CN210189855U - Robot zero calibration device and system - Google Patents
Robot zero calibration device and system Download PDFInfo
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- CN210189855U CN210189855U CN201920496483.7U CN201920496483U CN210189855U CN 210189855 U CN210189855 U CN 210189855U CN 201920496483 U CN201920496483 U CN 201920496483U CN 210189855 U CN210189855 U CN 210189855U
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Abstract
The utility model provides a zero calibration device and a zero calibration system for a robot, wherein the zero calibration system for the robot comprises a dial indicator provided with a measuring rod, a fitting part for clamping the measuring rod and a fixing part detachably connected with the fitting part, and the fixing part is fixed on a calibration part of the robot; the front end of the fitting is sequentially provided with a connector, a limiting part and a shaft collar from front to back, and a first through hole which is matched with the measuring rod and penetrates through the connector, the limiting part and the shaft collar is arranged in the fitting; the fixing piece is provided with a second through hole for fixing the connector, and the fixing piece is also provided with a clamping groove matched with the limiting part; when the parts of adjusting zero with the mounting is fixed mutually, the measuring staff of percentage table passes first through-hole, second through-hole in proper order and carries out zero calibration to calibration part. The utility model discloses relative current calibrating device that zeroes, not only simple structure, easily installation are with low costs moreover.
Description
Technical Field
The utility model relates to the technical field of robot, concretely relates to calibration equipment and system at zero point of robot.
Background
Each shaft of the multi-shaft robot is provided with a mechanical zero point, or called a mechanical original position, each shaft needs to be calibrated one by one during zero point calibration of the robot, firstly, an electronic measuring instrument is used for accurately finding the mechanical zero point of a certain shaft, and then, the zero point of the certain shaft is set through a program.
At present, industrial robots become standard equipment and are widely applied globally. In the practical application of the industrial robot, in order to reduce errors in practical operation, before practical operation, a zero point of the robot needs to be calibrated so as to ensure the working precision of the robot. Especially for many applications where high precision is required, such as microelectronics, medical treatment, precision machining, etc., in these cases calibration of the positioning accuracy of an industrial robot is especially important.
The zero calibration method of the existing robot mainly comprises three modes: firstly, a coordinate measuring instrument or a laser interferometer is used for coordinate positioning, then zero point position calibration is carried out by calculating a coordinate equation and a calibration equation with larger calculation amount, the measuring precision is higher, but the measuring process is more complicated and the efficiency is not high; secondly, zero alignment design is carried out on each joint, and a positioning bolt is added for calibration, so that the method is low in precision; thirdly, a high-precision sensor is arranged on a robot body, and then zero point calibration is carried out, but the method is not easy to install and has high cost.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model provides a simple structure, the robot calibrating device at zero point of easily installing has not only improved the robot calibration precision at zero point, and is with low costs moreover. In addition, the invention also provides a robot zero calibration system.
The technical scheme of the utility model is realized like this: a robot zero calibration device comprises a dial indicator provided with a measuring rod, a zero adjustment part used for clamping the measuring rod and a fixing part detachably connected with the zero adjustment part, wherein the fixing part is fixed on a calibration part of a robot; the front end of the fitting is sequentially provided with a connector, a limiting part and a shaft collar from front to back, and a first through hole which is matched with the measuring rod and penetrates through the connector, the limiting part and the shaft collar is arranged in the fitting; the fixing piece is provided with a second through hole for fixing the connector, and the fixing piece is also provided with a clamping groove matched with the limiting part; when the parts of adjusting zero with the mounting is fixed mutually, the measuring staff of percentage table passes first through-hole, second through-hole in proper order and carries out zero calibration to calibration part.
Optionally, when the fitting is fixed to the fixing member, the end face of the fixing member is attached to the end face of the collar.
Optionally, the measuring rod includes a measuring rod, a measuring head disposed at the front end of the measuring rod, and a sleeve sleeved at the rear end of the measuring rod for protection, and the first through hole includes a first cavity adapted to the sleeve and a second cavity adapted to the measuring rod.
Optionally, the zero-setting part is provided with a jackscrew fixing hole for fixing a jackscrew, and the jackscrew is fixed in the jackscrew fixing hole to tightly push the sleeve.
Optionally, the outer wall of the connector is provided with first threads, the inner wall of the second through hole is provided with second threads which can be matched and connected with the first threads, and the part for adjusting the parts is matched and fixed with the fixing piece through the first threads and the second threads.
