CN210282360U - Calibration tool capable of adjusting posture - Google Patents
Calibration tool capable of adjusting posture Download PDFInfo
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- CN210282360U CN210282360U CN201920465779.2U CN201920465779U CN210282360U CN 210282360 U CN210282360 U CN 210282360U CN 201920465779 U CN201920465779 U CN 201920465779U CN 210282360 U CN210282360 U CN 210282360U
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Abstract
The utility model relates to a calibration tool capable of adjusting posture, which comprises a fixed seat, a first rotating arm arranged on the fixed seat, a second rotating arm connected with the first rotating arm and a gun calibration needle arranged on the second rotating arm; the first rotating arm rotates around a first axis, the second rotating arm rotates around a second axis, and the first axis is perpendicular to the second axis. The calibration tool adopts the two rotary arms to perform posture adjustment on the calibration tool, and the rotary axes of the two rotary arms are perpendicular to each other, so that the tip point of the end part of the calibration gun needle is always positioned at one point, and the axis of the calibration gun needle is consistent with the axis angle of the gun body of the industrial robot TCP when the first rotary arm and the second rotary arm are rotated.
Description
Technical Field
The utility model relates to a calibration tool of adjustable gesture belongs to automatic technical field.
Background
The robot programming mainly comprises online teaching and offline programming, wherein the offline programming technology is widely applied to the robot by virtue of the advantage that the offline programming technology does not occupy field robot resources. By adopting the off-line programming technology, the on-site teaching time is reduced, and the programming efficiency is obviously improved. For offline programming, there are many factors that affect the error, such as tool coordinate system (TCP), user coordinate system, accuracy of the positioner, and so on. The first thing is the tool coordinate system, and the calibration is accurate as much as possible, so that the error is reduced. How to reduce the calibration error and improve the calibration speed is an important subject of the current off-line programming. However, the conventional manual calibration method has the following disadvantages: the calibration speed is slow and the error is large.
Based on the situation, the technology provides the calibration tool with the adjustable posture, and the calibration tool has the advantages that the rapid calibration of a tool coordinate system can be realized, and the calibration precision can be improved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a calibration tool of adjustable gesture, mainly used solve the great problem of present manual calibration robot instrument coordinate system error, with the help of the adjustment of gesture, improve the precision of manual demarcation.
In order to achieve the above purpose, the utility model provides a following technical scheme: a calibration tool capable of adjusting postures comprises a fixed seat, a first rotating arm arranged on the fixed seat, a second rotating arm connected with the first rotating arm, and a gun calibration needle arranged on the second rotating arm; the first rotating arm rotates around a first axis, the second rotating arm rotates around a second axis, and the first axis is perpendicular to the second axis.
Furthermore, a first rotating shaft is arranged on the fixing seat, the first rotating arm is installed on the first rotating shaft, and the first axis is the central axis of the first rotating shaft.
Furthermore, the first rotating arm is connected with the second rotating arm through a second rotating shaft, and the second axis is the central axis of the second rotating shaft.
Further, the corrector pin has an end tip located at the intersection of the first and second axes.
Furthermore, a connecting device is arranged on the fixing seat, so that the calibration tool can be fixed on a workpiece or a tool.
Further, the connecting device is a magnet.
Further, the first rotating arm and the second rotating arm are U-shaped rotating arms.
Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model discloses a calibration tool of adjustable gesture adopts two swivel arms to carry out attitude adjustment to this calibration tool to, the rotation axis mutually perpendicular of two swinging booms makes the tip point of school rifle needle be located a bit all the time, thereby guarantees when rotating first swinging boom and second swinging boom, makes the axis of school rifle needle unanimous with the axis angle of industrial robot TCP's the rifle body. Therefore, the calibration tool with the adjustable posture can solve the problem that the current manual calibration robot tool has larger error in a coordinate system, and the posture adjustment of the calibration tool can improve the precision of manual calibration; moreover, the calibration tool is simple in structure and low in manufacturing cost.
The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
Fig. 1 and fig. 2 are schematic structural views of a calibration tool with adjustable posture according to an embodiment of the present invention;
fig. 3 and fig. 4 are schematic diagrams of the calibration tool for adjusting the posture in the calibration process according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
It should be noted that: the terms such as "upper", "lower", "left", "right", "inner" and "outer" of the present invention are described with reference to the drawings, and are not intended to be limiting terms.
Referring to fig. 1 and 2, an embodiment of the present invention provides an attitude adjustable calibration tool, which includes a fixing base 1, a first rotating arm 2 disposed on the fixing base 1, a second rotating arm 3 connected to the first rotating arm 2, and a gun calibration needle 4 disposed on the second rotating arm 3. The first rotating arm 2 rotates around a first axis 20, the second rotating arm 3 rotates around a second axis 30, and the first axis 20 is perpendicular to the second axis 30.
Specifically, be equipped with first pivot 11 on the fixing base 1, first swinging boom 2 is installed on first pivot 11, first axis 20 is the central axis of first pivot 11. The first rotating arm 2 is connected with the second rotating arm 3 through a second rotating shaft 21, and the second axis 30 is the central axis of the second rotating shaft 21. In this embodiment, the bearings 10 are disposed on the first rotating shaft 11 and the second rotating shaft 21 for fixed connection, so as to ensure the connection between them is firm. The corrector needle 4 has an end cusp 40, the end cusp 40 being located at the intersection of the first axis 20 and the second axis 30.
