CN109986539A - The calibration tool of posture adjustable and its application - Google Patents
The calibration tool of posture adjustable and its application Download PDFInfo
- Publication number
- CN109986539A CN109986539A CN201910278317.4A CN201910278317A CN109986539A CN 109986539 A CN109986539 A CN 109986539A CN 201910278317 A CN201910278317 A CN 201910278317A CN 109986539 A CN109986539 A CN 109986539A
- Authority
- CN
- China
- Prior art keywords
- posture
- rotating arm
- calibration tool
- adjustable
- tcp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008859 change Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of calibration tool of posture adjustable and its applications, including fixing seat, first rotating arm arranged on the fixing seat, the second rotating arm connecting with the first rotating arm and the school rifle needle being arranged on second rotating arm；The first rotating arm is rotated around first axle, and second rotating arm is rotated around second axis, and the first axle is vertical with second axis.The calibration tool carries out pose adjustment to the calibration tool using two rotating arms, and, the rotation axis of two rotating arms is mutually perpendicular to, so that the end cusp of school rifle needle is always positioned at a bit, to guarantee when being rotated to first rotating arm and the second rotating arm, so that the axis of school rifle needle is consistent with the axis angle of the gun body of industrial robot TCP.
Description
Technical field
The present invention relates to a kind of calibration tool of posture adjustable and its applications, belong to field of automation technology.
Background technique
Robotic programming is mainly included in two kinds of line teaching, off-line programing, and wherein off-line programming technique is not take up by it
The advantage of situ machine people's resource, is also widely applied in robot.Using off-line programming technique, reduce live teaching
Time significantly improves programming efficiency.For off-line programing, there are many factor for influencing error, such as tool coordinates system
(tool center point, TCP), user coordinate system, the precision of positioner etc..What is wherein stood in the breach is that tool is sat
Mark system, calibration is accurate as far as possible, reduces error.How reducing calibrated error, improving calibration speed is then present offline programming
An important topic.However, traditional manual calibration mode has the disadvantages that calibration speed is slow, and error is larger.
Based on the above situation, this technology provides a kind of calibration tool of adjustable posture, has and tool coordinates system can be achieved
Fast Calibration and the advantages of stated accuracy can be improved.
Summary of the invention
The purpose of the present invention is to provide a kind of calibration tool of posture adjustable and its application, it is mainly used for solving current
The larger problem of calibration robot tool coordinate system error manually improves the precision demarcated by hand by the adjustment of posture.
In order to achieve the above objectives, the invention provides the following technical scheme: a kind of calibration tool of posture adjustable, including it is solid
Reservation, first rotating arm arranged on the fixing seat, the second rotating arm being connect with the first rotating arm and setting
School rifle needle on second rotating arm；The first rotating arm is rotated around first axle, and second rotating arm is around second
Axis rotation, the first axle are vertical with second axis.
Further, the fixing seat is equipped with first rotating shaft, and the first rotating arm is mounted in the first rotating shaft,
The first axle is the central axis of the first rotating shaft.
Further, the first rotating arm is connect with second rotating arm by the second shaft, the second axis
For the central axis of second shaft.
Further, the school rifle needle set has end cusp, and the end cusp is located at the first axle and the second axis
The point of intersection of line.
Further, the fixing seat is equipped with attachment device, so that the calibration tool is fixed in workpiece or tooling.
Further, the attachment device is magnet.
Further, the first rotating arm and the second rotating arm are U-shaped rotating arm.
The calibration tool for the posture adjustable that the present invention also provides a kind of according to answering in robot TCP calibration
With.
It further, is application of the calibration tool in line-of-sight course calibration robot TCP of the posture adjustable, including with
Lower step:
S1, using the calibration tool of the posture adjustable, the calibration tool of the posture adjustable is fixed on described
In robot TCP stroke range；
S2, robot demonstrator is opened, above-mentioned robot TCP is demarcated using line-of-sight course；
S3, make end cusp of the robot TCP with posture 1 close to the school rifle needle, and keep certain distance, pass through rotation
The first rotating arm or the second rotating arm change the posture of the school rifle needle, keep it consistent with the posture 1, then it is mobile described in
Robot TCP is closely located to the end cusp, records position and the posture of current point；
S4, make end cusp of the robot TCP with posture 2 close to the school rifle needle, and keep certain distance, pass through rotation
The first rotating arm or the second rotating arm change the posture of the school rifle needle, keep it consistent with the posture 2, then it is mobile described in
Robot TCP is closely located to the end cusp, records position and the posture of current point；
S5, make end cusp of the robot TCP with posture 3 close to the school rifle needle, and keep certain distance, pass through rotation
The first rotating arm or the second rotating arm change the posture of the school rifle needle, keep it consistent with the posture 3, then it is mobile described in
Robot TCP is closely located to the end cusp, records position and the posture of current point；
S6, according to the robot demonstrator record three points position and posture, execute and complete the robot
The location position of TCP.
Compared with prior art, the beneficial effects of the present invention are the calibration tool of: posture adjustable of the invention and its
Pose adjustment is carried out to the calibration tool using using two rotating arms, also, the rotation axis of two rotating arms is mutually perpendicular to,
So that the end cusp of school rifle needle is always positioned at a bit, first rotating arm and the second rotating arm are rotated to guarantee to work as
When, so that the axis of school rifle needle is consistent with the axis angle of the gun body of industrial robot TCP.Therefore the calibration of the posture adjustable
Tool and its application can solve the larger problem of current manual calibration robot tool coordinate system error, by mark of the invention
Determine the pose adjustment of tool, the precision demarcated by hand can be improved；Also, the calibration tool structure is simple, manufacturing cost is low.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 and Fig. 2 is the structural schematic diagram of the calibration tool of posture adjustable shown in one embodiment of the invention；
Fig. 3 and Fig. 4 is the signal of the calibration tool of adjusting posture shown in one embodiment of the invention during the calibration process
Figure.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
It should be understood that the terms such as "upper" of the invention, "lower", "left", "right", "inner", "outside" only refer to attached drawing
The present invention will be described, not as restriction term.
Referring to Figure 1 and Fig. 2, the calibration tool of posture adjustable shown in one embodiment of the invention comprising fixing seat
1, the first rotating arm 2 that is arranged in the fixing seat 1, the second rotating arm 3 being connect with the first rotating arm 2 and setting
School rifle needle 4 on second rotating arm 3.The first rotating arm 2 is rotated around first axle 20, second rotating arm 3
It is rotated around second axis 30, the first axle 20 is vertical with second axis 30.
Specifically, the fixing seat 1 is equipped with first rotating shaft 11, the first rotating arm 2 is mounted on the first rotating shaft
On 11, the first axle 20 is the central axis of the first rotating shaft 11.The first rotating arm 2 and second rotating arm
3 are connected by the second shaft 21, and the second axis 30 is the central axis of second shaft 21.In the present embodiment, first
It is designed with bearing 10 in shaft 11 and the second shaft 21 to be fixedly connected, to guarantee that it is connected firmly.The school rifle needle 4 has
End cusp 40, the end cusp 40 are located at the point of intersection of the first axle 20 and second axis 30.
In the present embodiment, the fixing seat 1 be equipped with attachment device 12 so that the calibration tool be fixed to workpiece or
In tooling.Preferably, which is that magnet makes calibrated for this calibration tool to be adsorbed onto workpiece or tooling
The present apparatus will not move easily in journey.
In the present embodiment, first rotating arm 2 and the second rotating arm 3 are all U-shaped rotating arm, and two only size is not
Together, it is preferred that in default setting, the structure centre axis and 20 weight of first axle of first rotating arm 2 and the second rotating arm 3
It closes, i.e., is overlapped with the axis of school rifle needle 4, to guarantee in the rotary course of first rotating arm 2 and the second rotating arm 3, school rifle
The end cusp 40 of needle 4 is always positioned at the point of intersection of first axle 20 and second axis 30.Also, first rotating arm 2 and second
There are gaps 100 between rotating arm 3, damage to avoid in rotary course to school rifle needle 4.
