CN205734940U - A kind of online fast calibration device of TCP being applied to industrial robot - Google Patents

Abstract

The utility model discloses a kind of online fast calibration device of TCP being applied to industrial robot, including switch board, TCP caliberating device, industrial robot, end-of-arm tooling and control bus, switch board connects TCP caliberating device and industrial robot respectively by controlling bus, and end-of-arm tooling is arranged on industrial robot；TCP caliberating device includes TCP detection device, demarcates controller and mounting seat, and TCP detection device is fixedly mounted on the side of industrial robot by mounting seat, and measurement plane is parallel with the XOY plane of industrial robot basis coordinates system.Make-and-break signal according to correlation photoelectric sensor; record flange pose data; calculate and compensate end-of-arm tooling pose deviation on X/Y axle and Z-direction; by operation is repeated several times; reduce TCP calibrated error; the effective homework precision improving industrial robot, reduces industrial robot servicing down times, improves the automaticity of industrial production line.

Description

A kind of online fast calibration device of TCP being applied to industrial robot

Technical field

The present invention relates to a kind of industrial robot end-of-arm tooling calibration technique, be specifically related to one and be applied to industrial robot The online quick calibrating method of TCP and device.

Background technology

Along with the fast development of Industrial Robot Technology, its gradually welding, cut, the field such as assembling obtains more and more wider General application.By installing different end-of-arm toolings, industrial robot can complete several work task.Wherein, tool focus The pose stated accuracy of point (Tool Center Point, TCP) directly affects the homework precision of industrial robot.

The end-of-arm tooling (such as stud welding gun, cutting tool etc.) of industrial robot is after working long hours, it may appear that Certain pose deviation, thus cause industrial robot cannot complete the problems such as preset function.At present, for industrial robot end Ending tool TCP demarcates the main multipoint method using the artificial teaching of off-line.The method is first by industrial robot end-of-arm tooling TCP snaps on a fixing point, then by adjusting the joint angles of industrial robot, it is achieved TCP demarcates.But this type of method is deposited Drawback certain: the TCP calibration process of (1) multipoint method is mainly affected by anthropic factor (such as operating experience etc.), can not keep away Introduce bigger error with exempting from；(2) calibration process is the longest, will affect the production operation efficiency of industrial robot；(3) it is real Now production line ground is periodically demarcated, substantial amounts of human resources will be expended, reduce the overall production capacity of production line simultaneously.Industrial machine Device people TCP is quickly online demarcates product quality and the production efficiency being directly connected to production line, accurately it would therefore be highly desirable to propose one Plant the quick online calibration method of TCP being applied to industrial robot, the homework precision of industrial robot can either be ensured, the most permissible Improve the automaticity of industrial robot.

Summary of the invention

For solving the deficiencies in the prior art, it is an object of the invention to provide and a kind of be capable of industrial robot TCP's The online quick calibrating method of the TCP being applied to industrial robot of degree of freedom demarcation and device.

In order to realize above-mentioned target, the present invention adopts the following technical scheme that:

A kind of online fast calibration device of TCP being applied to industrial robot, including switch board, TCP caliberating device, industry Robot, end-of-arm tooling and control bus, described switch board connects TCP caliberating device and industrial machine respectively by controlling bus People, end-of-arm tooling is arranged on industrial robot；Described TCP caliberating device includes TCP detection device, demarcates controller and installation Base, TCP detection device is fixedly mounted on the side of industrial robot, measures plane and industrial robot base by mounting seat The XOY plane of coordinate system is parallel.

Above-mentioned TCP detection device includes device upper cover, device body, accuracy test switch and four groups of correlation photoelectric transfers Sensor, described accuracy test switch is arranged at device body upper surface, and described device body is that longitudinal hollow out is foursquare rectangular Body, four groups of correlation photoelectric sensor are respectively arranged on the longitudinal midline of device body medial surface, correlation photoelectric sensor Laser beam be mutually perpendicular to and in same level.

Above-mentioned demarcation controller includes crust of the device, micro controller unit, display unit, push-button unit, status indicator lamp And communication interface, described demarcation controller obtains the output signal of accuracy test switch and four groups of correlation photoelectric sensor Make-and-break signal, is carried out data communication by the control bus connecting communication interface with switch board, and is referred to by display unit, state Show lamp feedback operation information.

