CN212445322U - Industrial robot precision calibration device - Google Patents
Industrial robot precision calibration device Download PDFInfo
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- CN212445322U CN212445322U CN202021108799.3U CN202021108799U CN212445322U CN 212445322 U CN212445322 U CN 212445322U CN 202021108799 U CN202021108799 U CN 202021108799U CN 212445322 U CN212445322 U CN 212445322U
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Abstract
The utility model discloses an industrial robot precision calibration device, which comprises a three-ball seat mechanism, a terminal measuring mechanism, a counter, a computer and the like; the three-ball seat mechanism is fixedly arranged relative to a base of the robot, and the tail end measuring mechanism is connected with the robot through a robot flange; the tail end measuring mechanism is also connected with a computer through a counter, and the computer is connected with the robot, so that a closed loop working circuit is formed. The utility model discloses an industrial robot precision calibration device simple structure has advantages such as portable, low cost, convenient operation and measurement accuracy are reliable. And, utilize the utility model discloses an industrial robot precision calibration device can make things convenient for, accurately mark position appearance and the robot kinematics parameter of robot basic coordinate system, and then improve the absolute positioning accuracy of robot.
Description
Technical Field
The utility model relates to a calibration equipment of robot, in particular to industrial robot precision calibration device, it can be used for demarcating basic coordinate system position appearance of robot and robot kinematics parameter belongs to the robot kinematics field of demarcation.
Background
With the development of the robot application technology, manufacturing enterprises have higher and higher application requirements on the industrial robot offline programming technology, especially in the industries of automobile manufacturing, aviation manufacturing and the like. At present, an industrial robot generally has higher repeated positioning accuracy, but the absolute positioning accuracy is lower, which is mainly caused by the problems that the kinematic parameters of the robot have errors and the robot base coordinate system is difficult to accurately position, thereby affecting the reliability and accuracy of some robot applications including offline programming operation. And the robot kinematics calibration can effectively improve the absolute positioning accuracy of the robot, and has great research significance.
The robot kinematics calibration can be divided into absolute calibration and relative calibration according to whether the conversion relation between the robot base coordinate system and the external physical environment is calibrated. And only the calibration of the kinematic parameter error of the robot body is considered in relative calibration. And the absolute calibration is carried out on the basis of calibrating the kinematic parameters, and simultaneously the pose of the robot base coordinate system is calibrated. The base coordinate system is a reference for describing the robot joint coordinate system and the tail end position, so that accurate calibration of the robot base coordinate system is an important premise for realizing accurate position control of the robot.
In a traditional robot calibration method, external measuring equipment is usually used for acquiring robot pose error information, such as instruments such as a laser tracker, but the traditional robot calibration method has the defects of high cost, heavy equipment and higher operation technology threshold. Therefore, a robot calibration method based on a novel low-cost calibration device is widely researched. For example, CN107042528A discloses a calibration system for an industrial robot, which mainly includes an end effector disposed on the robot and two movable target spheres with fixed sphere center distances, and a calibration algorithm is established by using an error between a nominal distance and an actual distance between the two spheres, so as to calibrate kinematic parameters of a robot body.
Disclosure of Invention
The utility model discloses a main aim at provides an industrial robot precision calibration device to overcome not enough among the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an embodiment of the utility model provides an industrial robot precision calibration device, it includes: the device comprises a three-ball seat mechanism, a tail end measuring mechanism, a counter and a computer; the three-ball seat mechanism is fixedly arranged relative to a base of the robot, and the tail end measuring mechanism is connected with the robot through a robot flange; the tail end measuring mechanism is also connected with a computer through a counter, and the computer is connected with the robot at the same time, so that a closed loop working circuit is formed; the three ball seat mechanisms comprise three precise steel balls and three conical ball seats, the three precise steel balls are respectively installed on the three conical ball seats, the three conical ball seats are fixed on an equilateral triangle base plate, and the three precise steel balls are respectively distributed at three vertex angles of the equilateral triangle.
In some embodiments, the tapered ball seats are further coupled to a magnetic mechanism, and the precision steel balls are mounted on the respective tapered ball seats at least under the magnetic force of the magnetic mechanism.
In some embodiments, the precision steel ball is a steel ball with a G5 precision rating or greater.
In some embodiments, the magnetic mechanism includes a cylindrical permanent magnet and a connection screw, and the connection screw fixedly connects the permanent magnet with the bottom plate through a mounting hole on the permanent magnet.
In some embodiments, the three-ball seat mechanism and the base of the robot are both fixed to a table top of a workbench.
In some embodiments, the base plate is secured to the table top of the table by a plurality of threaded connections.
In some embodiments, the end measuring mechanism comprises a plurality of displacement sensors, wherein the measuring end of each displacement sensor is provided with a measuring needle with a spherical measuring head, and the spherical center of the spherical measuring head of the measuring needle can generate axial displacement when the measuring needle contacts the precision steel ball in the three-ball seat mechanism.
In some embodiments, the tip measurement mechanism comprises three displacement sensors arranged in a ring and spaced 120 ° apart from each other.
In some embodiments, the three-ball mount mechanism is mounted near a target workspace of the robot.
In some embodiments, the poses of the robot for measuring the three ball seat mechanisms are uniformly distributed in the robot working space around the three precise steel balls.
In some embodiments, the counter is connected with the terminal measuring mechanism and the computer through wired or wireless communication respectively, and the computer is connected with the robot through wired or wireless communication.
Compared with the prior art, the embodiment of the utility model provides an industrial robot precision calibration device simple structure has portablely, low-cost, convenient operation and the reliable advantage of measurement accuracy, and key component wherein all can select from current ripe commercial product like accurate steel ball, measuring pin and high accuracy displacement sensor etc. the source is extensive, and utilizes precision calibration device can make things convenient for, accurately mark position appearance and the robot kinematics parameter of robot basic coordinate system, and then improve the absolute positioning accuracy of robot.
Drawings
Fig. 1a is a schematic structural diagram of an industrial robot precision calibration device provided by an embodiment of the present invention.
Fig. 1b is a partially enlarged schematic view of a portion a of fig. 1 a.
Fig. 1c is a partially enlarged schematic view of portion B of fig. 1 a.
Fig. 1d is a cross-sectional view of the structure of the magnetic mechanism of fig. 1 a.
Fig. 2 is a schematic structural diagram of a three-ball seat mechanism and an end measuring mechanism according to an embodiment of the present invention.
Fig. 3 is a schematic view illustrating the installation of the precision steel ball and the conical ball seat in an embodiment of the present invention.
Description of reference numerals: the device comprises a tail end measuring mechanism 1, a robot 2, a three-ball seat mechanism 3, a precision steel ball 4, a workbench 5, a communication cable 6, a communication cable 7, a counter 8, a communication cable 9, a computer 10, a conical ball seat 11, a permanent magnet 12, a bottom plate 13, a measuring pin 14, a displacement sensor 15, a robot flange 16 and a connecting screw 17.
Detailed Description
As described above, in view of the defects of the prior art, such as the problems of expensive and heavy measuring equipment used in the existing robot calibration method, and incapability of calibrating the pose of the robot base coordinate system, the inventors of the present application have long studied and practiced to provide a robot absolute accuracy calibration system with the advantages of portability, low cost, reliable accuracy, and convenient operation, and an absolute calibration method with the functions of calibrating the kinematic parameters of the robot and calibrating the pose of the robot base coordinate system
The present invention will be described in further detail with reference to the following examples and drawings, which are not intended to limit the invention, but are intended to facilitate the understanding thereof.
As shown in fig. 1a to 1d, an embodiment of the present invention provides an industrial robot precision calibration device (hereinafter referred to as "calibration device") including a three-ball-seat mechanism 3, an end measuring mechanism 1, a counter 8, a computer 10, and the like, which are fixedly disposed relative to a robot 2 (particularly, a robot base). Wherein the terminal measuring mechanism 1 is connected with the robot 2 through a robot flange 16; the end measuring mechanism 1 is also connected to a computer via a counter 8, and the computer is connected to the robot 2, thereby forming a closed loop.
Further, the counter 8 may be connected to the terminal measuring mechanism 1 and the computer through wired or wireless communication, and the computer is connected to the robot 2 through wired or wireless communication. For example, referring to fig. 1 a-1 d, the robot 2, the end measuring mechanism 1, the counter 8, and the computer 10 may be connected via communication cables 6, 7, 9.
Further, the three ball seat mechanisms 3 and the base of the robot 2 are fixed on the table top of a workbench 5.
Further, referring to fig. 2, the three-ball seat mechanism 3 of the present embodiment includes an equilateral triangle bottom plate 13, 3 precision steel balls 4, and 3 conical ball seats 11. The conical ball seats 11 are fixed on the bottom plate 13, the three precise steel balls 4 are respectively installed on the three conical ball seats 11, and the three precise steel balls 4 are respectively distributed at three vertex angles of the equilateral triangle.
Further, the three-ball seat mechanism 3 further comprises 3 magnetic mechanisms, the conical ball seats 11 are matched with the magnetic mechanisms, and each precise steel ball 4 is mounted on the corresponding conical ball seat 11 by means of the magnetic attraction force of the magnetic mechanisms.
Further, the precision steel ball is a steel ball with a G5 precision grade or above.
Further, the magnetic mechanism comprises a cylindrical permanent magnet 12 with a countersunk mounting hole and a connecting screw 17, and the permanent magnet 12 is fixed on the bottom plate 13 through the connecting screw 17. The permanent magnet 12 may be a neodymium magnet or the like.
Furthermore, the bottom plate 13 is in an equilateral triangle, so that the robot calibration is simpler and more accurate. The bottom plate 13 can be fixed on the table top of the workbench 5 through a plurality of threaded connectors arranged at intervals.
Further, the three ball seat mechanism 3 is installed near a target working space of the robot 2 to ensure the actual operation precision of the calibrated robot.
Further, the tail end measuring mechanism further comprises three displacement sensors 15, the three displacement sensors 15 are arranged in a ring shape and are separated by 120 degrees, a measuring needle 14 with a spherical measuring head is installed at the measuring end of each displacement sensor 15, and when the measuring needle 14 contacts the precision steel ball 4 in the three-ball seat mechanism 3, the spherical center of the spherical measuring head of the measuring needle 14 can generate axial displacement.
When the industrial robot precision calibration device of the embodiment is used for working, an external world coordinate system { w } describing a robot base coordinate system {0} can be established based on the position arrangement relationship of each precision steel ball 4 in the three-ball seat mechanism, namely the position distribution of each ball center, and is used for describing all coordinate systems in a robot system. And, the displacement sensor 15 and the probe 3 can be used to measure the position coordinates of the center of sphere of the precision steel ball 4 with respect to the robot flange coordinate system { F }. And then, the tail end measuring mechanism can be used for measuring tail end position error information of the robot, and a computer is used for processing the position error information, the joint angle data of the robot and the like by an absolute precision calibration program to obtain an accurate kinematic model of the robot under a world coordinate system { w }. The above absolute accuracy calibration algorithm is known in the art, and the aforementioned information collection and processing processes can be performed by means known in the art, for example, by means of software such as Matlab, and thus will not be described in detail herein.
Further, when the industrial robot precision calibration device works, the pose of the robot 2 for measuring the three ball seat mechanisms 3 can be uniformly distributed in the robot working space around the three precision steel balls 4. The poses of the robot 2 for measuring the steel ball 4 are different as much as possible, so that the diversity of the measuring structure of the robot is improved, and the reliability of a calibration result is improved.
In addition, in this embodiment, before the three-ball seat mechanism is put into use for the first time, the precise value of the actual center coordinates of each steel ball 4 can be measured by a precision measurement device such as an optical three-coordinate measuring instrument or a laser scanner, so as to further improve the calibration precision.
The industrial robot precision calibration device of the embodiment can improve the positioning precision of the robot body, can realize accurate positioning of the robot base coordinate system, and is favorable for improving the reliability and accuracy of applications such as robot off-line programming.
It should be understood that the technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical variations made according to the technical solution of the present invention fall within the protection scope of the present invention without departing from the scope of the present invention.
Claims (10)
1. An industrial robot precision calibration device, its characterized in that includes: the device comprises a three-ball seat mechanism (3), a tail end measuring mechanism (1), a counter (8) and a computer; the three-ball seat mechanism (3) is fixedly arranged relative to a base of the robot (2), and the tail end measuring mechanism (1) is connected with the robot (2) through a robot flange (16); the tail end measuring mechanism (1) is also connected with a computer through a counter (8), and the computer is connected with the robot (2) at the same time, so that a closed loop working circuit is formed; wherein, three ball seat mechanisms (3) include three accurate steel balls (4) and three toper ball seat (11), three accurate steel balls (4) are installed respectively on three toper ball seat (11), three toper ball seat (11) are fixed on equilateral triangle bottom plate (13), three accurate steel balls (4) distribute respectively in equilateral triangle's three apex angle department.
2. The industrial robot precision calibration device according to claim 1, characterized in that: the conical ball seats (11) are also matched with a magnetic mechanism, and the precise steel balls (4) are at least arranged on the corresponding conical ball seats (11) under the magnetic force action of the magnetic mechanism; and/or the precision steel ball is a steel ball with the precision grade of G5 or above.
3. The industrial robot precision calibration device according to claim 2, characterized in that: the magnetic mechanism comprises a cylindrical permanent magnet (12) and a connecting screw, and the connecting screw is used for fixedly connecting the permanent magnet (12) with the bottom plate (13) through a mounting hole in the permanent magnet (12).
4. The industrial robot precision calibration device according to claim 1, characterized in that: the three ball seat mechanisms (3) and the base of the robot (2) are fixed on the table surface of a workbench (5).
5. The industrial robot precision calibration device according to claim 4, characterized in that: the bottom plate (13) is fixed on the table top of the workbench (5) through a plurality of threaded connecting pieces.
6. The industrial robot precision calibration device according to claim 1, characterized in that: the tail end measuring mechanism comprises a plurality of displacement sensors (15), wherein a measuring needle (14) with a spherical measuring head is installed at the measuring end of each displacement sensor (15), and when the measuring needle (14) contacts the precision steel ball (4) in the three-ball seat mechanism (3), the spherical center of the spherical measuring head of the measuring needle (14) can generate axial displacement.
7. The industrial robot precision calibration device according to claim 6, characterized in that: the end measuring device comprises three displacement sensors (15), the three displacement sensors (15) being arranged in a ring and spaced apart from one another by 120 °.
8. The industrial robot precision calibration device according to claim 1, characterized in that: the three-ball seat mechanism (3) is arranged near a target working space of the robot (2).
9. The industrial robot precision calibration device according to claim 1, characterized in that: the pose of the robot (2) for measuring the three ball seat mechanisms (3) is uniformly distributed in the working space of the robot around the three precise steel balls (4).
10. The industrial robot precision calibration device according to claim 1, characterized in that: the counter (8) is respectively connected with the terminal measuring mechanism (1) and the computer in a wired or wireless communication mode, and the computer is connected with the robot (2) in a wired or wireless communication mode.
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| CN202021108799.3U CN212445322U (en) | 2020-06-16 | 2020-06-16 | Industrial robot precision calibration device |
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| CN202021108799.3U CN212445322U (en) | 2020-06-16 | 2020-06-16 | Industrial robot precision calibration device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021238617A1 (en) * | 2020-05-28 | 2021-12-02 | 中国科学院宁波材料技术与工程研究所 | Industrial robot absolute precision calibration system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021238617A1 (en) * | 2020-05-28 | 2021-12-02 | 中国科学院宁波材料技术与工程研究所 | Industrial robot absolute precision calibration system and method |
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