CN205310263U - Quick calibration system of robot - Google Patents
Quick calibration system of robot Download PDFInfo
- Publication number
- CN205310263U CN205310263U CN201620068664.6U CN201620068664U CN205310263U CN 205310263 U CN205310263 U CN 205310263U CN 201620068664 U CN201620068664 U CN 201620068664U CN 205310263 U CN205310263 U CN 205310263U
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- robot
- simulation
- manipulator shaft
- instrument
- data memory
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- 238000004088 simulation Methods 0.000 claims abstract description 78
- 238000005070 sampling Methods 0.000 claims abstract description 22
- 230000005622 photoelectricity Effects 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims description 15
- 230000000694 effects Effects 0.000 claims description 7
- 238000009429 electrical wiring Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Abstract
The utility model provides a quick calibration system of robot, including robot, simulation machine people, sampling tool, photoelectric circuit and data memory, through data line or wireless network connection between robot and the simulation machine people, sampling tool installs on simulation machine people, sampling tool and photoelectricity circuit connection, the signal output part and the data memory of photoelectric circuit are connected, data memory passes through the data reading device and is connected with simulation machine people. This quick calibration system of robot can be quick, accurate realization robot position appearance demarcate, the degree of accuracy of demarcating the coordinate system can improve when reducing manpower intervention.
Description
Technical field
The utility model belongs to Robotics field, is specifically related to a kind of robot and demarcates system fast.
Background technology
It is the identification process that robot calculates the position of tool ends end relative to robot end's coordinate system and attitude that robot tool coordinate system is demarcated, and this pose is that appearance is located in a unknown really. Wherein, robot end's coordinate system, relates to the coordinate system of robot control software, it is possible to read each joint encoders value by controller, and tries to achieve position and the attitude of robot end's coordinate system through direct kinematics.
In the application of industrial robot, the pose in robot tool coordinate system is a very important factor, and it measures geometry size and the position that precision depends on actual robot unit. Robot cell, the such as minor variations of end actuator, fixture all can cause robot pose inaccurate.
Present stage, the instrument scaling method of most of robot was all rely on manually to utilize teaching device and demarcation instrument to carry out teaching operation, this process is not only time-consuming but also inaccurate, need the operation carried out repeatedly just can draw position coordinate relatively preferably, its main error need when appearing at manual operation to utilize eyes dig-in 2 of impact point collide after position, easily there is error in this process, and the instrument utilized is that teaching device is to carry out teaching thus wayward accurate position.
Practical novel content
For overcoming the deficiencies in the prior art, the utility model devises a kind of robot and demarcates system fast, robot is demarcated system fast and is utilized the structure copying real machine people to build simply to simulate robot to carry out simulation teaching, it is possible to reduce the degree of accuracy improving while manpower intervention and demarcating coordinate system.
For realizing technique scheme, the utility model provides a kind of robot and demarcates system fast, comprise robot, simulation robot, sampling instrument, photoelectricity circuit and data memory, connected by data line or wireless network between described robot and simulation robot, sampling instrument is arranged in simulation robot, described sampling instrument is connected with photoelectricity circuit, the signal output of described photoelectricity circuit is connected with data memory, and described data memory is connected with simulation robot by data fetch device.
In technique scheme, simulation robot copies real machine people to build, but simplify work structuring and volume, retain the main activities joint in real machine people, utilizing simulation robot clamping sampling instrument to carry out robot pose sampling by photoelectricity control circui, the data after sampling are stored by data memory, then feed back to simulation robot and determine, determining after successfully, namely these data can be applicable to real machine people and carry out work location.
Preferably, described simulation robot comprises simulation robot base, described simulation robot base top is provided with can intend 360 ° of simulation manipulator shaft A rotated on the horizontal direction of robot base by winding mold, the side end of described simulation manipulator shaft A is provided with can intend 360 ° of simulation manipulator shaft B rotated on manipulator shaft A vertical direction by winding mold, described simulation manipulator shaft B top is provided with can intend 180 ° of movable simulation manipulator shaft C on manipulator shaft B vertical direction by winding mold, described simulation manipulator shaft C front end is provided with simulation manipulator shaft D, the front end of described simulation manipulator shaft D be provided with can winding mold intend manipulator shaft D360 ° of circumference activity simulation manipulator shaft E, the side end of described simulation manipulator shaft E be provided with can winding mold intend manipulator shaft E360 ° of circumference activity simulation manipulator shaft F.
Preferably, described sampling instrument comprises the first debugging instrument and the 2nd debugging instrument, and described first debugging instrument is arranged on simulation manipulator shaft F, and the 2nd debugging instrument is installed on the table.
In such scheme, contact with the on workbench the 2nd debugging the correct of instrument for realizing being arranged on the simulation upper first debugging instrument of manipulator shaft F, simulation robot needs to drive simulation manipulator shaft A to carry out various action to axle F, this action, by data memory record, is used to guide real machine people action at work.
Preferably, described photoelectricity circuit comprises power supply and indicator lamp, the negative pole of described power supply is connected with the first debugging instrument by electric wire, the positive pole of described power supply is connected by electrical wiring to the positive pole of indicator lamp, the negative pole of described indicator lamp is connected with the 2nd debugging instrument, after the first debugging instrument correctly contacts with the 2nd debugging instrument, circuit is connected, indicator lamp lights, otherwise indicator lamp is in OFF state always, so just can avoid the artificial teaching method of tradition needs manually to dig-in taught point, avoid error to occur.
The useful effect that system demarcated fast by a kind of robot that the utility model provides is: robot fast the system of demarcating can realize robot pose fast, accurately and demarcate, it is possible to while reducing manpower intervention, improve the degree of accuracy demarcating coordinate system.
Accompanying drawing explanation
Fig. 1 is anatomical connectivity schematic diagram of the present utility model.
Fig. 2 is the structure schematic diagram simulating robot in the utility model.
Fig. 3 is the connection diagram of photoelectricity circuit in the utility model.
In figure: 1, simulate robot base; 2, manipulator shaft A is simulated; 3, manipulator shaft B is simulated; 4, manipulator shaft C is simulated; 5, manipulator shaft D is simulated; 6, manipulator shaft E is simulated; 7, manipulator shaft F is simulated; 8, the first debugging instrument; 9, the 2nd debugging instrument; 10, workbench; 11, power supply; 12, indicator lamp; 100, robot; 200, robot is simulated; 300, sampling instrument; 400, photoelectricity circuit; 500, data memory.
Specific embodiment party formula
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out clear, complete description, it is clear that described embodiment is only the utility model part embodiment, instead of whole embodiments. The common personnel in this area, not making other embodiments all obtained under creative work prerequisite, all belong to protection domain of the present utility model.
Embodiment: system demarcated fast by a kind of robot.
With reference to shown in Fig. 1, system demarcated fast by a kind of robot, comprise robot 100, simulation robot 200, sampling instrument 300, photoelectricity circuit 400 and data memory 500, connected by data line or wireless network between described robot 100 and simulation robot 200, sampling instrument 300 is arranged in simulation robot 200, described sampling instrument 300 is connected with photoelectricity circuit 400, the signal output of described photoelectricity circuit 400 is connected with data memory 500, and described data memory 500 is connected with simulation robot 200 by data fetch device.
In technique scheme, simulation robot 200 copies real machine people 100 to build, but simplify work structuring and volume, retain the main activities joint in real machine people 100, utilize simulation robot 200 to clamp sampling instrument 300 and carry out robot pose sampling by photoelectricity circuit 400 control, data after sampling are stored by data memory 500, then feed back to simulation robot 200 to determine, determining after successfully, namely these data can be applicable to real machine people 100 and carry out work location.
With reference to shown in Fig. 2, described simulation robot 200 comprises simulation robot base 1, described simulation robot base 1 top is provided with can intend 360 ° of simulation manipulator shaft A2 rotated on the horizontal direction of robot base 1 by winding mold, the side end of described simulation manipulator shaft A2 is provided with can intend 360 ° of simulation manipulator shaft B3 rotated on manipulator shaft A2 vertical direction by winding mold, described simulation manipulator shaft B3 top is provided with can intend 180 ° of movable simulation manipulator shaft C4 on manipulator shaft B3 vertical direction by winding mold, described simulation manipulator shaft C4 front end is provided with simulation manipulator shaft D5, the front end of described simulation manipulator shaft D5 is provided with can intend the movable simulation manipulator shaft E6 of manipulator shaft D5 circumference 360 ° by winding mold, the side end of described simulation manipulator shaft E6 is provided with can intend the movable simulation manipulator shaft F7 of manipulator shaft E6 circumference 360 ° by winding mold.
With reference to, shown in Fig. 2, described sampling instrument 300 comprises the first debugging instrument 8 and the 2nd debugging instrument 9, described first debugging instrument 8 is arranged on simulation manipulator shaft F7, and the 2nd debugging instrument 9 is arranged on workbench 10.
In the present embodiment, contact with the 2nd the correct of debugging instrument 9 on workbench 10 for realizing being arranged on the simulation upper first debugging instrument 8 of manipulator shaft F7, simulation robot 200 needs to drive simulation manipulator shaft A2 to carry out various action to simulation manipulator shaft F7, this action, by data memory 500 record, is used to guide real machine people 100 action at work.
With reference to shown in Fig. 3, described photoelectricity circuit 400 comprises power supply 11 and indicator lamp 12, the negative pole of described power supply 11 is connected with the first debugging instrument 8 by electric wire, the positive pole of described power supply 11 is connected by electrical wiring to the positive pole of indicator lamp 12, the negative pole of described indicator lamp 12 is connected with the 2nd debugging instrument 9, after the first debugging instrument 8 correctly contacts with the 2nd debugging instrument 9, circuit is connected, indicator lamp 12 lights, otherwise indicator lamp 12 is in OFF state always, so just can avoid the artificial teaching method of tradition needs manually to dig-in taught point, avoid error to occur.