Fig. 3 and Fig. 4 are referred to, the present invention provides a kind of mark of posture adjustable according in another embodiment
Determine application of the tool in robot TCP calibration to wrap specifically, the present embodiment demarcates robot TCP using line-of-sight course
Include following steps:
S1, the calibration tool 100 using the posture adjustable, the calibration tool 100 of the posture adjustable is fixed
In 200 stroke range of robot；
S2, robot demonstrator is opened, above-mentioned robot TCP is demarcated using line-of-sight course；
S3, make end cusp 104 of the robot TCP with posture 1 close to the school rifle needle 103, and keep certain distance, lead to
It crosses and rotates the first rotating arm 101 or the second rotating arm 102 changes the posture of the school rifle needle 103, make itself and the posture 1
Unanimously, it then moves the robot TCP and is closely located to the end cusp 104, record position and the posture of current point；
S4, make end cusp 104 of the robot TCP with posture 2 close to the school rifle needle 103, and keep certain distance, lead to
It crosses and rotates the first rotating arm 101 or the second rotating arm 102 changes the posture of the school rifle needle 103, make itself and the posture 2
Unanimously, it then moves the robot TCP and is closely located to the end cusp 104, record position and the posture of current point
S5, make end cusp 104 of the robot TCP with posture 3 close to the school rifle needle 103, and keep certain distance, lead to
It crosses and rotates the first rotating arm 101 or the second rotating arm 102 changes the posture of the school rifle needle 103, make itself and the posture 3
Unanimously, it then moves the robot TCP and is closely located to the end cusp 104, record position and the posture of current point；
S6, according to the robot demonstrator record three points position and posture, execute and complete the robot
The location position of TCP.
Preferably, the posture 1, posture 2 and posture 3 are different.It is existing conventional skill that line-of-sight course, which demarcates robot TCP,
Art, the present invention are demarcated by using the calibration tool of above-mentioned posture adjustable, other specific steps are existing skill
Art is no longer illustrated herein.
In summary: the calibration tool of posture adjustable of the invention and its application use two rotating arms to the calibration work
Tool carries out pose adjustment, also, the rotation axis of two rotating arms is mutually perpendicular to, so that the end cusp of school rifle needle is always positioned at
A bit, to guarantee when being rotated to first rotating arm and the second rotating arm, so that the same industrial machine of axis of school rifle needle
The axis angle of the gun body of people TCP is consistent.Therefore the calibration tool of the posture adjustable and its application can solve current manual mark
Determine the larger problem of robot tool coordinate system error, by the pose adjustment of calibration tool of the invention, mark by hand can be improved
Fixed precision；Also, the calibration tool structure is simple, manufacturing cost is low.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (9)
1. a kind of calibration tool of posture adjustable, which is characterized in that including fixing seat, arranged on the fixing seat first
Rotating arm, the second rotating arm being connect with the first rotating arm and the school rifle needle being arranged on second rotating arm；Institute
It states first rotating arm to rotate around first axle, second rotating arm is rotated around second axis, the first axle and the second axis
Line is vertical.
2. the calibration tool of posture adjustable as described in claim 1, which is characterized in that the fixing seat is equipped with first turn
Axis, the first rotating arm are mounted in the first rotating shaft, and the first axle is the central axis of the first rotating shaft.
3. the calibration tool of posture adjustable as claimed in claim 2, which is characterized in that the first rotating arm and described the
Two rotating arms are connected by the second shaft, and the second axis is the central axis of second shaft.
4. the calibration tool of posture adjustable as claimed in claim 3, which is characterized in that the school rifle needle set has end sharp
Point, the end cusp are located at the point of intersection of the first axle and second axis.
5. the calibration tool of posture adjustable as described in claim 1, which is characterized in that the fixing seat is equipped with connection dress
It sets, so that the calibration tool is fixed in workpiece or tooling.
6. the calibration tool of posture adjustable as claimed in claim 5, which is characterized in that the attachment device is magnet.
7. such as the calibration tool of posture adjustable described in any one of claims 1 to 6, which is characterized in that first rotation
Pivoted arm and the second rotating arm are U-shaped rotating arm.
8. the calibration tool of posture adjustable according to any one of claim 1 to 7 answering in robot TCP calibration
With.
9. application as claimed in claim 8, which is characterized in that demarcated for the calibration tool of the posture adjustable in line-of-sight course
The application of robot TCP, comprising the following steps:
S1, using the calibration tool of the posture adjustable, the calibration tool of the posture adjustable is fixed on the machine
In people's stroke range；
S2, robot demonstrator is opened, robot TCP is demarcated using line-of-sight course；
S3, make end cusp of the robot TCP with posture 1 close to the school rifle needle, and keep certain distance, by described in rotation
First rotating arm or the second rotating arm change the posture of the school rifle needle, it is consistent with the posture 1 to make it, then move the machine
People TCP is closely located to the end cusp, records position and the posture of current point；
S4, make end cusp of the robot TCP with posture 2 close to the school rifle needle, and keep certain distance, by described in rotation
First rotating arm or the second rotating arm change the posture of the school rifle needle, it is consistent with the posture 2 to make it, then move the machine
People TCP is closely located to the end cusp, records position and the posture of current point；
S5, make end cusp of the robot TCP with posture 3 close to the school rifle needle, and keep certain distance, by described in rotation
First rotating arm or the second rotating arm change the posture of the school rifle needle, it is consistent with the posture 3 to make it, then move the machine
People TCP is closely located to the end cusp, records position and the posture of current point；
S6, according to the robot demonstrator record three points position and posture, execute and complete the robot TCP's
Location position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278317.4A CN109986539B (en) | 2019-04-09 | 2019-04-09 | Gesture-adjustable calibration tool and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278317.4A CN109986539B (en) | 2019-04-09 | 2019-04-09 | Gesture-adjustable calibration tool and application thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109986539A true CN109986539A (en) | 2019-07-09 |
| CN109986539B CN109986539B (en) | 2024-03-12 |
Family
ID=67132621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910278317.4A Active CN109986539B (en) | 2019-04-09 | 2019-04-09 | Gesture-adjustable calibration tool and application thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986539B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001071285A (en) * | 1999-09-01 | 2001-03-21 | Minolta Co Ltd | Work robot |
| CN101907639A (en) * | 2010-07-23 | 2010-12-08 | 燕山大学 | Calibrating platform of six-dimensional acceleration transducer |
| CN103063213A (en) * | 2013-01-04 | 2013-04-24 | 上海交通大学 | Calibration method of position relationship between welding robot and position changer |
| CN105136031A (en) * | 2015-08-25 | 2015-12-09 | 华中科技大学 | Five-axis linkage machine tool rotation shaft geometric error continuous measurement method |
| US20170095932A1 (en) * | 2015-10-02 | 2017-04-06 | Fanuc Corporation | Robot operating apparatus provided with handles for operating robot |
| CN206123708U (en) * | 2016-10-21 | 2017-04-26 | 苏州哈工海渡工业机器人有限公司 | Industrial robot coordinate system calibration module |
| CN106671079A (en) * | 2015-11-06 | 2017-05-17 | 中国科学院沈阳计算技术研究所有限公司 | Motion control method for welding robot in coordination with positioner |
| CN107717993A (en) * | 2017-11-03 | 2018-02-23 | 成都卡诺普自动化控制技术有限公司 | A kind of efficient easily Simple robot scaling method |
| CN210282360U (en) * | 2019-04-09 | 2020-04-10 | 徐州华恒机器人系统有限公司 | Calibration tool capable of adjusting posture |
-
2019
- 2019-04-09 CN CN201910278317.4A patent/CN109986539B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001071285A (en) * | 1999-09-01 | 2001-03-21 | Minolta Co Ltd | Work robot |
| CN101907639A (en) * | 2010-07-23 | 2010-12-08 | 燕山大学 | Calibrating platform of six-dimensional acceleration transducer |
| CN103063213A (en) * | 2013-01-04 | 2013-04-24 | 上海交通大学 | Calibration method of position relationship between welding robot and position changer |
| CN105136031A (en) * | 2015-08-25 | 2015-12-09 | 华中科技大学 | Five-axis linkage machine tool rotation shaft geometric error continuous measurement method |
| US20170095932A1 (en) * | 2015-10-02 | 2017-04-06 | Fanuc Corporation | Robot operating apparatus provided with handles for operating robot |
| CN106671079A (en) * | 2015-11-06 | 2017-05-17 | 中国科学院沈阳计算技术研究所有限公司 | Motion control method for welding robot in coordination with positioner |
| CN206123708U (en) * | 2016-10-21 | 2017-04-26 | 苏州哈工海渡工业机器人有限公司 | Industrial robot coordinate system calibration module |
| CN107717993A (en) * | 2017-11-03 | 2018-02-23 | 成都卡诺普自动化控制技术有限公司 | A kind of efficient easily Simple robot scaling method |
| CN210282360U (en) * | 2019-04-09 | 2020-04-10 | 徐州华恒机器人系统有限公司 | Calibration tool capable of adjusting posture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109986539B (en) | 2024-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108748159A (en) | A kind of mechanical arm tool coordinates system self-calibrating method | |
| EP2350750B1 (en) | A method and an apparatus for calibration of an industrial robot system | |
| CN108527360B (en) | Position calibration system and method | |
| CN109048876A (en) | A kind of robot calibration method based on laser tracker | |
| CN106595474A (en) | Double-robot base coordinate system calibration method based on laser tracker | |
| CN107598919B (en) | Two-axis positioner calibration method based on five-point calibration method | |
| CN106780627A (en) | A kind of position orientation relation scaling method of all-purpose robot and positioner | |
| CN107378324A (en) | A kind of welding system and method for the abnormal workpieces of view-based access control model extraction | |
| CN109465831B (en) | Method for improving calibration precision of tool coordinate system of industrial robot | |
| CN107378952A (en) | A kind of solution method that redundancy mechanical arm end effector posture is kept | |
| CN105364924A (en) | Zero-scale calibration system and method for robot | |
| CN109664031B (en) | Eccentricity compensation method, device, computer equipment and storage medium | |
| CN116079790A (en) | Tool calibration device, method, terminal and medium for processing robot | |
| CN107953333A (en) | A kind of control method and system of arm end tool calibration | |
| CN103808285A (en) | Calibration method of pre-alignment machine and mechanical arm relative coordinate system | |
| CN109986539A (en) | The calibration tool of posture adjustable and its application | |
| CN107756391B (en) | Correction method of mechanical arm correction system | |
| CN109282774B (en) | Device and method for solving three-degree-of-freedom attitude of ball joint based on distance measurement | |
| CN108733082A (en) | The calibration method of robot tooling center points | |
| CN210282360U (en) | Calibration tool capable of adjusting posture | |
| CN110000806B (en) | Calibration method for rotation center of rotation driving mechanism | |
| CN109997086A (en) | The measurement of the kinematic axis of robot | |
| CN108801137B (en) | A method of for detecting flexible parallel connection platform's position and pose | |
| CN112974153B (en) | Optimal path interpolation method for five-axis linkage dispensing track rotating shaft and application | |
| CN110561400A (en) | Efficient and accurate positioning system and method for parts uniformly distributed on circumference |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |