CN211373530U - Calibration device for laser sensor mounting position - Google Patents
Calibration device for laser sensor mounting position Download PDFInfo
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- CN211373530U CN211373530U CN202020430735.9U CN202020430735U CN211373530U CN 211373530 U CN211373530 U CN 211373530U CN 202020430735 U CN202020430735 U CN 202020430735U CN 211373530 U CN211373530 U CN 211373530U
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Abstract
The utility model discloses a calibration device for the installation position of a laser sensor, which comprises a calibration plate, a mounting rack and a positioning needle, wherein the mounting rack comprises a connecting part, a first installation part and a second installation part, the connecting part is used for being connected with the tail end of an mechanical arm, the positioning needle is connected with the first installation part, and the second installation part is used for installing the laser sensor; the marking plate is arranged on the working table surface, and a marking line vertical to the surface of the marking plate is arranged on the surface of the marking plate. The utility model discloses accessible teaching point location calculates laser sensor mounted position's position and attitude deviation, does not have the high accuracy requirement to the installation work piece, and easy operation is effective, the calculated result is accurate.
Description
Technical Field
The utility model relates to a laser sensor marks technical field, concretely relates to calibration device of laser sensor mounted position.
Background
The laser sensor is a sensor for sensing the contour dimension of an object in a laser scanning plane, and when the laser sensor is used with a mechanical arm, the laser sensor is usually arranged at the tail end of the mechanical arm, so that dynamic object contour scanning can be realized. When the laser sensor is installed at the tail end of the mechanical arm, an installation error exists between the laser sensor and the mechanical arm, and the position and the attitude deviation between the laser sensor and the mechanical arm cannot be measured by a conventional common method, but the attitude and the position relation between the laser sensor and the mechanical arm are important parameters of the operation of the mechanical arm, and if the deviation is ignored, the execution precision of the mechanical arm is influenced. In the prior art, the machining precision of the mounted workpiece is generally improved to reduce the deviation, so as to reduce the influence of the deviation on the operation of the mechanical arm, but the method has high cost, and the influence caused by the deviation cannot be effectively eliminated.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems existing in the prior art, the utility model aims to provide a calibration device for laser sensor mounting position. Use the utility model discloses a calibration device, several teaching point positions of accessible calculate laser sensor mounted position's position and attitude deviation, do not have the high accuracy requirement to the installation work piece, and easy operation is effective, the calculated result is accurate.
The utility model discloses a calibration device of laser sensor mounted position, including marking board, mounting bracket and pilot pin, the mounting bracket includes connecting portion, first installation department and second installation department, connecting portion are used for being connected with the arm end, the pilot pin with first installation department is connected, the second installation department is used for installing laser sensor; the marking plate is arranged on the working table surface, and a marking line vertical to the surface of the marking plate is arranged on the surface of the marking plate.
Preferably, the marking line is a metal line.
Preferably, the indication board is provided with a jack matched with the indication line, and the indication line is inserted into the jack.
Preferably, first installation department be equipped with the mounting hole of pilot pin looks adaptation, be equipped with the internal thread in the mounting hole, the upper end of pilot pin be equipped with the external screw thread of internal thread looks adaptation, the pilot pin with mounting hole threaded connection.
Preferably, the positioning pin is parallel to the emitting direction of the laser sensor.
A calibration device of laser sensor mounted position, its advantage lies in, the utility model discloses a posture deviation and the positional deviation of several teaching points of calibration device accessible calculate laser sensor and mounted position (arm end promptly) fast, this deviation parameter can reduce or even eliminate and carry out the precision by laser sensor installation error to the arm and cause the influence, guarantees the execution precision of arm. The utility model discloses a calibration device has simple structure, and required precision and processing cost are low, installation and convenient to use's advantage.
Drawings
Fig. 1 is a schematic structural diagram of a calibration apparatus for a laser sensor mounting position according to the present invention;
fig. 2 is a step diagram of a calibration apparatus for a laser sensor mounting position according to the present invention.
Description of reference numerals: 1-mechanical arm, 2-mounting rack, 21-connecting part, 22-first mounting part, 23-second mounting part, 3-positioning pin, 4-laser sensor, 5-working table, 6-marking plate, 7-marking line, P-fixed point, U0-world coordinate system, U1-tool coordinate system and U2-sensor coordinate system.
Detailed Description
As shown in fig. 1, the calibration device for the mounting position of the laser sensor in the present invention comprises a marking plate 6, a mounting frame 2 and a positioning pin 3, wherein the mounting frame 2 comprises a connecting portion 21, a first mounting portion 22 and a second mounting portion 23, the connecting portion 21 is used for connecting with the end of the mechanical arm 1, the positioning pin 3 is connected with the first mounting portion 22, and the second mounting portion 23 is used for mounting the laser sensor 4; the mark plate 6 is arranged on the working table surface 5, and a mark line 7 vertical to the surface of the mark plate 6 is arranged on the surface of the mark plate 6. Specifically, the indication plate 6 is a square metal plate and is horizontally arranged on the working table 5 in a bolt connection mode. The mounting bracket 2 is a steel frame, and the connecting part 21 is connected with the tail end of the mechanical arm 1 through a bolt in a manner of being matched with the tail end of the mechanical arm 1. The first mounting portion 22 and the second mounting portion 23 extend in parallel, so that the mounting bracket 2 is formed into a fork shape as a whole, the first mounting portion 22 is formed into a long rod shape, the upper end thereof is connected to the connecting portion 21, and the lower end thereof is connected to the positioning pin 3. The second mounting portion 23 is also in the shape of a long rod, the upper end of the second mounting portion is connected to the connecting portion 21, the lower end of the second mounting portion is matched with the laser sensor 4, and the laser sensor 4 is fixed to the lower end of the second mounting portion 23 through a bolt. The central position of the surface of the indication plate 6 is provided with an indication line 7 which extends vertically, and the vertical point of the indication line 7 and the surface of the indication plate 6 is marked as a fixed point P.
Calibration device's use is specifically as follows to the process is markd to the terminal 4 mounted position of laser sensor of six arms (hereinafter for short the arm) is for example, and arm 1 is installed subaerially, is equipped with a table surface 5 subaerially within the working radius of arm 1. As shown in fig. 2, the using process of the calibration device described in this embodiment specifically includes the following steps:
s01, installing the positioning needle 3 and the laser sensor 4 at the tail end of the mechanical arm 1, specifically, manually controlling the mechanical arm 1 through a demonstrator, adjusting the mechanical arm 1 to the posture that the tail end faces upwards, installing the positioning needle 3 and the laser sensor 4 on the installation frame 2 together, and installing the installation frame 2 at the tail end of the mechanical arm 1 stably through bolts.
S02, establishing a world coordinate system U0 by taking the center of a base of the mechanical arm 1 as an origin of coordinates, establishing a tool coordinate system U1 by taking a tip point at the tail end of the positioning pin 3 as the origin of coordinates, and establishing a sensor coordinate system U2 by taking the center point of the laser sensor 4 as the origin of coordinates; the world coordinate system U0 is a reference coordinate system of the robot arm 1, and coordinates of the end of the robot arm 1 in the world coordinate system U0 can be read in real time in the teaching machine.
S03, horizontally installing the marking plate 6 on the working table surface 5, vertically installing the marking line 7 on the plate surface of the marking plate 6, and marking the vertical point of the marking line 7 and the plate surface of the marking plate 6 as a fixed point P.
S04, the robot arm 1 is controlled by the teaching machine to move, the tip of the stylus 3 is moved to the fixed point P, the coordinate of the end of the robot arm 1 in the world coordinate system U0 at this time is read by the teaching machine, and the coordinate is recorded as the start coordinate P0.
And S05, after the recording is finished, translating the tail end of the mechanical arm 1 through the demonstrator, translating the positioning needle 3 to the left side of the fixed point P, and adjusting the posture of the mechanical arm 1 to enable the laser line emitted by the laser sensor 4 to coincide with the marking line 7. The coordinates of the end of the robot arm 1 in the world coordinate system U0 at this time are read by the teach pendant and recorded as first offset point coordinates PT1, the detection data of the laser sensor 4 are read, and the coordinates of the fixed point P detected by the laser sensor 4 in the sensor coordinate system U2 are recorded as first fixed point coordinates PC 1.
And S06, after the recording is finished, translating the tail end of the mechanical arm 1 through the demonstrator, translating the positioning needle 3 to the upper left side of the fixed point P, and adjusting the posture of the mechanical arm 1 to enable the laser line emitted by the laser sensor 4 to coincide with the marking line 7. The coordinates of the end of the robot arm 1 in the world coordinate system U0 at this time are read by the teach pendant and recorded as second offset point coordinates PT2, the detection data of the laser sensor 4 are read, and the coordinates of the fixed point P detected by the laser sensor 4 in the sensor coordinate system U2 are recorded as second fixed point coordinates PC 2.
And S07, after the recording is finished, translating the tail end of the mechanical arm 1 through the demonstrator, translating the positioning needle 3 to the right side of the fixed point P, and adjusting the posture of the mechanical arm 1 to enable the laser line emitted by the laser sensor 4 to coincide with the marking line 7. The coordinates of the end of the robot arm 1 in the world coordinate system U0 at this time are read by the teach pendant and recorded as third offset point coordinates PT3, the detection data of the laser sensor 4 is read, and the coordinates of the fixed point P detected by the laser sensor 4 in the sensor coordinate system U2 are recorded as third fixed point coordinates PC 3.
And S08, after the recording is finished, translating the tail end of the mechanical arm 1 through the demonstrator, translating the positioning needle 3 to the upper right side of the fixed point P, and adjusting the posture of the mechanical arm 1 to enable the laser line emitted by the laser sensor 4 to coincide with the marking line 7. The coordinates of the end of the robot arm 1 in the world coordinate system U0 at this time are read by the teach pendant and recorded as fourth offset point coordinates PT4, the detection data of the laser sensor 4 is read, and the coordinates of the fixed point P detected by the laser sensor 4 in the sensor coordinate system U2 are recorded as fourth fixed point coordinates PC 4.
S09, coordinate-converting the first offset point coordinate PT1, the second offset point coordinate PT2, the third offset point coordinate PT3 and the fourth offset point coordinate PT4 in the world coordinate system U0 by a matrix transformation method according to the start coordinate P0, the first offset point coordinate PT1, the second offset point coordinate PT2, the third offset point coordinate PT3 and the fourth offset point coordinate PT4, and converting the coordinates into the tool coordinate system U1 to obtain a first converted coordinate P1_ U1, a second converted coordinate P2_ U1, a third converted coordinate P3_ U1 and a fourth converted coordinate P4_ U1, respectively.
S10, according to a coordinate point set under a sensor coordinate system U2: first fixed point coordinate PC1, second fixed point coordinate PC2, third fixed point coordinate PC3 and fourth fixed point coordinate PC4, set of coordinate points under tool coordinate system U1: the first conversion coordinate P1_ U1, the second conversion coordinate P2_ U1, the third conversion coordinate P3_ U1 and the fourth conversion coordinate P4_ U1 are obtained by solving a transfer matrix between the tool coordinate system U1 and the sensor coordinate system U2 by an Iterative Closest Point (ICP) algorithm, and obtaining a position deviation and an attitude deviation of the sensor coordinate system U2 relative to the tool coordinate system U1, and the position deviation and the attitude deviation between the tool coordinate system U1 and the sensor coordinate system U2 are equal to a position deviation and an attitude deviation of the laser sensor and an installation position (i.e., a robot arm end) according to a coordinate system transformation principle.
The utility model discloses a calibration device several teaching point positions of accessible calculate laser sensor and mounted position's attitude deviation and positional deviation fast, and this deviation parameter can reduce or even eliminate and carry out the precision to the arm by laser sensor installation error and cause the influence, guarantees the execution precision of arm. The utility model discloses a calibration device has simple structure, and required precision and processing cost are low, installation and convenient to use's advantage.
In this embodiment, the indication line 7 is a metal line, which has high hardness and is not easy to deform, and the relative position between the indication line and the laser line is easy to observe to determine whether the indication line and the laser line coincide with each other.
The indication board 6 is provided with a jack matched with the indication line 7, and the indication line 7 is inserted in the jack. The structure can facilitate the disassembly and assembly of the marking line 7.
The positioning needle 3 is parallel to the emitting direction of the laser sensor 4, so that the alignment process of the laser emitted by the laser sensor 4 and the marking line 7 can be facilitated.
In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse explanation, these directional terms do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present application.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures, and it is to be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes are intended to fall within the scope of the claims.
Claims (5)
1. The calibration device for the mounting position of the laser sensor is characterized by comprising a calibration plate, a mounting frame and a positioning needle, wherein the mounting frame comprises a connecting part, a first mounting part and a second mounting part, the connecting part is used for being connected with the tail end of a mechanical arm, the positioning needle is connected with the first mounting part, and the second mounting part is used for mounting the laser sensor; the marking plate is arranged on the working table surface, and a marking line vertical to the surface of the marking plate is arranged on the surface of the marking plate.
2. The calibration device according to claim 1, wherein the calibration wire is a metal wire.
3. The calibration device according to claim 2, wherein the calibration plate is provided with a jack adapted to the calibration wire, and the calibration wire is inserted into the jack.
4. The calibration device according to claim 1, wherein the first mounting portion is provided with a mounting hole adapted to the positioning pin, an internal thread is provided in the mounting hole, an external thread adapted to the internal thread is provided at an upper end of the positioning pin, and the positioning pin is in threaded connection with the mounting hole.
5. The calibration device according to claim 1, wherein the positioning pin is parallel to the emitting direction of the laser sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020430735.9U CN211373530U (en) | 2020-03-28 | 2020-03-28 | Calibration device for laser sensor mounting position |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020430735.9U CN211373530U (en) | 2020-03-28 | 2020-03-28 | Calibration device for laser sensor mounting position |
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| CN211373530U true CN211373530U (en) | 2020-08-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272098A (en) * | 2020-03-28 | 2020-06-12 | 新蔚来智能科技(深圳)有限公司 | Calibration method and calibration device for laser sensor mounting position |
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- 2020-03-28 CN CN202020430735.9U patent/CN211373530U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272098A (en) * | 2020-03-28 | 2020-06-12 | 新蔚来智能科技(深圳)有限公司 | Calibration method and calibration device for laser sensor mounting position |
| CN111272098B (en) * | 2020-03-28 | 2024-09-20 | 新蔚来智能科技(深圳)有限公司 | Calibration method and calibration device for mounting position of laser sensor |
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