Optionally, if the diameter of the connecting head is d1, the diameter of the limiting part is d2, and the diameter of the collar is d3, the size relationship of d1, d2 and d3 is d1< d2< d 3.
Optionally, the outer wall of the fitting is provided with parallel clamping surfaces for clamping a tool.
The robot zero calibration system comprises the robot zero calibration device and a robot provided with a calibration component.
Optionally, the robot zero calibration system further includes a calibration structure connected to the calibration component, and the calibration structure is provided with a V-shaped groove for detecting whether the calibration component is calibrated.
Compared with the prior art, the utility model discloses still have following advantage: the utility model can fix the dial indicator on the calibration part of the robot through the matching connection of the zero-setting accessory and the fixing piece, and then zero-setting is carried out on the calibration part, thus having simple structure, convenient installation and low cost; furthermore, the utility model discloses a zero set accessory that is equipped with connector, spacing portion, axle collar is fixed with the cooperation that is equipped with the mounting of draw-in groove and has ensured the assembly precision of percentage table to the zero set precision of the calibration part of robot has been guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic diagram of an explosion structure of an embodiment of the zero calibration apparatus for a robot according to the present invention;
fig. 2 is a schematic structural diagram of the zero adjustment part in the zero calibration device for the robot of the present invention;
fig. 3 is a cross-sectional view of the zero adjustment part of the robot zero calibration device of the present invention;
fig. 4 is a schematic structural diagram of a fixing member in the zero calibration device of the present invention;
FIG. 5 is a schematic view of an assembly structure of an embodiment of the zero calibration system for a robot according to the present invention;
fig. 6 is a schematic view of an assembly structure of another embodiment of the zero point calibration system for robot of the present invention.
The attached drawings are as follows: 1 percent meter; 11 measuring rods; 1101 a sleeve; 1102 measuring rod; 1103 measuring head; 2, parts for zero adjustment; 21 a connecting head; 2101 first threads; 22 a limiting part; 23 a collar; 24 a first via hole; 2401 a first cavity; 2402 a second cavity; 25 jackscrew fixing holes; 26 parallel clamping surfaces; 3, fixing the part; 31 a second through hole; 3101 a second thread; 32 card slots; 4 calibrating the component; 5, calibrating the structure; a 51V-shaped groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 to 5, the zero calibration device for a robot of the present invention includes a dial indicator 1 having a measuring rod 11, a fitting 2 for holding the measuring rod 11, and a fixing member 3 detachably connected to the fitting 2, wherein the fixing member 3 is fixed to a calibration member 4 of the robot; the front end of the fitting 2 is sequentially provided with a connector 21, a limiting part 22 and a shaft collar 23 from front to back, and a first through hole 24 which is matched with the measuring rod 11 and penetrates through the connector 21, the limiting part 22 and the shaft collar 23 is arranged in the fitting 2; the fixing piece 3 is provided with a second through hole 31 for fixing the connector 21, and the fixing piece 3 is also provided with a clamping groove 32 matched with the limiting part 22; when the parts 2 are fixed with the fixing part 3, the measuring rod 11 of the dial indicator 1 sequentially passes through the first through hole 24 and the second through hole 31 to carry out zero calibration on the calibration part 4, and whether the calibration part 4 is at a zero point is determined; if the calibration part is not at the zero point position, the calibration part 4 is moved until the calibration part 4 is at the zero point position, and the calibration is completed. When the fitting 2 is fixed to the fixing member 3, the end face of the fixing member 3 is attached to the end face of the collar 23, so that the limiting portion 22 is limited in the slot 32, and the assembling accuracy of the fitting 2 and the fixing member 3 is ensured.
The dial indicator 1 may be an existing general dial indicator or dial indicator, the measuring rod 11 specifically includes a measuring rod 1102, a measuring head 1103 disposed at the front end of the measuring rod 1102, and a sleeve 1101 sleeved at the rear end of the measuring rod 1102 and having a protection effect, and the first through hole 24 includes a first cavity 2401 adapted to the sleeve 1101 and a second cavity 2402 adapted to the measuring rod 1102, so that the measuring rod 11 is limited in the zeroing fitting 2, and the installation accuracy of the dial indicator 1 and the zeroing fitting 2 is improved. Further, be equipped with the jackscrew fixed orifices 25 that is used for through jackscrew fixed sleeve 1101 on the fitting 2 of zeroing, the jackscrew is fixed in jackscrew fixed orifices 25 with top sleeve 1101 tightly, makes measuring stick 1102 can move steadily, nimble in first through-hole 24 (be promptly on the horizontal direction of first through-hole 24), but can't produce relative movement between the direction of the first through-hole 24 of perpendicular to and the first through-hole 24 to the installation accuracy of percentage table 1 and the fitting 2 of zeroing has further been improved.
