into three steps: firstly, calibrating a probe tool coordinate system; secondly, calibrating a user coordinate system of the bent pipe; thirdly, calibrating a coordinate system of the pipe bending tool;

as shown in fig. 3, the coordinate system calibration procedure is as follows:

as shown in fig. 4, a high-precision probe 1 is fixed on a bent pipe paw 01, the bent pipe paw 01 is positioned at the tail end of the robot, and a first calibration block 2 is fixed within the reach range of the robot; according to the prompt of the calibration operation flow of the operation guide interface, a teaching probe 1 touches the vicinity of the central point position of the upper surface of a first calibration block 2, a preset automatic calibration program of a probe tool coordinate system is executed, and the probe tool coordinate system is obtained and activated;

the second calibration block 3 is clamped and fixed by the main clamping mold 02 and the auxiliary clamping mold 03, wherein the inner end surface of the inner circular disc of the second calibration block 3 is tightly attached to the auxiliary clamping mold 03, as shown in fig. 5; according to the guidance of the calibration operation flow of the operation guide interface, the teaching probe 1 touches the central point of the outer end surface of the outer circular disc of the second calibration block 3, a preset automatic calibration program of the elbow user coordinate system is executed, the program moves the elbow gripper 01 according to the central point of the outer end surface of the outer circular disc, the probe 1 touches a plurality of preset teaching point positions on the outer circular disc 31, and the elbow user coordinate system is obtained through calculation;

and taking down the probe 1, clamping the second calibration block 3 by using a pipe bending claw 01, inputting a second distance L' between the junction of the main clamping mold 02 and the auxiliary clamping mold 03 and the pipe bending claw 01, and executing a preset pipe bending tool coordinate system automatic calibration program, so that the pipe bending tool coordinate system can be subjected to offset calculation to obtain the pipe bending tool coordinate system.

As a preferred embodiment, as shown in fig. 9, step S4 specifically includes:

step S41, the teaching probe 1 moves to the upper surface of the outer disc 31 of the second calibration block 3 to obtain a teaching point position;

step S42, obtaining a plurality of first preset teach points located on the upper surface of the outer disc 31 and a plurality of second preset teach points located on the arc of the outer disc 31 according to the teach points;

step S43, as shown in fig. 11a, sequentially moving the probe 1 to a plurality of first preset teach points (P1, P2, P3), determining a disc plane equation of the outer disc 31 according to coordinates of the plurality of first preset teach points (P1, P2, P3), and determining XYZ axis directions of the bent-tube user coordinate system according to the disc plane equation of the outer disc 31;

step S44, as shown in fig. 11b, sequentially moving the probe 1 to a plurality of second preset teaching point positions (Q1, Q2, Q3), and calculating according to coordinates of the plurality of second preset teaching point positions (Q1, Q2, Q3) to obtain coordinates of the center of the circle of the outer disc 31.

Specifically, in this embodiment, according to the prompt of the calibration operation flow of the operation guidance interface, a teach point is taught, which may be near the surface center point of the outer disc 31, the control probe 1 touches the teach point on the second calibration block 3, and a preset bent-tube user coordinate system automatic calibration program is executed, and the program generates three first preset teach points (P1, P2, P3) on the upper surface of the outer disc 31 of the second calibration block 3 and three second preset teach points (Q1, Q2, Q3) at the circular arc of the outer disc 31 according to the teach point;

according to the prompt of the calibration operation flow of the operation guide interface, the robot is moved, after the probe 1 touches the contact points P1, P2 and P3, a disc plane equation is determined according to the coordinates of the three points, and then the Y-axis direction of the bent pipe user coordinate system can be determined; the default vertical direction is the Z-axis direction of the bent pipe user coordinate system, and the X-axis direction of the bent pipe user coordinate system can be obtained according to the right-hand rule;

moving the robot, after the probe 1 touches the points Q1, Q2 and Q3 at the arc, calculating the coordinates of the center of the circle of the outer disc according to the coordinates of the three points by the program, wherein the x value and the z value in the coordinates of the center of the circle of the outer disc are consistent with the x0 value and the z0 value of the origin of the bent pipe user coordinate system;

according to the prompt of the calibration operation flow of the operation guide interface, a first distance L from the outer disc 31 to the interface between the main clamping mold and the auxiliary clamping mold is input, and the program can calculate a y0 value of the origin of the bent pipe user coordinate system according to the circle center coordinates of the outer disc, so as to determine the bent pipe user coordinate system, wherein the circle center coordinates are (x0, y0 and z 0).