In this embodiment, the fixing base 1 is provided with a connecting device 12, so that the calibration tool can be fixed to a workpiece or a tool. Preferably, the connecting device 12 is a magnet for attaching the calibration tool to a workpiece or a tool, so that the device is not easily moved during calibration.
In the present embodiment, the first rotating arm 2 and the second rotating arm 3 are U-shaped rotating arms, and two rotating arms are different in size, preferably, in a default state, the central structural axes of the first rotating arm 2 and the second rotating arm 3 coincide with the first axis 20, that is, the axis of the gun calibration needle 4, so as to ensure that the tip point 40 of the gun calibration needle 4 is always located at the intersection point of the first axis 20 and the second axis 30 during the rotation of the first rotating arm 2 and the second rotating arm 3. And, there is the space 100 between first rotating arm 2 and the second rotating arm 3 to avoid the butt rifle needle 4 of proofreading causing the damage in the rotation process.
Referring to fig. 3 and 4, in another embodiment of the present invention, there is provided an application of the calibration tool with adjustable posture in calibration of a robot TCP, specifically, the present embodiment uses a three-point method to calibrate the robot TCP, including the following steps:
s1, fixing the calibration tool 100 with the adjustable posture within the stroke range of the robot 200 by adopting the calibration tool 100 with the adjustable posture;
s2, opening the robot demonstrator, and calibrating the robot TCP by adopting a three-point method;
s3, making the robot TCP approach the tip 104 of the gunning needle 103 in the attitude 1 and keep a certain distance, changing the attitude of the gunning needle 103 by rotating the first rotating arm 101 or the second rotating arm 102 to make it consistent with the attitude 1, moving the position of the robot TCP to approach the tip 104, and recording the position and attitude of the current point;
s4, making the robot TCP approach the tip 104 of the gunning needle 103 in the attitude 2 and keep a certain distance, changing the attitude of the gunning needle 103 by rotating the first rotating arm 101 or the second rotating arm 102 to be consistent with the attitude 2, moving the position of the robot TCP to approach the tip 104, recording the position and attitude of the current point
S5, making the robot TCP approach the tip 104 of the gunning needle 103 in the attitude 3 and keep a certain distance, changing the attitude of the gunning needle 103 by rotating the first rotating arm 101 or the second rotating arm 102 to make it consistent with the attitude 3, moving the position of the robot TCP to approach the tip 104, and recording the position and attitude of the current point;
and S6, executing and finishing the position calibration of the robot TCP according to the positions and postures of the three points recorded by the robot demonstrator.
Preferably, the posture 1, the posture 2 and the posture 3 are different from each other. Three point method demarcation robot TCP is current conventional technology, the utility model discloses a demarcation instrument through adopting foretell adjustable gesture is markd, and other concrete steps are prior art, do not explain here any more.
In summary, the following steps: the utility model discloses a calibration tool of adjustable gesture adopts two swivel arms to carry out attitude adjustment to this calibration tool to, the rotation axis mutually perpendicular of two swinging booms makes the tip point of school rifle needle be located a bit all the time, thereby guarantees when rotating first swinging boom and second swinging boom, makes the axis of school rifle needle unanimous with the axis angle of industrial robot TCP's the rifle body. Therefore, the calibration tool with the adjustable posture can solve the problem that the current manual calibration robot tool has larger error in a coordinate system, and the posture adjustment of the calibration tool can improve the precision of manual calibration; moreover, the calibration tool is simple in structure and low in manufacturing cost.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (7)
1. A calibration tool capable of adjusting postures is characterized by comprising a fixed seat, a first rotating arm arranged on the fixed seat, a second rotating arm connected with the first rotating arm and a gun calibration needle arranged on the second rotating arm; the first rotating arm rotates around a first axis, the second rotating arm rotates around a second axis, and the first axis is perpendicular to the second axis.
2. The attitude-adjustable calibration tool according to claim 1, wherein a first rotating shaft is provided on the fixing base, the first rotating arm is mounted on the first rotating shaft, and the first axis is a central axis of the first rotating shaft.
3. The attitude-adjustable calibration tool according to claim 2, wherein the first rotating arm and the second rotating arm are connected by a second rotating shaft, and the second axis is a central axis of the second rotating shaft.
4. The adjustable attitude calibration tool of claim 3, wherein said corrector pin has an end point located at the intersection of said first and second axes.
5. The attitude-adjustable calibration tool according to claim 1, wherein the fixing base is provided with a connecting device to fix the calibration tool to a workpiece or a tool.
6. The attitude adjustable calibration tool of claim 5, wherein the connecting means is a magnet.
7. The attitude adjustable calibration tool according to any one of claims 1 to 6, wherein the first and second rotating arms are U-shaped rotating arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920465779.2U CN210282360U (en) | 2019-04-09 | 2019-04-09 | Calibration tool capable of adjusting posture |
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| CN201920465779.2U CN210282360U (en) | 2019-04-09 | 2019-04-09 | Calibration tool capable of adjusting posture |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986539A (en) * | 2019-04-09 | 2019-07-09 | 徐州华恒机器人系统有限公司 | The calibration tool of posture adjustable and its application |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986539A (en) * | 2019-04-09 | 2019-07-09 | 徐州华恒机器人系统有限公司 | The calibration tool of posture adjustable and its application |
| CN109986539B (en) * | 2019-04-09 | 2024-03-12 | 徐州华恒机器人系统有限公司 | Gesture-adjustable calibration tool and application thereof |
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