Method and apparatus for calibrating tool in flange coordinate system of robot

An apparatus for calibrating a tool in a flange coordinate system of a robot, wherein the robot comprises a mounting portion having an end joint;

• the apparatus comprising a memory storing a plurality of programs and a processor, wherein the programs when executed by the processor, cause the processor to perform operations, comprising:
• acquiring a rotation angle of each joint of the robot when a to-be-calibrated tool fasted on the end joint of the mounting portion of the robot moves to where a central point of the to-be-calibrated tool overlaps with a calibration reference point;
• acquiring calibration information of a central point of a calibrated tool in the flange coordinate system of the robot;
• and
• completing calibration of the central point of the to-be-calibrated tool in the flange coordinate system of the robot according to the calibration information of the central point of the calibrated tool and a rotation angle of the to-be-calibrated tool;
• wherein the operations further comprise:
• acquiring a rotation angle of the calibrated tool which is a rotation angle of each joint of the robot when the calibrated tool fasted on the end joint of the mounting portion of the robot moves to where the central point of the calibrated tool overlaps with the calibration reference point;
• and
• acquiring a coordinate of the central point of the calibrated tool in the flange coordinate system of the robot;
• wherein the memory is only configured for pre-storing the rotation angle of the calibrated tool, and the coordinate acquisition unit timely calculates to obtain the coordinate of the central point of the calibrated tool in the flange coordinate system of the robot according to the rotation angle of the calibrated tool pre-stored in the memory;
• or
• the memory is simultaneously configured for pre-storing the coordinate of the central point of the calibrated tool in the flange coordinate system of the robot and the rotation angle of the calibrated tool.

A workpiece processing system, comprising a robot, a calibrated tool, a to-be-calibrated tool and an apparatus for calibrating the tool in the flange coordinate system of the robot, wherein the robot comprises a mounting portion having an end joint the apparatus comprising a memory storing a plurality of programs and a processor, wherein the programs when executed by the processor, cause the processor to perform operations, comprising:

• acquiring a rotation angle of each joint of the robot when a to-be-calibrated tool fasted on the end joint of the mounting portion of the robot moves to where a central point of the to-be-calibrated tool overlaps with a calibration reference point;
• acquiring calibration information of a central point of a calibrated tool in the flange coordinate system of the robot;
• and
• completing calibration of the central point of the to-be-calibrated tool in the flange coordinate system of the robot according to the calibration information of the central point of the calibrated tool and a rotation angle of the to-be-calibrated tool;
• wherein the operations further comprise:
• acquiring a rotation angle of the calibrated tool which is a rotation angle of each joint of the robot when the calibrated tool fasted on the end joint of the mounting portion of the robot moves to where the central point of the calibrated tool overlaps with the calibration reference point;
• and
• acquiring a coordinate of the central point of the calibrated tool in the flange coordinate system of the robot;
• wherein the memory is only configured for pre-storing the rotation angle of the calibrated tool, and the coordinate acquisition unit timely calculates to obtain the coordinate of the central point of the calibrated tool in the flange coordinate system of the robot according to the rotation angle of the calibrated tool pre-stored in the memory;
• or
• the memory is simultaneously configured for pre-storing the coordinate of the central point of the calibrated tool in the flange coordinate system of the robot and the rotation angle of the calibrated tool.