The outer wall of the connector 21 is provided with a first thread 2101, the inner wall of the second through hole 31 is provided with a second thread 3101 which can be matched and connected with the first thread 2101, and the zero-setting part 2 and the fixed part 3 are matched and fixed through the first thread 2101 and the second thread 3101.
Further, the fitting 2 is provided with parallel clamping surfaces 26 to provide a tool clamping position for screwing and tightening the connector 21 into the second through hole 31. Wherein the jackscrew fixing hole 25 can be arranged on the parallel clamping surface 26.
Further, if the diameter of the connecting head 21 is d1, the diameter of the stopper 22 is d2, and the diameter of the collar 23 is d3, the size relationship of d1, d2, and d3 is d1< d2< d 3. When the second through hole 31 is in threaded connection with the connector 21, the limiting portion 22 is fixed in the clamping groove 32, and the end face of the fixing member 3 is attached to the end face of the collar 23, it can be seen that due to the existence of the limiting portion 22 and the collar 23, the positions of the zero-setting part 2 and the fixing member 3 are relatively accurate during assembly, and the clamping groove 32 is matched with the limiting portion 22, so that looseness between the zero-setting part 2 and the fixing member 3 is avoided, and the installation accuracy of the zero-setting part 2 and the fixing member 3 is improved.
When connector 21 and mounting 3 screw thread locking, spacing portion 22 and draw-in groove 32 tight fit, the terminal surface of connector 21 and the terminal surface of mounting 3 are hugged closely this moment, do not have the clearance, reach accurate effect. Therefore, when the connector 21 is screwed to the fixing member 3, the end surface of the connector 21 is observed to be closely attached to the end surface of the fixing member 3, so that whether the position of the fitting 2 and the fixing member 3 is accurate during assembly is judged.
Referring to fig. 5 and 6, the utility model also discloses a calibration system at zero point of robot, including above calibration device at zero point of robot and the robot that is equipped with calibration part 4. In addition, the calibration structure 5 is arranged on the robot, the calibration structure 5 is provided with a V-shaped groove 51 for detecting whether the calibration component 4 is calibrated, and when the calibration component 4 corresponds to the lowest point of the V-shaped groove 51, zero point calibration is carried out.
Wherein, the fixing part 3 of the zero point calibration device is fixed on the reference position of the calibration part 4, and the position of the V-shaped groove 51 satisfies: when the reference position of the calibration portion 4 is directly opposite to the lowest point of the V-groove 51 of the calibration structure 5, zero calibration is performed. For example, the reference position of the calibration member 4 may be set as a zero-point position, wherein the calibration member 4 is movable or rotatable relative to the calibration structure 5, and the calibration structure 5 is not movable and rotatable during the zero-point calibration, and when the reference position of the calibration member 4 is directly opposite to the lowest point of the V-groove 51, the zero-point calibration of the calibration member 4 is completed. The calibration member 4 may be mounted on the calibration structure 5 by bearings so that the calibration member 4 may rotate on the calibration structure 5. The zero calibration process of the calibration component 4 is specifically as follows:
fixing the measuring rod 11 of the dial indicator 1 in the first through hole 24 of the fitting part 2, and tightly jacking the sleeve 1101 through a jackscrew to prevent the dial indicator 1 from moving relative to the fitting part 2; then, the parts 2 are installed in the fixing member 3 installed on the calibration part 4, thereby completing the process of fixing the dial indicator 1 on the calibration part 4; the calibration part 4 is rotated, and since the dial indicator 1 is already fixed on the calibration part 4, the dial indicator 1 will also rotate along with the calibration part 4, at this time, the measuring head 1103 of the dial indicator 1 moves on the calibration structure 5 for measurement, and when the measuring head 1103 moves to the lowest point of the V-shaped groove 51, the zero calibration work of the calibration part 4 is completed.
Since the reading of the measuring head 1103 of the dial indicator 1 located at the lowest point in the V-groove 51 is different from the reading of the dial indicator 1 located at other positions of the calibration structure 5, it can be determined whether the calibration component 4 is located at the zero point by observing the reading of the dial indicator 1 in real time. For example, when the measuring head 1103 of the dial indicator 1 is located at the lowest point of the V-groove 51, the indicated value of the dial indicator 1 is the smallest, i.e. the zero point. When the measuring head 1103 of the dial indicator 1 is located at the lowest point of the V-shaped groove 51, the dial indicator 1 is slightly moved left or right, and the indication value is increased, so that whether the measuring head 1103 is located at the lowest point of the V-shaped groove 51 can be determined according to the change of the indication value of the dial indicator 1, thereby ensuring the accuracy of zero point calibration, that is, when the indication value of the dial indicator 1 is the minimum, the zero point calibration of the calibration component 4 is completed.
The utility model discloses relative current calibrating device that zeroes, not only simple structure, easily installation are with low costs moreover.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A robot zero calibration device is characterized by comprising a dial indicator provided with a measuring rod, a zero adjustment part used for clamping the measuring rod and a fixing part detachably connected with the zero adjustment part, wherein the fixing part is fixed on a calibration part of a robot; the front end of the fitting is sequentially provided with a connector, a limiting part and a shaft collar from front to back, and a first through hole which is matched with the measuring rod and penetrates through the connector, the limiting part and the shaft collar is arranged in the fitting; the fixing piece is provided with a second through hole for fixing the connector, and the fixing piece is also provided with a clamping groove matched with the limiting part; when the parts of adjusting zero with the mounting is fixed mutually, the measuring staff of percentage table passes first through-hole, second through-hole in proper order and carries out zero calibration to calibration part.
2. The robot zero point calibration device of claim 1, wherein when the zero adjustment fitting is fixed to the fixing member, an end surface of the fixing member abuts against an end surface of the collar.
3. The zero-point calibration device for the robot according to claim 1, wherein the measuring rod comprises a measuring rod, a measuring head disposed at a front end of the measuring rod, and a sleeve disposed at a rear end of the measuring rod for protection, and the first through hole comprises a first cavity adapted to the sleeve and a second cavity adapted to the measuring rod.
4. The zero-point calibration device for a robot according to claim 3, wherein the zero-setting fitting has a jack screw fixing hole for fixing a jack screw, and the jack screw is fixed in the jack screw fixing hole to tighten the sleeve.
5. The robot zero point calibration device according to claim 1, wherein an outer wall of the connection head is provided with a first thread, an inner wall of the second through hole is provided with a second thread that is fittingly connected to the first thread, and the zero adjustment fitting and the fixing member are fittingly fixed by the first thread and the second thread.
6. The zero-point calibration device for robot of claim 1, wherein the coupling head has a diameter d1, the position-limiting part has a diameter d2, and the collar has a diameter d3, such that the relationship between the sizes of d1, d2 and d3 is d1< d2< d 3.
7. The zero-point calibration device for a robot according to claim 1, wherein the fitting has parallel holding surfaces on its outer wall for holding a tool.
8. A robot zero-point calibration system, characterized by comprising the robot zero-point calibration device according to any one of claims 1 to 7, and further comprising a robot provided with a calibration component.
9. The zero-point calibration system for a robot according to claim 8, further comprising a calibration structure connected to the calibration member, wherein the calibration structure is provided with a V-groove for detecting whether the calibration member is calibrated.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920496483.7U CN210189855U (en) | 2019-04-12 | 2019-04-12 | Robot zero calibration device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920496483.7U CN210189855U (en) | 2019-04-12 | 2019-04-12 | Robot zero calibration device and system |
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| CN210189855U true CN210189855U (en) | 2020-03-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115556096A (en) * | 2022-09-27 | 2023-01-03 | 广州市阳普机电工程有限公司 | Automatic calibration method for joint zero point of multi-axis robot and robot |
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2019
- 2019-04-12 CN CN201920496483.7U patent/CN210189855U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115556096A (en) * | 2022-09-27 | 2023-01-03 | 广州市阳普机电工程有限公司 | Automatic calibration method for joint zero point of multi-axis robot and robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210617 Address after: 511458 room 206, building 3, No. 62, Dayong Road, Nansha District, Guangzhou, Guangdong Province Patentee after: Guangzhou Xinke Intelligent Equipment Co.,Ltd. Address before: 511458 No. 28, No. 62, Dayong Road, Nansha street, Nansha District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU LIANGDIAN EQUIPMENT TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |