CN113894784A - Industrial robot calibration device and calibration method - Google Patents
Industrial robot calibration device and calibration method Download PDFInfo
- Publication number
- CN113894784A CN113894784A CN202111198712.5A CN202111198712A CN113894784A CN 113894784 A CN113894784 A CN 113894784A CN 202111198712 A CN202111198712 A CN 202111198712A CN 113894784 A CN113894784 A CN 113894784A
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- China
- Prior art keywords
- fixedly connected
- plate
- industrial robot
- motor
- limiting
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The invention discloses a calibration device and a calibration method for an industrial robot, and belongs to the field of industrial robots. An industrial robot calibration device, includes the base, still includes: the working table is fixedly connected to the base, a placing plate is fixedly connected to the working table, a fixing frame is fixedly connected to the inside of the working table, a plurality of groups of transmitters are fixedly connected to the fixing frame and are arrayed on the fixing frame at equal intervals, supporting rods are fixedly connected to the base, fixing plates are fixedly connected to the supporting rods, and a plurality of groups of receivers are fixedly connected to the fixing plates; the invention has simple use and convenient operation, roughly positions the position of the workpiece by matching the reflector and the receiver, and accurately positions the positions of the two ends of the workpiece by driving the sensor by the first motor and the second motor, thereby accurately obtaining the position of the workpiece calibration, improving the accuracy of the workpiece calibration and reducing the calibration error.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a calibration device and a calibration method for an industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can receive human commands and can also run according to a pre-arranged program, and a modern industrial robot can also perform actions according to a principle formulated by an artificial intelligence technology; the precision of the industrial robot is expressed by the moving track error of the robot end, and the precision is one of main indexes reflecting the performance of the industrial robot.
At present, a mathematical model established by a motion trail of a robot is established on the basis that all components are rigid components, but due to the fact that errors of the robot components are accumulated during processing and manufacturing until the robot components are assembled, certain errors exist between an actual motion trail and an ideal model, abrasion inevitably exists among motion pairs along with the increase of service time, and further errors are increased, an industrial robot calibration device is provided.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, errors of robot components are accumulated during processing and manufacturing until assembly, so that certain errors exist between an actual motion track and an ideal model, abrasion inevitably exists among motion pairs along with increase of service time, and further errors are increased.
In order to achieve the purpose, the invention adopts the following technical scheme:
an industrial robot calibration device, includes the base, still includes: the working table is fixedly connected to the base, a placing plate is fixedly connected to the working table, a fixing frame is fixedly connected to the inside of the working table, transmitters are fixedly connected to the fixing frame, the transmitters are provided with a plurality of groups and are arrayed on the fixing frame in an equidistant mode, a supporting rod is fixedly connected to the base, a fixing plate is fixedly connected to the supporting rod, a plurality of groups of receivers are fixedly connected to the fixing plate, and the positions of the receivers correspond to the positions of the transmitters; the device comprises a base, a right side plate and a rear side plate, wherein the right side plate and the rear side plate are fixedly connected to the right side and the rear side of the base respectively, a first motor is arranged on the right side plate, a first lead screw is fixedly connected to the output end of the first motor, a sliding block is connected to the first lead screw in a threaded manner, an inductor is fixedly connected to the sliding block, a second motor is arranged on the rear side plate, a second lead screw is fixedly connected to the output end of the second motor, a sliding plate is connected to the second lead screw in a threaded manner, a sliding groove is formed in the sliding plate, a limiting block is fixedly connected to the sliding block, and the limiting block is connected to the sliding groove in a sliding manner; and the controller is fixedly connected to the base, wherein the controller is electrically connected with the emitter, the receiver and the inductor respectively.
In order to improve the stability of the movement, preferably, the right side plate and the rear side plate are both provided with a limiting groove, the first motor and the second motor are respectively and fixedly connected with a sliding seat, the sliding seat is fixedly connected with a moving block, and the moving block is slidably connected in the limiting groove.
In order to improve the smoothness of the movement, preferably, a pulley is rotatably connected to the moving block, and the pulley is slidably connected in the limiting groove.
In order to improve the stability of sliding, preferably, bearings are fixedly connected to the first screw rod and the second screw rod, and the bearings are slidably connected to the workbench.
In order to improve the sliding stability of the sliding block, preferably, a limiting plate is fixedly connected to the sliding block, and the limiting plate abuts against the placing plate.
In order to reduce the damage of the sliding block to the placing plate, preferably, a groove is formed in the limiting plate, a fixing block is connected to the groove in a sliding mode, a limiting wheel is connected to the fixing block in a rotating mode, the limiting wheel is attached to the placing plate, a spring is arranged in the groove, and two ends of the spring are respectively abutted to the groove and the fixing block.
In order to facilitate the adjustment of the position of the receiver, preferably, the support rod is fixedly connected with an electric telescopic rod, the electric telescopic rod is fixedly connected with a connecting block, and the fixing plate is fixedly connected with the connecting block.
In order to improve the sliding stability of the sliding plate, preferably, a limiting rod is fixedly connected to the workbench, and the sliding plate is slidably connected to the limiting rod.
A calibration method for an industrial robot calibration device comprises the following steps:
the position detection module comprises a transmitter and a receiver and is used for detecting the position area of the workpiece;
the position calculation module is used for positioning the coordinate position detected by the position detection module;
the mobile control module controls the first motor and the second motor to be started, and detects the coordinate point of the workpiece through the inductor;
and the coordinate positioning module is used for receiving the coordinate point position detected by the sensor and calculating the position area of the coordinate point.
Compared with the prior art, the invention provides an industrial robot calibration device, which has the following beneficial effects:
1. this industrial robot calibration device calculates the region that covers between all coordinate points through the controller, can accurately reachd the position that the work piece was markd, improves the accurate nature of work piece demarcation, reduces the error of demarcation.
2. This industrial robot calibration device carries out the coarse calculation through the position of transmitter to the work piece, then the inductor carries out accurate detection to the work piece position, has reduced the inductor and has removed the distance that detects, has improved the speed that detects.
Drawings
Fig. 1 is a schematic structural diagram of a primary view of an industrial robot calibration device provided by the invention;
fig. 2 is a schematic structural diagram of an industrial robot calibration device in a top view according to the present invention;
fig. 3 is a schematic structural diagram of a portion a in fig. 1 of an industrial robot calibration device according to the present invention;
fig. 4 is a schematic structural diagram of a part B in fig. 1 of an industrial robot calibration device according to the present invention;
fig. 5 is a schematic structural diagram of a slide block and a slide plate of an industrial robot calibration device provided by the invention;
fig. 6 is a schematic structural diagram of a control unit of an industrial robot calibration device according to the present invention.
In the figure: 1. a base; 101. a right side plate; 1012. a limiting groove; 102. a rear side plate; 2. a work table; 3. a fixed mount; 4. a transmitter; 5. a support bar; 6. a fixing plate; 7. a receiver; 8. placing the plate; 9. a first motor; 901. a slide base; 902. a moving block; 903. a pulley; 10. a first lead screw; 11. a slider; 111. a limiting block; 12. an inductor; 13. a second motor; 14. a second lead screw; 15. a slide plate; 151. a chute; 16. a bearing; 17. a limiting plate; 18. a limiting wheel; 19. a spring; 20. a fixed block; 21. an electric telescopic rod; 22. connecting blocks; 23. a controller; 24. a limiting rod.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1:
referring to fig. 1-6, an industrial robot calibration device includes a base 1, and further includes: the working table 2 is fixedly connected to the base 1, wherein a placing plate 8 is fixedly connected to the working table 2, a fixing frame 3 is fixedly connected to the inside of the working table 2, a transmitter 4 is fixedly connected to the fixing frame 3, the transmitters 4 are provided with a plurality of groups and are arrayed on the fixing frame 3 at equal intervals, a supporting rod 5 is fixedly connected to the base 1, a fixing plate 6 is fixedly connected to the supporting rod 5, a plurality of groups of receivers 7 are fixedly connected to the fixing plate 6, and the positions of the receivers 7 correspond to the positions of the transmitters 4; the right side plate 101 and the rear side plate 102 are fixedly connected to the right side and the rear side of the base 1 respectively, wherein a first motor 9 is arranged on the right side plate 101, a first lead screw 10 is fixedly connected to the output end of the first motor 9, a slide block 11 is in threaded connection with the first lead screw 10, an inductor 12 is fixedly connected to the slide block 11, a second motor 13 is arranged on the rear side plate 102, a second lead screw 14 is fixedly connected to the output end of the second motor 13, a slide plate 15 is in threaded connection with the second lead screw 14, a slide groove 151 is formed in the slide plate 15, a limit block 111 is fixedly connected to the slide block 11, and the limit block 111 is in sliding connection with the slide groove 151; and the controller 23 is fixedly connected to the base 1, wherein the controller 23 is electrically connected with the transmitter 4, the receiver 7 and the inductor 12 respectively.
In the invention, when a user uses the device, a workpiece is placed on a placing plate 8, then a controller 23 is used for starting a transmitter 4, the transmitter 4 transmits light and receives the light through a receiver 7, the light transmitted by the transmitter 4 below the workpiece is shielded by the workpiece, so that the light cannot be received by the receiver 7, the controller 23 calculates the coordinates of a shielding area to obtain the calibration position of the workpiece, meanwhile, the calibration position has deviation due to the space between the transmitters 4, therefore, a first motor 9 is started through the controller 23, the first motor 9 drives a first screw rod 10 to rotate, a slide block 11 moves on the first screw rod 10, the slide block 11 drives an inductor 12 to move, the initial point of the inductor 12 to move is an X-axis initial point, the slide block 11 drives the inductor 12 to move to one side of the coordinate position of the workpiece, and then moves from the left side of the workpiece to the right side of the workpiece, whether an object is shielded above is judged through the inductor 12, the inductor 12 detects end point coordinates of the left side and the right side of the X axis of the workpiece, then the controller 23 controls the second motor 13 to start, the second screw rod 14 on the output end of the second motor 13 drives the sliding plate 15 to move, the sliding plate 15 drives the sliding block 11 to move in a Y coordinate mode through the limiting block 111, then the second motor 13 is stopped, the first motor 9 is started to continue to detect coordinate points on the two sides of the workpiece, the coordinate points on the two sides of the whole work are detected in a circulating mode, then the controller 23 calculates the area covered by all the coordinate points, the position of the workpiece can be accurately obtained, the accuracy of workpiece calibration is improved, calibration errors are reduced, meanwhile, the position of the workpiece is roughly calculated through the emitter 4, then the inductor 12 accurately detects the position of the workpiece, and the moving detection distance of the inductor 12 is reduced, the speed of detection is improved.
Example 2:
referring to fig. 1-3, an industrial robot calibration device includes that a limiting groove 1012 is formed on both the right side plate 101 and the rear side plate 102, a sliding base 901 is fixedly connected to the bottoms of the first motor 9 and the second motor 13, a moving block 902 is fixedly connected to the sliding base 901, the moving block 902 is slidably connected to the limiting groove 1012, a pulley 903 is rotatably connected to the moving block 902, and the pulley 903 is slidably connected to the limiting groove 1012.
Compared with the embodiment 1, the sliding seats 901 are further arranged at the bottoms of the first motor 9 and the second motor 13, and the moving blocks 902 on the sliding seats 901 slide in the limiting grooves 1012, so that the moving stability of the first motor 9 and the second motor 13 is improved, and meanwhile, the pulley 903 is used for driving the first motor 9 and the second motor 13 to move, so that the sliding smoothness of the first motor 9 and the second motor 13 is improved.
Example 3:
referring to fig. 1, 2, 4 and 5, an industrial robot calibration device comprises a bearing 16 fixedly connected to a first lead screw 10 and a second lead screw 14, the bearing 16 is slidably connected to a workbench 2, a limiting plate 17 is fixedly connected to a slide block 11, the limiting plate 17 abuts against a placing plate 8, a groove is formed in the limiting plate 17, a fixing block 20 is slidably connected to the groove, a limiting wheel 18 is rotatably connected to the fixing block 20, the limiting wheel 18 abuts against the placing plate 8, a spring 19 is arranged in the groove, two ends of the spring 19 abut against the groove and the fixing block 20 respectively, an electric telescopic rod 21 is fixedly connected to a support rod 5, a connecting block 22 is fixedly connected to the electric telescopic rod 21, a fixing plate 6 is fixedly connected to the connecting block 22, a limiting rod 24 is fixedly connected to the workbench 2, and a sliding plate 15 is slidably connected to the limiting rod 24.
Compared with embodiment 1, the further spacing wheel 18 that passes through on the limiting plate 17 pastes with placing board 8 and slides mutually, reduces limiting plate 17 and the friction damage that places board 8 and appear, improves the safety of placing board 8 and using, is provided with electric telescopic handle 21 on the bracing piece 5 simultaneously, conveniently adjusts the height of receiver 7 through electric telescopic handle 21.
Example 3:
referring to fig. 1-6, a calibration method for an industrial robot calibration device includes:
the position detection module comprises a transmitter 4 and a receiver 7 and is used for detecting the position area of the workpiece;
the position calculation module is used for positioning the coordinate position detected by the position detection module;
the mobile control module controls the first motor 9 and the second motor 13 to be started, and detects the coordinate point of the workpiece through the inductor 12;
and the coordinate positioning module is used for receiving the coordinate point position detected by the sensor 12 and calculating the coordinate point position area.
In the invention, the emitter 4 and the receiver 7 are opposite-type photoelectric sensors, the sensor 12 is a diffusion reflection type photoelectric sensor, and the placing plate 8 is a glass plate, so that light rays of the emitter 4 can conveniently pass through the glass plate.
The invention has simple use and convenient operation, roughly positions the position of the workpiece by matching the emitter 4 and the receiver 7, and accurately positions the positions of the two ends of the workpiece by driving the inductor 12 through the first motor 9 and the second motor 13, thereby accurately obtaining the position of the workpiece calibration, improving the accuracy of the workpiece calibration and reducing the calibration error.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. An industrial robot calibration device, includes base (1), its characterized in that still includes:
a workbench (2) fixedly connected on the base (1),
the working table (2) is fixedly connected with a placing plate (8), a fixing frame (3) is fixedly connected in the working table (2), the fixing frame (3) is fixedly connected with a transmitter (4), the transmitters (4) are provided with a plurality of groups and are arrayed on the fixing frame (3) at equal intervals, a supporting rod (5) is fixedly connected on the base (1), a fixing plate (6) is fixedly connected on the supporting rod (5), a plurality of groups of receivers (7) are fixedly connected on the fixing plate (6), and the positions of the receivers (7) correspond to the positions of the transmitters (4);
a right side plate (101) and a rear side plate (102) which are respectively and fixedly connected with the right side and the rear side of the base (1),
the device comprises a right side plate (101), a first motor (9) and a second motor (13), wherein the output end of the first motor (9) is fixedly connected with a first screw rod (10), the first screw rod (10) is in threaded connection with a sliding block (11), the sliding block (11) is fixedly connected with an inductor (12), the rear side plate (102) is provided with the second motor (13), the output end of the second motor (13) is fixedly connected with the second screw rod (14), the second screw rod (14) is in threaded connection with a sliding plate (15), the sliding plate (15) is provided with a sliding groove (151), the sliding block (11) is fixedly connected with a limiting block (111), and the limiting block (111) is slidably connected to the sliding groove (151);
a controller (23) fixedly connected to the base (1),
the controller (23) is electrically connected with the emitter (4), the receiver (7) and the inductor (12) respectively.
2. The calibration device for the industrial robot according to claim 1, wherein a limiting groove (1012) is formed in each of the right side plate (101) and the rear side plate (102), a sliding base (901) is fixedly connected to the bottoms of the first motor (9) and the second motor (13) respectively, a moving block (902) is fixedly connected to the sliding base (901), and the moving block (902) is slidably connected in the limiting groove (1012).
3. An industrial robot calibration arrangement according to claim 2 characterized in that the moving block (902) has a pulley (903) rotatably connected thereto, the pulley (903) being slidably connected in a limiting groove (1012).
4. An industrial robot calibration arrangement according to claim 1, characterized in that bearings (16) are fixedly connected to both the first screw (10) and the second screw (14), said bearings (16) being slidably connected to the table (2).
5. An industrial robot calibration device according to claim 1, characterized in that a limiting plate (17) is fixedly connected to the slide block (11), and the limiting plate (17) abuts against the placing plate (8).
6. The industrial robot calibration device according to claim 5, wherein a groove is formed in the limiting plate (17), a fixing block (20) is slidably connected in the groove, a limiting wheel (18) is rotatably connected to the fixing block (20), the limiting wheel (18) is attached to the placing plate (8), a spring (19) is arranged in the groove, and two ends of the spring (19) respectively abut against the groove and the fixing block (20).
7. An industrial robot calibration device according to claim 1, characterized in that an electric telescopic rod (21) is fixedly connected to the support rod (5), a connecting block (22) is fixedly connected to the electric telescopic rod (21), and the fixing plate (6) is fixedly connected to the connecting block (22).
8. An industrial robot calibration device according to claim 1, characterized in that a limiting rod (24) is fixedly connected to the worktable (2), and the sliding plate (15) is slidably connected to the limiting rod (24).
9. An industrial robot calibration device calibration method comprising the industrial robot calibration device of claim 1, characterized by further comprising:
the position detection module comprises a transmitter (4) and a receiver (7) and is used for detecting the position area of the workpiece;
the position calculation module is used for positioning the coordinate position detected by the position detection module;
the mobile control module controls the first motor (9) and the second motor (13) to be started, and detects the coordinate point of the workpiece through the inductor (12);
and the coordinate positioning module is used for receiving the coordinate position detected by the sensor (12) and calculating the position area of the coordinate position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198712.5A CN113894784A (en) | 2021-10-14 | 2021-10-14 | Industrial robot calibration device and calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198712.5A CN113894784A (en) | 2021-10-14 | 2021-10-14 | Industrial robot calibration device and calibration method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113894784A true CN113894784A (en) | 2022-01-07 |
Family
ID=79192198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111198712.5A Withdrawn CN113894784A (en) | 2021-10-14 | 2021-10-14 | Industrial robot calibration device and calibration method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113894784A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603335A (en) * | 2022-05-12 | 2022-06-10 | 深圳市国天电子股份有限公司 | Production line and method for automobile radar processing |
| CN115922785A (en) * | 2022-12-30 | 2023-04-07 | 安徽汉扬精密机械有限公司 | Accurate positioning mobile robot base |
-
2021
- 2021-10-14 CN CN202111198712.5A patent/CN113894784A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603335A (en) * | 2022-05-12 | 2022-06-10 | 深圳市国天电子股份有限公司 | Production line and method for automobile radar processing |
| CN114603335B (en) * | 2022-05-12 | 2022-08-16 | 深圳市国天电子股份有限公司 | Production line for automobile radar processing and production method thereof |
| CN115922785A (en) * | 2022-12-30 | 2023-04-07 | 安徽汉扬精密机械有限公司 | Accurate positioning mobile robot base |
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Application publication date: 20220107 |
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