For better explaining the utility model, work process of the present utility model is explained as follows by spy:
1, install simulation robot 200, open the teaching system of simulation robot 200;
2, simulate robot 200 end and load onto the first debugging instrument 8, arrange the 2nd debugging instrument 9 on workbench 10;
3, control simulation robot 200 carries out adopting a little, when the first debugging instrument 8 simulating robot 200 end contacts with the 2nd debugging instrument 9 on workbench 10, indicator lamp 12 lights, then illustrate that current point is suitable, record current point, inserts in teaching debugging system and clicks next step;
4, repeating above action three times, record data are all inserted in system;
5, complete debugging action, complete teaching system and confirm that current all values is recorded in data memory 500.
The above is better embodiment of the present utility model; but the utility model should not be limited to the content disclosed in this embodiment and accompanying drawing; the equivalence completed under not departing from spirit disclosed in the utility model so every or amendment, all fall into the scope of the utility model protection.
Claims (4)
1. system demarcated fast by a robot, it is characterized in that: comprise robot (100), simulation robot (200), sampling instrument (300), photoelectricity circuit (400) and data memory (500), connected by data line or wireless network between described robot (100) and simulation robot (200), sampling instrument (300) is arranged in simulation robot (200), described sampling instrument (300) is connected with photoelectricity circuit (400), the signal output of described photoelectricity circuit (400) is connected with data memory (500), described data memory (500) is connected with simulation robot (200) by data fetch device.
2. system demarcated fast by robot as claimed in claim 1, it is characterized in that: described simulation robot (200) comprises simulation robot base (1), described simulation robot base (1) top be provided with can winding mold intend 360 ° of simulation manipulator shaft A(2 rotated on robot base (1) horizontal direction), described simulation manipulator shaft A(2) side end be provided with can winding mold intend manipulator shaft A(2) 360 ° of simulation manipulator shaft B(3 rotated on vertical direction), described simulation manipulator shaft B(3) top be provided with can winding mold intend manipulator shaft B(3) 180 ° of movable simulation manipulator shaft C(4 on vertical direction), described simulation manipulator shaft C(4) front end be provided with simulation manipulator shaft D(5), described simulation manipulator shaft D(5) front end be provided with can winding mold intend manipulator shaft D(5) the simulation manipulator shaft E(6 of 360 ° of circumference activities), described simulation manipulator shaft E(6) side end be provided with can winding mold intend manipulator shaft E(6) the simulation manipulator shaft F(7 of 360 ° of circumference activities).
3. system demarcated fast by robot as claimed in claim 2, it is characterized in that: described sampling instrument (300) comprises the first debugging instrument (8) and the 2nd debugging instrument (9), described first debugging instrument (8) is arranged on simulation manipulator shaft F(7) on, the 2nd debugging instrument (9) is arranged on workbench (10).
4. system demarcated fast by robot as described in claim 1 or 3, it is characterized in that: described photoelectricity circuit (400) comprises power supply (11) and indicator lamp (12), the negative pole of described power supply (11) is connected with the first debugging instrument (8) by electric wire, the positive pole of described power supply (11) is connected by electrical wiring to the positive pole of indicator lamp (12), and the negative pole of described indicator lamp (12) is connected with the 2nd debugging instrument (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620068664.6U CN205310263U (en) | 2016-01-25 | 2016-01-25 | Quick calibration system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620068664.6U CN205310263U (en) | 2016-01-25 | 2016-01-25 | Quick calibration system of robot |
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| Publication Number | Publication Date |
|---|---|
| CN205310263U true CN205310263U (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620068664.6U Active CN205310263U (en) | 2016-01-25 | 2016-01-25 | Quick calibration system of robot |
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| CN (1) | CN205310263U (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 |
| CN108393896A (en) * | 2018-02-02 | 2018-08-14 | 山东大学 | For welding robot welding gun tool point and workpiece coordinate system caliberating device and method |
-
2016
- 2016-01-25 CN CN201620068664.6U patent/CN205310263U/en active Active
Cited By (3)
| 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 |
| 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 |
| CN108393896A (en) * | 2018-02-02 | 2018-08-14 | 山东大学 | For welding robot welding gun tool point and workpiece coordinate system caliberating device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191217 Address after: Room A107, research building a, high tech think tank center, Nanhai software technology park, Shishan town, Nanhai District, Foshan City, Guangdong Province (application for residence) Patentee after: Guangdong fozhixin microelectronics technology research Co.,Ltd. Address before: 528200 industry think tank City, Foshan hi tech Zone, Guangdong Patentee before: FOSHAN NANHAI GUANGDONG TECHNOLOGY University CNC EQUIPMENT COOPERATIVE INNOVATION INSTITUTE |
|
| TR01 | Transfer of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A rapid robot calibration system Effective date of registration: 20201224 Granted publication date: 20160615 Pledgee: Guangdong Nanhai Rural Commercial Bank branch branch of Limited by Share Ltd. Pledgor: Guangdong fozhixin microelectronics technology research Co.,Ltd. Registration number: Y2020980009995 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20160615 Pledgee: Guangdong Nanhai Rural Commercial Bank branch branch of Limited by Share Ltd. Pledgor: Guangdong Xinhua Microelectronics Technology Co.,Ltd.|Guangdong fozhixin microelectronics technology research Co.,Ltd. Registration number: Y2020980009995 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |