CN205184788U - Long -range instrument coordinate gesture automatic positioning device of robot - Google Patents
Long -range instrument coordinate gesture automatic positioning device of robot Download PDFInfo
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- CN205184788U CN205184788U CN201520838464.XU CN201520838464U CN205184788U CN 205184788 U CN205184788 U CN 205184788U CN 201520838464 U CN201520838464 U CN 201520838464U CN 205184788 U CN205184788 U CN 205184788U
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Abstract
The utility model discloses a long -range instrument coordinate gesture automatic positioning device of robot is including installing the first test terminal on the robot flange to and install the second test terminal on long -range instrument central point, first test terminal and second test terminal number of pass are according to the line connection, first test terminal comprises a gyroscope sensor and a laser sensor, the second test terminal is a gyroscope sensor, first test terminal and second test terminal pass through the data line and finally connect machine people terminal. The utility model discloses a location method of the device realization of long -range instrument central point gesture of non -contact automatic positioning and coordinate has saved manpower and time greatly, has realized the coordinate of long -range instrument central point and the full automatization location of gesture, has liberated the labour, has improved the productivity.
Description
Technical field
The utility model relates to robotics, particularly a kind of robot remote tool coordinates attitude automatic positioning equipment.
Background technology
At present, in some robot application, use remote tools, such as: polishing, polishing and deburring etc.As shown in Figure 1, so-called remote tools just refers to that instrument is fixedly installed on ground and is not arranged in robot actuating station, but, the attitude of how to locate remote tools comparatively bothers, generally can measure its position by 4 methods and again its attitude is determined in heart point (ToolCentrePoint) position in the tool, this process is more consuming time, and the positioning posture of instrument is inaccurate.Therefore, if find a kind of simple accurate method to go the attitude of orientation tool coordinate system, the debug time of robot will be shortened, enhance productivity.
Summary of the invention
In order to overcome above-mentioned defect, the utility model provides a kind of problem solving positioning robot's remote tools coordinate system pose, makes whole process simple, and is easy to the robot remote tool coordinates attitude automatic positioning equipment of operation.
The utility model in order to the technical scheme solving its technical problem and adopt is: a kind of robot remote tool coordinates attitude automatic positioning equipment, comprise the first test lead be arranged on robot flange, and the second test lead be arranged on remote tools central point, described first test lead is connected by data wire with the second test lead, described first test lead is made up of a gyro sensor and a laser sensor, described second test lead is a gyro sensor, described first test lead is finally connected robot terminal with the second test lead by data wire.
The beneficial effects of the utility model are: the location of traditional robot remote instrument all needs to expend much time and manpower, and operating procedure is complicated, realize by robot motion, robot and device is easily caused to damage, the device of contactless automatic location remote tools central point attitude of the present utility model and coordinate, saves manpower and time greatly, achieves the coordinate of remote tools central point and the full-automation location of attitude, liberate labour, improve productivity.
Accompanying drawing explanation
Fig. 1 is the application schematic diagram of existing remote tools in robot;
Fig. 2 is automatic positioning equipment schematic diagram of the present utility model;
Indicate in figure: 1-robot ring flange; 2-first test lead; 3-second test lead; 4-remote tools; 5-data wire.
Detailed description of the invention
In order to deepen understanding of the present utility model, below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, and this embodiment, only for explaining the utility model, does not form the restriction to the utility model protection domain.
Fig. 2 shows a kind of embodiment of a kind of robot remote of the utility model tool coordinates attitude automatic positioning equipment, comprise the first test lead 2 be arranged on robot ring flange 1, and the second test lead 3 be arranged on remote tools 4 central point, described first test lead 2 is connected by data wire 5 with the second test lead 3, described first test lead 2 is made up of a gyro sensor and a laser sensor, described second test lead 3 is a gyro sensor, and described first test lead 2 is finally connected robot terminal with the second test lead 3 by data wire.
Its robot remote tool coordinates attitude automatic positioning method, comprises the following steps:
The first step, obtain the attitude of remote tools central point: first, first test lead 2 is fixed on the ring flange of robot, on the central point that second test lead 3 is fixed on remote tools 4, in a moment, subsequently, robot records this attitude automatically, by reading the difference of two gyroscope attitudes, calculate through DSP, obtain the attitude of remote tools 4 central point, by one group of connecting line transmission remote tools 4 central point attitude to robot terminal;
Second step, obtain the coordinate of remote tools central point: remove the second test lead 3 in remote tools 4, with the laser range sensor on the first test lead 2 measure robot ring flange 1 to the distance on remote tools 4 central point surface, because robot ring flange 1 attitude and coordinate are known, by calculating the coordinate obtaining remote tools 4 central point.
The Coordinate calculation method of described remote tools 4 central point is as follows:
1) attitude: utilize two groups of Eulerian angles numerical value (ZYZ or XYZ) detected by gyroscope, one group is the Eulerian angles representing 4 heart point attitudes in remote tools, another group is then for representing the Eulerian angles of current robot ring flange 1 attitude, poor by calculating it, thus obtain the attitude of remote tools 4 opposed robots ring flange 1.
2) coordinate: utilize laser range sensor to measure the distance of remote tools 4 central point to robot ring flange 1, because the coordinate of current robot ring flange 1 is known, so by being added the coordinate that just can obtain remote tools 4 central point.
Claims (1)
1. a robot remote tool coordinates attitude automatic positioning equipment, it is characterized in that: comprise the first test lead (2) be arranged on robot ring flange (1), and the second test lead (3) be arranged on remote tools (4) central point, described first test lead (2) is connected by data wire (5) with the second test lead (3), described first test lead (2) is made up of a gyro sensor and a laser sensor, described second test lead (3) is a gyro sensor, described first test lead (2) is finally connected robot terminal with the second test lead (3) by data wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520838464.XU CN205184788U (en) | 2015-10-27 | 2015-10-27 | Long -range instrument coordinate gesture automatic positioning device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520838464.XU CN205184788U (en) | 2015-10-27 | 2015-10-27 | Long -range instrument coordinate gesture automatic positioning device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205184788U true CN205184788U (en) | 2016-04-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520838464.XU Withdrawn - After Issue CN205184788U (en) | 2015-10-27 | 2015-10-27 | Long -range instrument coordinate gesture automatic positioning device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205184788U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182001A (en) * | 2016-07-27 | 2016-12-07 | 武汉理工大学 | A kind of workpiece coordinate system automatic calibration device based on robot |
| CN106607919A (en) * | 2015-10-27 | 2017-05-03 | 柯昆（昆山）自动化有限公司 | Robot remote tool coordinate and posture automatic positioning device and positioning method thereof |
-
2015
- 2015-10-27 CN CN201520838464.XU patent/CN205184788U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106607919A (en) * | 2015-10-27 | 2017-05-03 | 柯昆（昆山）自动化有限公司 | Robot remote tool coordinate and posture automatic positioning device and positioning method thereof |
| CN106607919B (en) * | 2015-10-27 | 2020-07-28 | 柯昆（昆山）自动化有限公司 | Automatic positioning device and positioning method for robot remote tool coordinate posture |
| CN106182001A (en) * | 2016-07-27 | 2016-12-07 | 武汉理工大学 | A kind of workpiece coordinate system automatic calibration device based on robot |
| CN106182001B (en) * | 2016-07-27 | 2018-11-23 | 武汉理工大学 | A kind of workpiece coordinate system automatic calibration device based on robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160427 Effective date of abandoning: 20200728 |