As a preferred embodiment, step S43 specifically includes:

obtaining the Y-axis direction of the bent pipe user coordinate system according to the disc plane equation of the outer disc 31, wherein the disc surface normal vector of the outer disc 31 is the Y-axis direction of the bent pipe user coordinate system;

and determining the X-axis direction of the bent pipe user coordinate system according to the YZ-axis direction and the right-hand rule of the bent pipe user coordinate system, wherein the Z-axis direction of the bent pipe user coordinate system is vertical upwards by default.

As a preferred embodiment, as shown in fig. 10, step S5 specifically includes:

step S51, as shown in fig. 11c, obtaining a first distance L between the outer disc 31 and the boundary between the main clamping mold 02 and the auxiliary clamping mold 03;

step S52, a preset automatic calibration program of the bent pipe user coordinate system calculates according to the circle center coordinate of the outer disc 31 to obtain the y value of the origin of the bent pipe user coordinate system;

step S53, obtaining the origin coordinate of the bent-tube user coordinate system according to the x value and the z value of the circle center coordinate of the outer disc 31 and the calculated y value of the origin of the bent-tube user coordinate system;

and step S54, determining the bent pipe user coordinate system according to the XYZ-axis direction of the bent pipe user coordinate system and the origin coordinates of the bent pipe user coordinate system.

As a preferred embodiment, the method further comprises:

providing an operation guide interface, teaching a teaching point position on the probe 1 or the first calibration block 2 or the second calibration block 3 on the operation guide interface, guiding a user to complete automatic calibration operation according to a calibration operation process, and generating a corresponding coordinate system, wherein the calibration operation process comprises a preset probe tool coordinate system automatic calibration program, a preset bent pipe user coordinate system automatic calibration program and a preset bent pipe tool coordinate system automatic calibration program.

To achieve the above object, the present invention may also provide a computer device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the steps of the above method being implemented when the computer program is executed by the processor.

In this embodiment, the memory includes at least one type of computer-readable storage medium including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the memory may be an internal memory unit of the robotic bender system. In other embodiments, the memory may also be an external storage device of the robotic bender system, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the robotic bender system. Of course, the memory may also include both an internal memory unit of the robotic bender system and an external memory device thereof. In this embodiment, the memory is generally used to store various program codes installed in the robotic bender system, such as a preset automatic calibration program for a probe tool coordinate system, a preset automatic calibration program for a pipe bending user coordinate system, and a preset automatic calibration program for a pipe bending tool coordinate system.

The processor may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor is generally configured to control overall operation of the robotic bender system, such as performing control and processing related to data interaction or communication with the robotic bender system. In this embodiment, the processor is configured to run a program code stored in the memory or process data.

The network interface may include a wireless network interface or a wired network interface that is typically used to establish a communication link with a robotic bender system. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a global system for Mobile communications (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), Wi-Fi, and the like.

It should be noted that fig. 4-5 only show the robotic bender with components 01-03, but it should be understood that not all of the illustrated components are required and that more or fewer components may alternatively be implemented.

To achieve the above object, the present invention may also provide a computer-readable storage medium having a computer program stored thereon, where, when the computer program is executed by a processor, the computer program implements functions corresponding to the steps of the above method.

The invention has the beneficial effects that: the calibration block and the probe with high precision are utilized, the automation of coordinate system calibration is realized through an automatic calibration program, the calibration process is simplified, the teaching of all calibration point positions is not required manually, the workload of coordinate system teaching is greatly reduced, the coordinate system error caused by manually teaching point positions is reduced, and the coordinate system calibration precision is improved.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.