A kind of online quick calibrating method of TCP being applied to industrial robot, comprises the steps:

S1, holding industrial robot end-of-arm tooling are perpendicular to the XOY plane of basis coordinates system, are realized by artificial teaching method Industrial robot end-of-arm tooling is directed at the accuracy detection switch of TCP detection device, the space bit of record industrial robot flange Appearance data；

S2, industrial robot work after a period of time continuously, and industrial robot is according to the spatial pose of original manual teaching Whether the TCP point of Data Detection current industrial robot offsets relatively big, if production requirement cannot be met, then enters calibrating procedure；

S3, calibrating procedure: demarcate controller and existed with initial attitude by the end-of-arm tooling of switch board control industrial robot TCP detection device does the demarcation campaign of square track；In motor process, demarcate the micro controller unit monitoring of controller Four groups of correlation photoelectric sensor on off operating modes in TCP detection device, according to the time point of this make-and-break signal, read and store Industrial robot, in the flange spatial pose data of this time point, utilizes spatial pose data stored above to calculate industrial machine Robot end instrument position deviation in X-axis and Y direction and angular deviation, and realize the error compensation of TCP；

S4, the operation of repetition step S3, by the iteration of calibration result, reduce TCP calibrated error；

S5, control end-of-arm tooling do linear uniform motion, to determine industrial robot in the Z-direction of basis coordinates system TCP position deviation in the Z-axis direction, compensates the error of TCP；

S6, the operation of repetition step S5, by the iteration of calibration result, reduce TCP calibrated error.

Above-mentioned a kind of online quick calibrating method of TCP being applied to industrial robot, it is characterised in that described step S3 Middle end-of-arm tooling in the computational methods of X-axis with the position deviation in Y direction is:

In demarcating motor process, end-of-arm tooling, often through one group of correlation photoelectric sensor, is demarcated controller and is read work The spatial pose data of industry robot flange coordinate system, are designated as P_ijn；

Described i represents i-th group of correlation photoelectric sensor, i=1 or 2 or 3 or 4, and wherein 1 is correlation photoelectric sensor 1,2 is correlation photoelectric sensor 2, and 3 is correlation photoelectric sensor 3, and 4 is correlation photoelectric sensor 4；

Described j represents the break-make of correlation photoelectric sensor, j=1 or 2, and 1 represents that correlation photoelectric sensor signal connects Logical, 2 represent that correlation photoelectric sensor signal disconnects；

Described n represents that in single cycle motion, n-th passes through i-th group of correlation photoelectric sensor, n=1 or 2；

Based on demarcating the flange coordinate system spatial pose data that controller obtains,

When A, end-of-arm tooling are for the first time by the 1st group of correlation photoelectric sensor 1, the center line of end-of-arm tooling and correlation light The intersection point Y-axis coordinate of the laser beam of electric transducer 1 is:

$Y_{11}=\frac{P_{111}.Y+P_{121}.Y}{2},$

When end-of-arm tooling is for the first time by the 3rd group of correlation photoelectric sensor 3, the center line of end-of-arm tooling and correlation photoelectricity The intersection point Y-axis coordinate of the laser beam of sensor 3 is:

$Y_{31}=\frac{P_{311}.Y+P_{321}.Y}{2},$

When end-of-arm tooling second time is by the 1st group of correlation photoelectric sensor 1, the center line of end-of-arm tooling and correlation photoelectricity The intersection point Y-axis coordinate of the laser beam of sensor 1 is:

$Y_{12}=\frac{P_{112}.Y+P_{122}.Y}{2},$

When end-of-arm tooling second time is by the 3rd group of correlation photoelectric sensor 3, the center line of end-of-arm tooling and correlation photoelectricity The intersection point Y-axis coordinate of the laser beam of sensor 3 is:

$Y_{32}=\frac{P_{312}.Y+P_{322}.Y}{2},$

Therefore, the TCP of end-of-arm tooling position deviation in the Y-axis direction can be calculated by following formula:

${\mathrm{TCP}}_{\mathrm{\Δ}Y}=\frac{Y_{11}-Y_{12}+Y_{31}-Y_{32}}{4};$

When B, end-of-arm tooling are for the first time by the 2nd group of correlation photoelectric sensor 2, the center line of end-of-arm tooling and correlation light The intersection point X-axis coordinate of the laser beam of electric transducer 2 is:

$X_{21}=\frac{P_{211}.X+P_{221}.X}{2},$

When end-of-arm tooling is for the first time by the 3rd group of correlation photoelectric sensor 4, the center line of end-of-arm tooling and correlation photoelectricity The intersection point Y-axis coordinate of the laser beam of sensor 4 is:

$X_{41}=\frac{P_{411}.X+P_{421}.X}{2},$

When end-of-arm tooling second time is by the 2nd group of correlation photoelectric sensor 2, the center line of end-of-arm tooling and correlation photoelectricity The intersection point X-axis coordinate of the laser beam of sensor 2 is:

$X_{22}=\frac{P_{212}.X+P_{222}.X}{2},$

When end-of-arm tooling second time is by the 3rd group of correlation photoelectric sensor 4, the center line of end-of-arm tooling and correlation photoelectricity The intersection point Y-axis coordinate of the laser beam of sensor 4 is:

$X_{42}=\frac{P_{412}.X+P_{422}.X}{2},$

Therefore, the TCP of end-of-arm tooling position deviation in the X-axis direction it is calculated:

${\mathrm{TCP}}_{\mathrm{\Δ}X}=\frac{X_{21}-X_{22}+X_{41}-X_{42}}{4}.$

In above-mentioned steps S3, the computational methods of angular deviation are:

Distance between two-layer correlation photoelectric sensor 1 and 3 is d up and down, and the angle of the Y-direction calculating end-of-arm tooling is inclined Difference is shown below:

${\mathrm{TCP}}_{\mathrm{\Δ}RY}=\arctan \frac{L}{d}=\arctan \left(\frac{X_{41}-X_{21}+X_{42}-X_{22}}{2d}\right),$

Distance between two-layer correlation photoelectric sensor 2 and 4 is d up and down, and the angle of the X-direction calculating end-of-arm tooling is inclined Difference is shown below:

${\mathrm{TCP}}_{\mathrm{\Δ}RX}=\arctan \frac{L}{d}=\arctan \left(\frac{Y_{31}-Y_{11}+Y_{32}-Y_{12}}{2d}\right).$

In above-mentioned steps S5, the computational methods of industrial robot TCP position deviation in the Z-axis direction are:

Demarcate controller and move to correlation photoelectric sensor 1 He by the end-of-arm tooling of switch board control industrial robot The surface of 2 intersection points, along Z-direction, uniform rectilinear moves downward, and correlation photoelectric sensor 1 and 2 detects end-of-arm tooling Arrive pose data during two ray intersections, with the initial value P obtained by artificial teaching_TCP0Between difference be exactly end work The TCP of tool deviation in the Z-axis direction:

TCP_Δz=P_TCP.Z-P_TCP0.Z。

The invention have benefit that: a kind of TCP being applied to industrial robot that the present invention provides the most quickly marks Determine device TCP detect device and method: the homework precision of industrial robot one, can be effectively improved；Two, industrial machine is reduced Device people's servicing down times, improves efficiency and the production capacity of industrial production line；Three, automatization's journey of industrial production line it is effectively improved Degree, saves human and material resources, reduces cost.

Accompanying drawing explanation

Fig. 1 is the structural representation of a kind of online fast calibration device of TCP being applied to industrial robot of the present invention.

Fig. 2 is the TCP caliberating device of a kind of online fast calibration device of TCP being applied to industrial robot of the present invention Structural representation.

Fig. 3 is that the TCP of a kind of online fast calibration device of TCP being applied to industrial robot of the present invention detects device Structural representation.

Fig. 4 is the demarcation controller of a kind of online fast calibration device of TCP being applied to industrial robot of the present invention Structural representation.

Fig. 5 is the fortune of the end-of-arm tooling of a kind of online fast calibration device of TCP being applied to industrial robot of the present invention Dynamic track schematic diagram.

Fig. 6 be a kind of online fast calibration device of TCP being applied to industrial robot of the present invention TCP detect device Measure X/Y direction of principal axis top offset error schematic diagram.

Fig. 7 is that the TCP detection device of a kind of online fast calibration device of TCP being applied to industrial robot of the present invention is surveyed Amount X/Y direction of principal axis upper angle error schematic diagram.

Fig. 8 is that the TCP detection device of a kind of online fast calibration device of TCP being applied to industrial robot of the present invention is surveyed Amount Z-direction top offset error schematic diagram.

Fig. 9 is the TCP on-line proving side of a kind of online fast calibration device of TCP being applied to industrial robot of the present invention Method flow chart.

In accompanying drawing, the implication of labelling is as follows:

1, switch board, 2, TCP caliberating device, 3, industrial robot, 4, end-of-arm tooling, 5, control bus；

201, TCP detects device, and 202, mounting seat, 203, demarcate controller；

301, correlation photoelectric sensor 1,302, correlation photoelectric sensor 2,303, correlation photoelectric sensor 3, 304, correlation photoelectric sensor 4,305, accuracy test switch, 306, upper cover, 307, device body；

401, crust of the device, 402, display unit, 403, push-button unit, 404, status indicator lamp, 405, communication interface.

Detailed description of the invention

Below in conjunction with the accompanying drawings and embodiment, the present invention is described in further detail.

As shown in Figure 1: a kind of online fast calibration device of TCP being applied to industrial robot 3, including switch board 1, TCP Caliberating device 2, industrial robot 3, end-of-arm tooling 4 and control bus 5, switch board 1 connects TCP mark respectively by controlling bus 5 Determining device 2 and industrial robot 3, end-of-arm tooling 4 is arranged on industrial robot 3；

As shown in Figure 2: TCP caliberating device 2 includes TCP detection device 201, demarcates controller 203 and mounting seat 202, TCP detection device 201 passes through mounting seat 202 and is fixedly mounted on the side of industrial robot 3, measures plane and industrial robot The XOY plane of 3 basis coordinates systems is parallel.

Correlation photoelectric sensor 1-301,3-303 laser beam parallel with the X-axis of industrial robot 3 basis coordinates system. Correlation photoelectric sensor 2-302,4-304 laser beam parallel with the Y-axis of industrial robot 3 basis coordinates system.

As shown in Figure 3: TCP detection device 201 include device upper cover 306, device body 307, accuracy test switch 305 with And four groups of correlation photoelectric sensor, described accuracy test switch 305 is arranged at device body 307 upper surface, and described device is originally Body 307 is longitudinal foursquare cuboid of hollow out, and four groups of correlation photoelectric sensor are respectively arranged at inside device body 307 Face, correlation photoelectric sensor 1-301,3-303 are in same vertical plane, and the mounting distance of sensor is d, correlation photoelectricity Sensor 2-302,4-304 are in same vertical plane, and the mounting distance of sensor is d, correlation photoelectric sensor 3-303, The laser beam of 4-304 is mutually perpendicular to and in same level, correlation photoelectric sensor 1-301, the laser beam of 2-302 Also it is mutually perpendicular to and in same level.

As shown in Figure 4, demarcate controller 203 and include crust of the device 401, micro controller unit, display unit 402, button Unit 403, status indicator lamp 404 and communication interface 405, described demarcation controller 203 obtains the output of accuracy test switch 305 Signal and the make-and-break signal of four groups of correlation photoelectric sensor, by connecting control bus 5 and the switch board of communication interface 405 1 carries out data communication, and by display unit 402, status indicator lamp 404 feedback operation information.

As shown in Figure 9: a kind of online quick calibrating method of TCP being applied to industrial robot 3, it is characterised in that include Following steps:

S1, holding industrial robot 3 end-of-arm tooling 4 are perpendicular to the XOY plane of basis coordinates system, real by artificial teaching method Existing industrial robot 3 end-of-arm tooling 4 is directed at the accuracy detection switch of TCP detection device 201, records industrial robot 3 flange Spatial pose data；

S2, industrial robot 3 work after a period of time continuously, and industrial robot 3 is according to the space bit of original manual teaching Whether the TCP point of appearance Data Detection current industrial robot 3 offsets relatively big, if production requirement cannot be met, then enters and demarcates journey Sequence；

S3, calibrating procedure: demarcate controller 203 and control the end-of-arm tooling 4 of industrial robot 3 with initially by switch board 1 Attitude does the demarcation campaign of square track in TCP detection device 201；In motor process, demarcate the micro-control of controller 203 Device unit processed monitoring TCP detection device 201 in four groups of correlation photoelectric sensor on off operating modes, according to this make-and-break signal time Between point, read and storage industry robot 3 in the flange spatial pose data of this time point, utilize spatial pose stored above Data calculate industrial robot 3 end-of-arm tooling 4 position deviation in X-axis with Y direction and angular deviation, and realize TCP Error compensation；

S4, it is repeated 2 times the operation of step S3, by the iteration of calibration result, reduces TCP calibrated error；

S5, control end-of-arm tooling 4 do linear uniform motion, to determine industrial robot in the Z-direction of basis coordinates system 3TCP position deviation in the Z-axis direction, compensates the error of TCP；

S6, it is repeated 2 times the operation of step S5, by the iteration of calibration result, reduces TCP calibrated error.

Above-mentioned a kind of online quick calibrating method of TCP being applied to industrial robot 3, in step S3, end-of-arm tooling 4 is at X Axle with the computational methods of the position deviation in Y direction is:

As it is shown in figure 5, end-of-arm tooling 4 does the demarcation campaign of square track in TCP detection device 201, it is being moved through Before in journey, the end-of-arm tooling 4 in semipath keeps attitude constant, and the end-of-arm tooling 4 in rear semipath is around the Z of flange coordinate system Axle rotates 180 °.

As shown in Figure 6, demarcate controller 203 by robot control cabinet 1 control the end-of-arm tooling 4 of industrial robot 3 with Initial attitude does the demarcation campaign of square track in TCP detection device 201.In demarcating motor process, end-of-arm tooling 4 is first First pass through correlation photoelectric sensor 1-301 and 3-303.Often through one group of correlation photoelectric sensor, demarcate controller 203 and read Take the spatial pose data of industrial robot 3 flange coordinate system, be designated as P_ijn

Described i represents i-th group of correlation photoelectric sensor, i=1 or 2 or 3 or 4, and wherein 1 is correlation photoelectric sensor 1-301,2 is correlation photoelectric sensor 2-302, and 3-303 is correlation photoelectric sensor 3-303, and 4-304 is correlation photoelectricity Sensor 4-304；

Described j represents the break-make of correlation photoelectric sensor, j=1 or 2, and 1 represents that correlation photoelectric sensor signal connects Logical, 2 represent that correlation photoelectric sensor signal disconnects；

Described n represents that in single cycle motion, n-th passes through i-th group of correlation photoelectric sensor, n=1 or 2；

Based on demarcating the flange coordinate system spatial pose data that controller 203 obtains,

When A, end-of-arm tooling 4 are for the first time by the 1st group of correlation photoelectric sensor 1-301, the center line of end-of-arm tooling 4 is with right The intersection point Y-axis coordinate of the laser beam penetrating formula photoelectric sensor 1-301 is:

$Y_{11}=\frac{P_{111}.Y+P_{121}.Y}{2},$

When end-of-arm tooling 4 is for the first time by the 3rd group of correlation photoelectric sensor 3-303, the center line of end-of-arm tooling 4 and correlation The intersection point Y-axis coordinate of the laser beam of formula photoelectric sensor 3-303 is:

$Y_{31}=\frac{P_{311}.Y+P_{321}.Y}{2},$

When end-of-arm tooling 4 second time is by the 1st group of correlation photoelectric sensor 1-301, the center line of end-of-arm tooling 4 and correlation The intersection point Y-axis coordinate of the laser beam of formula photoelectric sensor 1-301 is:

$Y_{12}=\frac{P_{112}.Y+P_{122}.Y}{2},$

When end-of-arm tooling 4 second time is by the 3rd group of correlation photoelectric sensor 3-303, the center line of end-of-arm tooling 4 and correlation The intersection point Y-axis coordinate of the laser beam of formula photoelectric sensor 3-303 is:

$Y_{32}=\frac{P_{312}.Y+P_{322}.Y}{2},$

Therefore, the TCP of end-of-arm tooling 4 position deviation in the Y-axis direction can be calculated by following formula:

${\mathrm{TCP}}_{\mathrm{\Δ}Y}=\frac{Y_{11}-Y_{12}+Y_{31}-Y_{32}}{4};$

When B, end-of-arm tooling 4 are for the first time by the 2nd group of correlation photoelectric sensor 2-302, the center line of end-of-arm tooling 4 is with right The intersection point X-axis coordinate of the laser beam penetrating formula photoelectric sensor 2-302 is:

$X_{21}=\frac{P_{211}.X+P_{221}.X}{2},$

When end-of-arm tooling 4 is for the first time by the 3rd group of correlation photoelectric sensor 4-304, the center line of end-of-arm tooling 4 and correlation The intersection point Y-axis coordinate of the laser beam of formula photoelectric sensor 4-304 is:

$X_{41}=\frac{P_{411}.X+P_{421}.X}{2},$

When end-of-arm tooling 4 second time is by the 2nd group of correlation photoelectric sensor 2-302, the center line of end-of-arm tooling 4 and correlation The intersection point X-axis coordinate of the laser beam of formula photoelectric sensor 2-302 is:

$X_{22}=\frac{P_{212}.X+P_{222}.X}{2},$

When end-of-arm tooling 4 second time is by the 3rd group of correlation photoelectric sensor 4-304, the center line of end-of-arm tooling 4 and correlation The intersection point Y-axis coordinate of the laser beam of formula photoelectric sensor 4-304 is:

$X_{42}=\frac{P_{412}.X+P_{422}.X}{2},$

Therefore, the TCP of end-of-arm tooling 4 position deviation in the X-axis direction it is calculated:

${\mathrm{TCP}}_{\mathrm{\Δ}X}=\frac{X_{21}-X_{22}+X_{41}-X_{42}}{4}.$

In above-mentioned steps S3, the computational methods of angular deviation are:

As shown in Figure 7: the distance between two-layer correlation photoelectric sensor 1-301 and 3-303 is d up and down, end is calculated The angular deviation of the Y-direction of instrument 4 is shown below:

${\mathrm{TCP}}_{\mathrm{\Δ}RY}=\arctan \frac{L}{d}=\arctan \left(\frac{X_{41}-X_{21}+X_{42}-X_{22}}{2d}\right),$

Distance between two-layer correlation photoelectric sensor 2-302 and 4-304 is d up and down, calculates the X side of end-of-arm tooling 4 To angular deviation be shown below:

${\mathrm{TCP}}_{\mathrm{\Δ}RX}=\arctan \frac{L}{d}=\arctan \left(\frac{Y_{31}-Y_{11}+Y_{32}-Y_{12}}{2d}\right).$

In above-mentioned steps S5, the computational methods of industrial robot 3TCP position deviation in the Z-axis direction are:

As shown in Figure 8: demarcate controller 203 by switch board 1 control the end-of-arm tooling 4 of industrial robot 3 move to right Penetrating formula photoelectric sensor 1-301 and the surface of 2-302 intersection point, along Z-direction, uniform rectilinear moves downward, correlation photoelectricity Sensor 1-301 and 2-302 detects pose data when end-of-arm tooling 4 arrives two ray intersections, obtains with by artificial teaching The initial value P arrived_TCP0Between difference be exactly the TCP deviation in the Z-axis direction of end-of-arm tooling 4:

TCP_Δz=P_TCP.Z-P_TCP0.Z。

During industrial robot 3 performs job task, by the robot control cabinet 1 end to industrial robot 3 The coordinate of ending tool 4 carries out deviation compensation.

The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should Understanding, above-described embodiment limits the present invention the most in any form, and the mode of all employing equivalents or equivalent transformation is obtained Technical scheme, all falls within protection scope of the present invention.

Claims (3)

1. the online fast calibration device of TCP being applied to industrial robot, it is characterised in that include that switch board, TCP demarcate Device, industrial robot, end-of-arm tooling and control bus, described switch board connects TCP caliberating device respectively by controlling bus And industrial robot, end-of-arm tooling is arranged on industrial robot；Described TCP caliberating device includes TCP detection device, demarcates control Device processed and mounting seat, TCP detection device is fixedly mounted on the side of industrial robot, measures plane and work by mounting seat The XOY plane of basis coordinates system of industry robot is parallel.

A kind of online fast calibration device of TCP being applied to industrial robot the most according to claim 1, it is characterised in that Described TCP detection device includes device upper cover, device body, accuracy test switch and four groups of correlation photoelectric sensor, institute Stating accuracy test switch and be arranged at device body upper surface, described device body is longitudinal foursquare cuboid of hollow out, four groups Correlation photoelectric sensor is respectively arranged on the longitudinal midline of device body medial surface, and the laser of correlation photoelectric sensor is penetrated Line is mutually perpendicular to and in same level.

A kind of online fast calibration device of TCP being applied to industrial robot the most according to claim 1, it is characterised in that Described demarcation controller includes crust of the device, micro controller unit, display unit, push-button unit, status indicator lamp and connects with communicating Mouthful, described demarcation controller obtains the output signal of accuracy test switch and the break-make letter of four groups of correlation photoelectric sensor Number, carry out data communication by connecting control bus and the switch board of communication interface, and anti-by display unit, status indicator lamp Feedback job information.