CN110549327A - Industrial robot instrument coordinate system calibration device - Google Patents
Industrial robot instrument coordinate system calibration device Download PDFInfo
- Publication number
- CN110549327A CN110549327A CN201810562692.7A CN201810562692A CN110549327A CN 110549327 A CN110549327 A CN 110549327A CN 201810562692 A CN201810562692 A CN 201810562692A CN 110549327 A CN110549327 A CN 110549327A
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- calibration
- rod
- scale
- release lever
- fixed
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- Pending
Links
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 2
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 claims 2
- 239000000725 suspension Substances 0.000 description 4
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Abstract
The invention relates to the technical field of industrial robots, in particular to an industrial robot tool coordinate system calibration device which comprises a first flange and a calibration flange which are fixedly connected, wherein the first flange is connected with a mounting flange at the tail end of a robot, an X-axis calibration scale, a Y-axis calibration scale and a Z-axis calibration scale are fixed on the calibration flange, a first slide rail is fixed on one side of the X-axis calibration scale, a second slide rail is fixed on one side of the Y-axis calibration scale, a first moving rod and the first slide rail form sliding fit, a second moving rod and the second slide rail form sliding fit, the Z-axis calibration scale, the first moving rod, the calibration rod and the second moving rod are connected through telescopic rods in sequence to realize the adjustment of the distance between the two, an operator manually marks X, Y, Z-axis scale value at a certain position, the industrial robot is connected with a demonstrator, and a result after being checked and manually marked in the demonstrator, Y, Z comparing the scale values of the axes can find out how the teaching learning results.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a tool coordinate system calibration device of an industrial robot.
Background
The tool coordinate system is an important coordinate system in the industrial robot, the origin of the default tool coordinate system is located at the center of the mounting flange of the robot, and when the industrial robot is mounted with different tools (such as a welding gun), the tool needs to obtain a user-defined rectangular coordinate system. Therefore, before using the end tool, the industrial robot must go through the step of teaching the tool coordinate system, i.e. TCP, which is an important part in teaching the operation of the industrial robot, and the accuracy of the tool coordinate system teaching directly affects the trajectory precision of the robot. However, in the current industrial robot operation teaching, it is difficult to intuitively find out how the result of the robot tool coordinate system teaching is.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the calibration device for the tool coordinate system of the industrial robot, which can intuitively display the teaching result of the tool coordinate system of the robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an industrial robot instrument coordinate system calibration device, including first ring flange and calibration flange dish and the two coincide fixedly together, first ring flange and robot execution terminal installation ring flange coincide fixedly together, fix X axle calibration chi on the outer peripheral face of calibration ring flange, Y axle calibration chi, X axle calibration chi and Y axle calibration chi are shaft-like and the pole length of the two is all directional calibration flange dish center, the bottom surface middle part vertical fixation Z axle calibration chi of calibration ring flange, one side of X axle calibration chi is fixed first slide rail and the length direction of the two is unanimous, one side of Y axle calibration chi is fixed the second slide rail and the length direction of the two is unanimous, still include first carriage release lever, second carriage release lever and calibration pole, the one end of first carriage release lever constitutes sliding fit and first slide rail is mutually perpendicular through first slider and first slide rail, the one end of second carriage release lever constitutes sliding fit and second carriage release lever and second slide rail through second slider and first slide rail The Z-axis calibration ruler, the first moving rod, the calibration rod and the second moving rod are arranged at four vertex points of a quadrangle and are all perpendicular to the plane of the quadrangle, the Z-axis calibration ruler, the first moving rod, the calibration rod and the second moving rod are sequentially connected through telescopic rods to achieve the adjustment of the distance between every two adjacent four vertex points, and the telescopic rods are four and four telescopic rods to enclose the quadrangle.
The telescopic link includes major diameter pole and minor diameter pole, and the one end of minor diameter pole is inserted and can freely stretch out and draw back and this end of minor diameter pole is equipped with the flange and is used for preventing minor diameter pole and major diameter pole to break away from in the major diameter pole.
The utility model discloses a telescopic connecting rod, including first carriage release lever, connecting rod, second carriage release lever, the pole of first carriage release lever and second carriage release lever is epaxial to be established first connecting ring of cover respectively, two fixed connecting pipes on the outer peripheral face of first connecting ring, be equipped with the internal thread in the connecting pipe, be 90 contained angles between two connecting pipes, the external screw thread of the minor diameter pole rod end of connecting pipe and telescopic link constitutes threaded connection, first connecting ring is fixed on first carriage release lever and second carriage release lever through first holding screw, the second go-between is established to the cover respectively on the pole body of Z axle scaling rule and scaling lever, two spliced poles of fixed on the outer peripheral face of second go-between, the external screw thread is seted up to the overhanging end of spliced pole, be 90 contained angles between two spliced poles, the internal thread of the major diameter pole rod end of spliced pole and telescopic link constitutes.
One end of the calibration rod is provided with a limiting convex ring, the other end of the calibration rod is a conical tip, the second connecting ring is sleeved on the rod body of the calibration rod, and the limiting convex ring is arranged outside the second connecting ring in a leaning and leaning manner.
The Z-axis calibration ruler, the suspension ends of the first moving rod and the second moving rod are located on the same plane, and the distance from the conical tip of the calibration rod to the plane where the quadrangle is located is larger than the distance from the suspension end of the first moving rod to the plane where the quadrangle is located.
The first slide rail and the second slide rail are both cylindrical, the first slide block and the second slide block are internally provided with semi-circular arc grooves, the semi-circular arc grooves of the first slide block are wrapped on the outer wall of the first slide rail, the first slide block is locked and fixed through a third set screw, the semi-circular arc grooves of the second slide block are wrapped on the outer wall of the second slide rail, and the second slide block is locked and fixed through a fourth set screw.
Has the advantages that: in this application, X axle calibration chi, Y axle calibration chi and Z axle calibration chi use as the measuring tape of X axle direction, Y axle direction and Z axle direction in the coordinate system respectively, all mark the scale on X axle calibration chi, Y axle calibration chi and the Z axle calibration chi promptly, wherein, the original point of this coordinate system is the center that the terminal mounting flange dish was carried out to the robot. During specific use, the push-and-pull telescopic link removes a definite position with first carriage release lever, the operator manually notes current X, Y, Z axle scale interval, wherein, the scale interval of X axle is the scale interval of first slider position, the scale interval of Y axle is the scale interval of second slider position, the scale interval of Z axle is scale interval of Z axle position department at quadrangle plane place plus the fixed length of calibration scale, industrial robot and demonstrator link to each other, look over in the demonstrator and compare the result after teaching and the current X, Y, Z axle scale interval of manually noting and just can discover how we teach the result of study, it is comparatively directly perceived, high durability and convenient use.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of another angle of the present invention;
Fig. 3 is an exploded view of a portion of the structure of the present invention.
Detailed Description
The invention is further described below in conjunction with fig. 1-3.
A calibration device for an industrial robot tool coordinate system comprises a first flange plate 10 and a calibration flange plate 20 which are overlapped and fixed together, the first flange plate 10 and a mounting flange plate 30 at the tail end of a robot are overlapped and fixed together, an X-axis calibration ruler 40 and a Y-axis calibration ruler 50 are fixed on the outer peripheral surface of the calibration flange plate 20, the X-axis calibration ruler 40 and the Y-axis calibration ruler 50 are rod-shaped, the rod lengths of the X-axis calibration ruler 40 and the Y-axis calibration ruler 50 point to the center of the calibration flange plate 20, a Z-axis calibration ruler 60 is vertically fixed at the middle part of the bottom surface of the calibration flange plate 20, a first slide rail 41 is fixed at one side of the X-axis calibration ruler 40, the length directions of the X-axis calibration ruler and the Y-axis calibration ruler are consistent, a second slide rail 51 is fixed at one side of the Y-axis calibration ruler 50, the length directions of the Y-axis calibration ruler and the Y-axis calibration ruler are consistent, a first movable rod 70, a second movable rod 80 and a calibration rod 90 are further, one end of the first movable, one end of the second moving rod 80 forms sliding fit through the second sliding block and the second sliding rail 51, the second moving rod 80 is perpendicular to the second sliding rail 51, the Z-axis calibration ruler 60, the first moving rod 70, the calibration rod 90 and the second moving rod 80 are arranged at four vertex points of a quadrangle, the four vertex points are perpendicular to the plane of the quadrangle, the Z-axis calibration ruler 60, the first moving rod 70, the calibration rod 90 and the second moving rod 80 are connected through telescopic rods in sequence to achieve adjustment of distance between every two points, and the telescopic rods are four and four telescopic rods to enclose the quadrangle.
In this application, X axle calibration chi 40, Y axle calibration chi 50 and Z axle calibration chi 60 use as the measuring tape of X axle direction, Y axle direction and Z axle direction in the coordinate system respectively, all mark the scale on X axle calibration chi 40, Y axle calibration chi 50 and the Z axle calibration chi 60 promptly, wherein, the original point of this coordinate system is the center that the terminal mounting flange dish 30 was carried out to the robot. During specific use, the push-and-pull telescopic link moves first carriage 70 and first carriage 80 to a definite position, the operator manually notes current X, Y, Z axle scale interval, wherein, the scale interval of X axle is the scale interval of first slider position, the scale interval of Y axle is the scale interval of second slider position, the scale interval of Z axle is the scale interval of Z axle position department at quadrangle plane place plus calibration ruler 90's fixed length, industrial robot and demonstrator link to each other, look over in the demonstrator and compare the result after the teaching with the current X, Y, Z axle scale interval that the manual notes and just can discover how we teach the result of study, it is comparatively directly perceived, high durability and convenient use.
Preferably, the telescopic bar comprises a large diameter bar 101 and a small diameter bar 102, one end of the small diameter bar 102 is freely inserted into the large diameter bar 101 to be telescopic and the end of the small diameter bar 102 is provided with a flange 103 for preventing the small diameter bar 102 and the large diameter bar 101 from being separated. The telescopic rod has simple structure and convenient use.
Further, the first connection ring 110 is respectively sleeved on the rod bodies of the first moving rod 70 and the second moving rod 80, two connection pipes are fixed on the outer peripheral surface of the first connection ring 110, internal threads are arranged in the connection pipes, a 90-degree included angle is formed between the two connection pipes, the connection pipes and the external threads of the rod end of the small-diameter rod 102 of the telescopic rod form a threaded connection, the first connection ring 110 is fixed on the first moving rod 70 and the second moving rod 80 through a first set screw 120, the second connection ring 130 is respectively sleeved on the rod bodies of the Z-axis calibration scale 60 and the calibration rod 90, two connection columns are fixed on the outer peripheral surface of the second connection ring 130, external threads are arranged at the overhanging ends of the connection columns, a 90-degree included angle is formed between the two connection columns, the connection columns and the internal threads of the rod end of the large-diameter rod 101 of the telescopic rod form a threaded connection, and the second connection ring 130 is fixed on the Z-axis calibration scale 60. The Z-axis coordinate value can be adjusted using the first set screw 120 and the second set screw 140.
Preferably, one end of the calibration rod 90 is provided with a limiting convex ring 91, the other end of the calibration rod is a conical tip, the second connection ring 130 is sleeved on the body of the calibration rod 90, and the limiting convex ring 91 is arranged outside the second connection ring 130 in an abutting manner. The provision of the stopper ring 91 prevents the marking bar 90 and the second connection ring 130 from being disengaged.
Further, the suspension ends of the Z-axis calibration ruler 60, the first moving rod 70 and the second moving rod 80 are on the same plane, and the distance from the conical tip of the calibration rod 90 to the plane where the quadrangle is located is greater than the distance from the suspension end of the first moving rod 70 to the plane where the quadrangle is located, so as to achieve the avoidance function.
Furthermore, the first slide rail 41 and the second slide rail 51 are both cylindrical, a semi-circular groove is formed in each of the first slide block and the second slide block, the semi-circular groove of the first slide block is wrapped on the outer wall of the first slide rail 41, the first slide block is locked and fixed with the first slide rail 41 through a third set screw, the semi-circular groove of the second slide block is wrapped on the outer wall of the second slide rail 51, and the second slide block is locked and fixed with the second slide rail 51 through a fourth set screw. When the first slide block slides to the proper position on the first slide rail 51 and the second slide block slides to the proper position on the second slide rail 51, the third set screw and the fourth set screw are screwed down manually so as to carry out subsequent teaching.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (6)
1. The utility model provides an industrial robot instrument coordinate system calibration device which characterized in that: the robot comprises a first flange plate (10), a calibration flange plate (20), a first sliding block, a first sliding rail (41), a second sliding rail (51), a first moving rod (70), a second moving rod (80), and a calibration rod (90), wherein the first flange plate (10) and the calibration flange plate (20) are fixedly overlapped, the first flange plate (10) and the robot execute the tail end of an installation flange plate (30) and are fixedly overlapped, the X-axis calibration scale (40) and the Y-axis calibration scale (50) are fixed on the outer peripheral surface of the calibration flange plate (20), the X-axis calibration scale (40) and the Y-axis calibration scale (50) are rod-shaped, the rod lengths of the X-axis calibration scale and the Y-axis calibration flange plate (20) point to the center of the calibration flange plate (20), the Z-axis calibration scale (60) is vertically fixed in the middle of the bottom surface of the calibration flange plate (20), the first sliding rail (41) is fixed on one side of the X-axis calibration scale (40), the length directions of the first sliding rail (41) and the Y-axis calibration scale (50), the second sliding rail (51 Pole (70) and first slide rail (41) are mutually perpendicular, the one end of second carriage release lever (80) constitutes sliding fit and second carriage release lever (80) and second slide rail (51) are mutually perpendicular through second slider and second slide rail (51), Z axle calibration chi (60), first carriage release lever (70), calibration pole (90) and second carriage release lever (80) are arranged at four tetragonal vertexes and four are all perpendicular with tetragonal plane, Z axle calibration chi (60), first carriage release lever (70), calibration pole (90) and second carriage release lever (80) loop through the telescopic link and connect the adjustable of realizing distance between two liang between, the telescopic link is four and four telescopic links enclose to be synthesized the quadrangle.
2. An industrial robot tool coordinate system calibration arrangement according to claim 1, characterized in that: the telescopic rod comprises a large-diameter rod (101) and a small-diameter rod (102), one end of the small-diameter rod (102) is inserted into the large-diameter rod (101) and can freely stretch and retract, and a flange (103) is arranged at the end of the small-diameter rod (102) and used for preventing the small-diameter rod (102) and the large-diameter rod (101) from being separated.
3. An industrial robot tool coordinate system calibration arrangement according to claim 2, characterized in that: the utility model discloses a telescopic pole of a telescopic link, including first carriage release lever (70), first connecting ring (110) is established respectively to the cover on the body of first carriage release lever (70) and second carriage release lever (80), two fixed connecting pipes on the outer peripheral face of first connecting ring (110), be equipped with the internal thread in the connecting pipe, be 90 contained angles between two connecting pipes, the external screw thread of the little diameter pole (102) rod end of connecting pipe and telescopic link constitutes threaded connection, first connecting ring (110) are fixed on first carriage release lever (70) and second carriage release lever (80) through first holding screw (120), second connecting ring (130) is established respectively to the cover on the body of Z axle scale (60) and scale pole (90), two spliced poles are fixed on the outer peripheral face of second connecting ring (130), the external screw thread is seted up to the overhanging end of spliced pole, be 90 contained angles between two spliced poles, the internal thread of spliced pole and the big diameter pole (101) rod end of telescopic link constitutes threaded connection, second connecting ring (130) are fixed at Z axle scale (60) and scale (80) through second holding screw On the rod (90).
4. an industrial robot tool coordinate system calibration arrangement according to claim 3, characterized in that: one end of the calibration rod (90) is provided with a limiting convex ring (91), the other end of the calibration rod is a conical tip, the second connecting ring (130) is sleeved on the rod body of the calibration rod (90), and the limiting convex ring (91) is attached to the outer side of the second connecting ring (130).
5. An industrial robot tool coordinate system calibration arrangement according to claim 4, characterized in that: the Z-axis calibration ruler (60), the first moving rod (70) and the second moving rod (80) are suspended at the same plane, and the distance from the conical tip of the calibration rod (90) to the plane where the quadrangle is located is larger than the distance from the suspended end of the first moving rod (70) to the plane where the quadrangle is located.
6. An industrial robot tool coordinate system calibration arrangement according to claim 5, characterized in that: the first sliding rail (41) and the second sliding rail (51) are both cylindrical, semicircular grooves are formed in the first sliding block and the second sliding block, the semicircular grooves of the first sliding block are wrapped on the outer wall of the first sliding rail (41), the first sliding block is locked and fixed with the first sliding rail (41) through a third set screw, the semicircular grooves of the second sliding block are wrapped on the outer wall of the second sliding rail (51), and the second sliding block is locked and fixed with the second sliding rail (51) through a fourth set screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562692.7A CN110549327A (en) | 2018-06-04 | 2018-06-04 | Industrial robot instrument coordinate system calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562692.7A CN110549327A (en) | 2018-06-04 | 2018-06-04 | Industrial robot instrument coordinate system calibration device |
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| Publication Number | Publication Date |
|---|---|
| CN110549327A true CN110549327A (en) | 2019-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810562692.7A Pending CN110549327A (en) | 2018-06-04 | 2018-06-04 | Industrial robot instrument coordinate system calibration device |
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| CN (1) | CN110549327A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111145630A (en) * | 2020-01-20 | 2020-05-12 | 福建省特种设备检验研究院 | Teaching aid for measuring tool coordinate system of industrial robot and using method thereof |
| CN113246116A (en) * | 2020-02-07 | 2021-08-13 | 复盛应用科技股份有限公司 | Mechanical arm correction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB902912A (en) * | 1959-09-17 | 1962-08-09 | Charles James Newson | Co-ordinate layout apparatus |
| 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 |
| US20170151670A1 (en) * | 2015-11-30 | 2017-06-01 | Delta Electronics, Inc. | Tool calibration apparatus of robot manipulator |
| CN208305066U (en) * | 2018-06-04 | 2019-01-01 | 南京机电职业技术学院 | A kind of industrial robot tool coordinates system caliberating device |
-
2018
- 2018-06-04 CN CN201810562692.7A patent/CN110549327A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB902912A (en) * | 1959-09-17 | 1962-08-09 | Charles James Newson | Co-ordinate layout apparatus |
| US20170151670A1 (en) * | 2015-11-30 | 2017-06-01 | Delta Electronics, Inc. | Tool calibration apparatus of robot manipulator |
| 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 |
| CN208305066U (en) * | 2018-06-04 | 2019-01-01 | 南京机电职业技术学院 | A kind of industrial robot tool coordinates system caliberating device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111145630A (en) * | 2020-01-20 | 2020-05-12 | 福建省特种设备检验研究院 | Teaching aid for measuring tool coordinate system of industrial robot and using method thereof |
| CN111145630B (en) * | 2020-01-20 | 2024-04-05 | 福建省特种设备检验研究院 | Teaching aid for measuring tool coordinate system of industrial robot and application method of teaching aid |
| CN113246116A (en) * | 2020-02-07 | 2021-08-13 | 复盛应用科技股份有限公司 | Mechanical arm correction method |
| CN113246116B (en) * | 2020-02-07 | 2022-08-23 | 复盛应用科技股份有限公司 | Mechanical arm correction method |
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