CN214560922U - Non-contact type calibration device for mechanical arm workpiece - Google Patents
Non-contact type calibration device for mechanical arm workpiece Download PDFInfo
- Publication number
- CN214560922U CN214560922U CN202120282010.4U CN202120282010U CN214560922U CN 214560922 U CN214560922 U CN 214560922U CN 202120282010 U CN202120282010 U CN 202120282010U CN 214560922 U CN214560922 U CN 214560922U
- Authority
- CN
- China
- Prior art keywords
- laser
- laser pen
- camera
- mechanical arm
- fixing frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model relates to a non-contact calibration device of arm work piece, include: the three laser pens are arranged on the mechanical arm in a posture-adjustable mode, laser beams emitted by the three laser pens are intersected at one point to form a laser intersection point, and the laser intersection point can be positioned below the tool by adjusting the postures of the laser pens; the camera is arranged towards the tail end of the tool and the laser intersection point, the tail end of the tool and the laser intersection point are shot by the camera to obtain video data, and therefore a calibration coordinate system can be calibrated on the surface of a workpiece by utilizing the video data and the laser intersection point, and further the calibration coordinate system is obtained through conversion. The utility model discloses an utilize laser meeting point to replace the terminal instrument of arm, solve the problem that the terminal instrument of arm can not direct contact ground or work piece. The calibration method is simple to operate, and the calibration result is high in precision.
Description
Technical Field
The utility model relates to a technical field that industrial robot markd refers in particular to a non-contact calibration device of arm work piece.
Background
Since the utility model, through the development of many years, the technology of the robot has achieved a lot of important achievements, the calibration problem of the robot precision is an indispensable part of the calibration problem, and at present, although many robots have higher repeated positioning precision, their absolute positioning precision is relatively low, which makes them one of the bottlenecks that limit the development of the robot industry. In order to improve the absolute positioning accuracy of the robot, a robot calibration technology is developed.
Scholars at home and abroad carry out extensive and intensive research on robot calibration technology from the aspects of modeling, measuring methods and the like, wherein the calibration of a mechanical arm workpiece coordinate system plays a very practical role in the practical application of the robot. There are many methods for calibrating the workpiece coordinate system of an industrial robot, such as a common three-point calibration method, in which a central point of a tool at the end of a robot arm is used to sequentially touch three points on the ground and the three points are recorded respectively. In some applications, however, the end tool may not be able to directly touch the ground to avoid damage to the end tool. Therefore, the workpiece coordinate system of the robot cannot be directly calibrated, which results in a plurality of methods for calibrating the workpiece coordinate system of the mechanical arm by using different measuring means and tools, such as calibration by using a calibration object, calibration by using a plurality of robot handshake operations, and the like, wherein the methods all need to install corresponding end devices or use a plurality of robots, and the operation is complicated; the calibration is carried out by utilizing the calibration object, so that the calibration has high requirements on the object and the precision needs to be investigated.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's defect, provide a non-contact calibration device of arm work piece, solve current three point calibration method and can't be applied to the terminal instrument of arm and can not directly touch the condition on ground, the operation that the multi-robot demarcated the existence is complicated and the problem that the precision that the calibration object was markd remains investigation etc..
The technical scheme for realizing the purpose is as follows:
the utility model provides a non-contact calibration device of arm work piece, the instrument is installed to the end of arm, calibration device includes:
the three laser pens are arranged on the mechanical arm in a posture-adjustable mode, laser beams emitted by the three laser pens are intersected at one point to form a laser intersection point, and the laser intersection point can be positioned below the tool by adjusting the postures of the laser pens; and
the camera is arranged towards the tail end of the tool and the laser intersection point, the tail end of the tool and the laser intersection point are shot by the camera to obtain video data, and therefore a calibration coordinate system can be calibrated on the surface of a workpiece by utilizing the video data and the laser intersection point, and further the calibration coordinate system is obtained through conversion.
The utility model discloses a calibration device utilizes the laser intersection point of laser beam to replace the terminal instrument of arm with the help of the high accuracy of laser beam and the advantage of the demarcation of non-contact, solves the problem that the terminal instrument of arm can not direct contact ground or work piece, and then utilizes the three-point method to mark out through the laser intersection point and marks the coordinate system, because the laser intersection point is located the below of instrument, can convert in order to reacing the instrument coordinate system to the coordinate system of demarcating according to the distance of laser intersection point and instrument. In the whole calibration process, the camera carries out whole-course shooting record on the tail end of the tool and the laser intersection point, and the remote observation and calibration process can be realized. The utility model discloses a calibration device easy operation requires lowly to robot operation, and calibration method does not relate to robot inside encoder reading and joint angle numerical value, has avoided the calibration accuracy influence that artificial operation error and robot error itself brought, utilizes the high advantage of laser measurement precision simultaneously, and the calibration result precision is high.
The non-contact calibration device for the mechanical arm workpiece is further improved by comprising a laser pen fixing block, wherein the laser pen fixing block is obliquely arranged on the mechanical arm;
the three laser pens are arranged on the laser pen fixing block.
The non-contact type calibration device for the mechanical arm workpiece is further improved by comprising a laser pen bracket and a laser pen fixing frame;
the laser pen support is arranged on the mechanical arm and is perpendicular to the mounting surface of the mechanical arm, and a first arc-shaped adjusting groove and a first connecting hole positioned below the first arc-shaped adjusting groove are formed in the laser pen support;
the laser pen fixing frame is connected to the laser pen support through a fastener penetrating through the first arc-shaped adjusting groove and the first connecting hole, the laser pen fixing frame is perpendicular to the laser pen support, and a second arc-shaped adjusting groove and a second connecting hole located below the second arc-shaped adjusting groove are formed in the laser pen fixing frame;
the laser pen fixing block is arranged on the laser pen fixing frame and is connected to the laser pen fixing frame through a connecting piece penetrating through the second arc-shaped adjusting groove and the second connecting hole;
the laser pen fixing frame can rotate and adjust around the fastener passing through the first connecting hole by adjusting the position of the corresponding fastener along the first arc-shaped adjusting groove, so that the laser pen fixing block is driven to rotate and adjust, and the laser intersection point is adjusted to be positioned on the plane where the tool is positioned and below the tail end of the tool;
through following the position of the corresponding connecting piece is adjusted to second arc adjustment tank, make the laser pen fixed block is round passing the connecting piece of second connecting hole rotates the regulation, thereby realizes adjusting the laser junction is located on the axis of instrument.
The non-contact calibration device for the mechanical arm workpiece is further improved in that the laser pen bracket comprises two longitudinal plates and a horizontal plate connected to the tops of the two longitudinal plates, and the horizontal plate is connected to the mechanical arm;
the first arc-shaped adjusting groove and the first connecting hole are formed in the longitudinal plate;
the laser pen fixing frame is arranged between the two longitudinal plates, and the fastening piece penetrates through the two longitudinal plates and the laser pen fixing frame to achieve fastening connection.
The non-contact calibration device for the mechanical arm workpiece is further improved in that the laser pen fixing frame comprises a fixing part positioned on the upper part and a connecting part positioned on the lower part, the connecting part and the fixing part are arranged in parallel and in different planes, and a connecting section is vertically connected between the connecting part and the fixing part;
the fixed part with the laser pen leg joint, connecting portion with the laser pen fixed block is connected.
The non-contact calibration device for the mechanical arm workpiece is further improved by comprising an L-shaped mounting bracket, a first mounting part and a second mounting part which are mutually and vertically connected, wherein the first mounting part is horizontally arranged, and the second mounting part is vertically arranged;
the laser pen bracket is arranged on the first installation part;
the second installation portion is installed on the mechanical arm, and the camera is rotatably installed on the second installation portion.
The non-contact calibration device for the mechanical arm workpiece is further improved by comprising a camera bracket and a camera fixing frame;
the camera is arranged on the second installation part through the camera bracket and the camera fixing frame;
the camera support can be rotationally adjusted in a vertical plane;
the camera fixing frame can be rotationally adjusted in a longitudinal plane;
the visual angle range of the camera can be adjusted through the rotation adjustment of the camera bracket and the camera fixing frame.
The utility model discloses arm work piece's non-contact calibration device's further improvement lies in, the camera is the installation of slope form and rotatable regulation on the arm, adjust through rotating the camera so that the visual angle scope of camera covers the end of instrument reaches laser junction.
The non-contact calibration device for the mechanical arm workpiece is further improved in that a mounting groove is formed in the laser pen fixing block;
the laser pen is arranged in the corresponding mounting groove.
Drawings
Fig. 1 is a schematic view of the non-contact calibration device for a mechanical arm workpiece of the present invention installed on a mechanical arm.
Fig. 2 is the enlarged schematic view of the non-contact calibration device for the mechanical arm workpiece after the camera is omitted.
Fig. 3 is an enlarged schematic view of the non-contact calibration device for the mechanical arm workpiece after the laser pen is omitted.
Fig. 4 is a side view of the mounting bracket in the non-contact calibration apparatus for mechanical arm workpiece according to the present invention.
Fig. 5 is the schematic structural diagram of the laser pen fixing block and the laser beam in the non-contact calibration device of the mechanical arm workpiece of the present invention.
Fig. 6 is the structure diagram of the laser pen fixing block in the non-contact calibration device of the mechanical arm workpiece of the present invention.
Figure 7 is the utility model discloses the axonometric drawing of laser pen fixed block in the non-contact calibration device of arm work piece.
Fig. 8 is a front view of the laser pen holder in the non-contact calibration device of the mechanical arm workpiece.
Fig. 9 is a side view of the laser pen holder in the non-contact calibration apparatus for mechanical arm workpiece of the present invention.
Fig. 10 is an axonometric view of the laser pen holder in the non-contact calibration device of the mechanical arm workpiece of the present invention.
Fig. 11 is a front view of the laser pen holder in the non-contact calibration device of the mechanical arm workpiece.
Fig. 12 is a top view of the laser pen holder in the non-contact calibration apparatus for mechanical arm workpiece according to the present invention.
Figure 13 is the utility model discloses the axonometric drawing of laser pen support among the non-contact calibration device of arm work piece.
Fig. 14 is an isometric view of a camera support in the non-contact calibration device of the robot arm workpiece according to the present invention.
Fig. 15 is a front view of a camera support in the non-contact calibration device for a robot arm workpiece according to the present invention.
Fig. 16 is an isometric view of a camera mount in the non-contact calibration apparatus for a robot arm workpiece according to the present invention.
Fig. 17 is a front view of a camera holder in the non-contact calibration apparatus for a robot arm workpiece according to the present invention.
Fig. 18 is a schematic diagram of three possible situations of the laser beam emitted by the three laser pens of the non-contact calibration device for the mechanical arm workpiece according to the present invention on the surface of the workpiece.
Fig. 19 is a schematic diagram of each coordinate system in the calibration process of the non-contact calibration device for the robot arm workpiece according to the present invention.
Detailed Description
The invention will be further explained with reference to the drawings and the specific embodiments.
Referring to fig. 1, the utility model provides a non-contact calibration device of arm work piece, use laser pen and camera to realize the demarcation of coordinate system, mark easy operation, the laser pen wherein installs the regulation that can realize two degrees of freedom on the arm, the camera is installed also can realize the regulation of two degrees of freedom on the arm, the laser intersection point that the laser beam that utilizes the laser pen to send formed replaces the central point of the terminal instrument of arm, utilize the three-point method to mark out the coordinate system, and then carry out the coordinate transformation from laser intersection point to instrument central point again, reachs the work piece coordinate system. The calibration method can effectively prevent the tool from directly contacting the workpiece or the ground in the calibration process and damaging the tool, and the whole calibration process can be remotely observed through the camera. The laser pen is used for realizing calibration, and the calibration method has the characteristic of high precision of calibration results. The following describes the non-contact calibration device for the mechanical arm workpiece according to the present invention with reference to the accompanying drawings.
Referring to fig. 1, the schematic diagram of the non-contact calibration device for the mechanical arm workpiece of the present invention is shown installed on the mechanical arm. Referring to fig. 2, it is shown that the non-contact calibration device for the robot arm workpiece of the present invention has an enlarged schematic view after the camera is omitted. Referring to fig. 5, the schematic structural diagram of the laser pen fixing block and the laser beam in the non-contact calibration device of the mechanical arm workpiece of the present invention is shown. The non-contact calibration device for the robot arm workpiece according to the present invention will be described with reference to fig. 1, fig. 2 and fig. 5.
As shown in fig. 1, fig. 2 and fig. 5, the non-contact type calibration device for a robot arm workpiece of the present invention includes three laser pens 31 and a camera 32, a tool 20 is installed at the end of the robot arm 10, and the tool 20 is generally vertically disposed; the three laser pens 31 are mounted on the mechanical arm 10 in a posture-adjustable manner, the laser beams 311 emitted by the three laser pens 31 intersect at a point to form a laser intersection point 312, and the laser intersection point 312 is located below the tool 20 by adjusting the posture of the laser pens 31, preferably, the laser intersection point 312 is located below a central point of the tool 20, and a certain distance is formed between the laser intersection point 312 and the central point of the tool 20. The camera 32 is mounted on the robot arm 20, the camera 32 is disposed toward the end of the tool 20 and the laser intersection 312, and the camera 32 captures the end of the tool 20 and the laser intersection 312 to obtain video data, so that a calibration coordinate system can be calibrated on the surface of the workpiece by using the video data and the laser intersection 312, and then the calibration coordinate system can be obtained through conversion.
Preferably, the video data captured by the camera 32 can be played through a display device, the calibration process can be observed through the played video data, when the coordinate calibration is performed by using the laser intersection point 312, a three-point method can be used to calibrate a calibration coordinate system on the surface of the workpiece, the laser intersection point 312 is located below the central point of the tool 20, a certain distance is kept between the laser intersection point 312 and the central point of the tool 20, and the calibration coordinate system can be converted into a workpiece coordinate system according to the distance, so that the non-contact calibration of the workpiece coordinate system is completed. The laser intersection point 312 is used to calibrate the workpiece coordinate system, so as to avoid direct contact between the tool 20 and the workpiece and damage to the tool 20.
In a specific embodiment of the present invention, as shown in fig. 1, 5 to 7, the calibration device of the present invention further includes a laser pen fixing block 343, the laser pen fixing block 343 is installed on the mechanical arm 10 in an inclined manner, and the three laser pen 31 is installed on the laser pen fixing block 343 preferably.
Preferably, the laser pen fixing block 343 is a flat plate.
Further, a mounting groove is formed in the laser pen fixing block 343, the laser pens 31 are correspondingly disposed in the mounting groove, and the laser beams 311 emitted by the three laser pens 31 are exactly converged at one point. The laser pen fixing block 343 is installed on the mechanical arm 10 in an inclined manner, a plane where the laser pen fixing block 343 is located intersects with a plane where the tool 20 is located, and by adjusting the installation position of the laser pen fixing block 343, the laser intersection point 312 can be located just below the center point of the tool 20. The position of the laser pointer fixing block 343 is rotationally adjusted along the inclined surface of the laser pointer fixing block 343 such that the laser convergence point 312 is located on the axis of the tool 20.
In a specific embodiment of the present invention, as shown in fig. 1 and 2, the laser pen fixing block 343 is adjustably mounted on the mechanical arm 10 through the laser pen holder 341 and the laser pen fixing frame 342, so that the laser intersection point 312 can be adjusted to the lower side of the tool 20. Further, as shown in fig. 10, a laser pen holder 341 is mounted on the robot arm 10, the laser pen holder 341 is perpendicular to the mounting surface of the robot arm, a first arc-shaped adjustment groove 3411 and a first connection hole 3412 located below the first arc-shaped adjustment groove 3411 are provided on the laser pen holder 341, and in combination with fig. 8 and 2, a laser pen holder 342 is connected to the laser pen holder 341 by a fastener passing through the first arc-shaped adjustment groove 3411 and the first connection hole 3412, and the laser pen holder 342 is perpendicular to the laser pen holder 341, and the laser pen holder 342 intersects with but is not perpendicular to the plane where the tool 20 is located. In a preferred embodiment, in the state shown in fig. 1, the end of the tool 20 is vertically disposed and is located in a vertical plane, the mounting surface of the robot arm 10 is parallel to the vertical plane, and the laser pointer support 341 is perpendicular to the mounting surface of the robot arm.
Preferably, as shown in fig. 8 to 10, the laser pen holder 342 includes an upper fixing portion 3423 and a lower connecting portion 3424, the connecting portion and the fixing portion 3423 are arranged in parallel and in different planes, and a connecting section is vertically connected between the connecting portion 3424 and the fixing portion 3423. The fixing portion 3423 is used to connect with the laser pen holder 341, and the connecting portion 3424 is used to connect with the laser pen fixing block 343. Through holes are formed at opposite sides of the fixing part 3423, when the fixing part 3423 and the laser pen holder 341 are connected, the through holes are aligned with the first arc-shaped adjustment groove 3411 and the first connection hole 3412 of the laser pen holder 341, a fastening member is inserted into the first arc-shaped adjustment groove 3411 and the corresponding through hole, another fastening member is inserted into the first connection hole 3412 and the corresponding through hole, the fixing part 3423 and the laser pen holder 341 are fastened and connected by two fastening members, when the fastening and connection are performed, the fastening member positioned in the first arc-shaped adjustment groove 3411 performs position adjustment along the first arc-shaped adjustment groove 3411, so that the laser pen holder 342 is rotatably adjusted around the fastening member positioned in the first connection hole 3412 as an axis, thus achieving adjustment of one degree of freedom, when the laser pen holder 343 is mounted on the laser pen holder 342 with a laser pen, forward and backward rotational adjustment of the laser pen 31 is achieved through the first arc-shaped adjustment groove 3411, i.e. the laser pointer 31 is rotated towards or away from the tool 20.
Still further, as shown in fig. 11 to 13, the laser pointer holder 341 includes two longitudinal plates 3413 disposed opposite to each other and a horizontal plate 3414 connected to the top of the two longitudinal plates 3413 and having a horizontal shape, the horizontal plate 3414 is used for connecting to the robot arm 10; the first arc-shaped adjustment groove 3411 and the first connection hole 3412 are disposed on the longitudinal plate 3413, and when the laser pen holder 342 is connected, the fixing portion 3423 of the laser pen holder 342 is disposed between the two longitudinal plates 3413, and a fastener is passed through the two longitudinal plates 3413 and the laser pen holder 342, and then fastened and connected after the posture is adjusted.
Further, as shown in fig. 8 to 10, the laser pen holder 342 is provided with a second arc-shaped adjustment groove 3421 and a second connection hole 3422 located below the second arc-shaped adjustment groove 3421, and the laser pen fixing block 343 is placed on the laser pen holder 342 and is connected to the laser pen holder 342 by a connection member passing through the second arc-shaped adjustment groove 3421 and the second connection hole 3422. Thus, by adjusting the position of the corresponding fastener along the first arc-shaped adjusting groove 3411, the laser pointer fixing frame 342 can be adjusted in a rotating manner around the fastener passing through the first connecting hole 3412, and further the laser pointer fixing block 343 is driven to adjust in a rotating manner, so that the adjustment that the laser intersection point is located on the plane where the tool is located and below the tail end of the tool is realized; by adjusting the position of the corresponding connecting piece along the second arc-shaped adjusting groove 3421, the laser pointer fixing block 343 is rotatably adjusted around the connecting piece passing through the second connecting hole 3422, thereby adjusting the laser intersection point to be located on the axis of the tool.
Preferably, the second connecting hole 3422 below the second arc-shaped adjusting groove 3421 is disposed on the connecting portion 3424 of the laser pointer fixing frame 342, and the connecting portion 3424 is a flat plate. As shown in fig. 6, the laser pen fixing block 343 is attached to the connecting portion 3424, and then passes through the corresponding second arc-shaped adjusting groove 3421 and second connecting hole 3422 via the connecting member to achieve connection. The second arc-shaped adjustment groove 3421 and the second connection hole 3422 provide another degree of freedom adjustment for the laser pen, which can be adjusted by rotating left and right in the oblique plane where the connection part 3424 is located.
As shown in fig. 1 and 3, the mounting bracket 33 is L-shaped, and includes a first mounting portion 331 and a second mounting portion 332, the first mounting portion 331 and the second mounting portion 332 are vertically disposed, the first mounting portion 331 is horizontally disposed, the second mounting portion 332 is vertically disposed, and the second mounting portion 332 is attached to and fixedly connected to a mounting surface of the robot arm 10. As shown in fig. 9 and 10, the first mounting portion 331 is used to connect the laser pen holder 341, the horizontal plate 3414 of the laser pen holder 341 is attached to the first mounting portion 331 and is fastened to the first mounting portion 331, and the longitudinal plate 3413 of the laser pen holder 341 is perpendicular to the first mounting portion 331, the second mounting portion 332, and the mounting surface of the robot arm 10.
In one embodiment of the present invention, as shown in fig. 1 and 3, the camera 32 is mounted on the robotic arm 10 in an inclined and rotationally adjustable manner, and the camera 32 is adjusted by rotation so that the viewing angle range a of the camera 32 covers the end of the tool 20 and the laser intersection 312. The end of the tool 20 is the bottom of the tool 20.
Further, the camera 32 is mounted on the second mounting portion 332 of the mounting bracket 33, and the lens of the camera 32 is disposed obliquely downward. The mounting bracket 33 is arranged close to the tool 20, the tool 20 is mounted on a flange at the tail end of the mechanical arm 10, as shown in fig. 4, a clamping groove is formed in the top of the mounting bracket 33, the mounting bracket 33 is clamped at the tail end of the mechanical arm 10 through the clamping groove, and then the mounting bracket 33 is tightly connected with the mechanical arm 10 through wall plates at two sides of the clamping groove.
Referring to fig. 14 and 16, the camera 32 is mounted on the second mounting portion 332 of the mounting bracket 33 through the camera bracket 35 and the camera fixing bracket 36, the camera bracket 35 can be rotatably adjusted in a vertical plane of the second mounting portion 332, and the position of the viewing angle range a of the camera 32 can be adjusted through the rotational adjustment of the camera bracket 35 and the camera fixing bracket 36, so that the viewing angle range a covers the end of the tool 20 and the laser intersection point 312.
When adjusting the view angle range a of the camera 32, the camera support 35 is rotated to align the view angle range a of the camera 32 with the end of the tool 20, and then the camera holder 36 is rotated to move the view angle range a of the camera 32 downward until the view angle range a covers the end of the tool 20 and the laser intersection 312.
As shown in fig. 14 and 15, the camera support 35 is L-shaped, and includes an attaching plate 351 and an assembling plate 352 that are perpendicular to each other, the attaching plate 351 is provided with a mounting hole 3512 and a first arc-shaped long hole 3511, the first arc-shaped long hole 3511 is located below the mounting hole 3512, the attaching plate 351 is fastened and connected to the second mounting portion 331 by passing a bolt through the corresponding mounting hole 3512 and the first arc-shaped long hole 3511, a rotation adjustment in a vertical plane is provided for the camera 32 through the first arc-shaped long hole 3511, specifically, a position adjustment is performed on the bolt along the first arc-shaped long hole 3511, so that the attaching plate 351 can rotate and adjust around the bolt located in the mounting hole 3512 as an axis, and an adjustment of one degree of freedom of the camera 32 is achieved.
As shown in fig. 16 and 17, the camera fixing frame 36 includes a pair of ear plates 361 disposed opposite to each other and a bottom plate 362 vertically connected to bottoms of the pair of ear plates 361, the bottom plate 362 is fixedly connected to the camera 32, the pair of ear plates 361 are provided with a second arc-shaped long hole 3611 and a mounting hole 3612, the mounting hole 3612 is located above the second arc-shaped long hole 3611, as shown in fig. 14, when the camera fixing frame 36 is mounted, the pair of ear plates 361 is fitted onto the mounting plate 352, and the camera fixing frame 36 is connected to the camera bracket 35 by a connecting bolt passing through the second arc-shaped long hole 3611, the mounting hole 3612 and the mounting plate 352, and the second arc-shaped long hole 3611 provides rotation adjustment of the tilt angle, that is, front-back rotation adjustment, for the camera 32, thereby achieving adjustment of the other degree of freedom of the camera 32.
As shown in fig. 3, an installation shell is sleeved outside the camera 32, and the camera fixing frame 36 is fixedly connected with the installation shell, so that the installation of the camera 32 is realized.
When the calibration device of the present invention is used for calibration, there are three laser points instead of the laser junction 312 on the surface of the calibrated workpiece, as shown in fig. 18, three laser points are displayed on the first plane 41 and the third plane 43, and the laser junction 312 is located on the second plane 42. At this time, the mechanical arm 10 needs to be adjusted to move, so that the laser junction point 312 is located on the surface of the tool, when adjusting, the mechanical arm 10 is moved upwards first, then the distance change between the laser points on the surface of the workpiece is determined, if the distance between the laser points becomes larger, it is indicated that the laser junction point 312 is located above the surface of the workpiece, and the mechanical arm 10 needs to be moved downwards until the laser junction point 312 is located on the surface of the workpiece. If the distance between the laser points becomes smaller, indicating that the laser junction 312 is below the surface of the workpiece, the robot 10 continues to move upward until the laser junction 312 is on the surface of the workpiece. And then the coordinate system of the workpiece can be calibrated by utilizing the laser intersection point.
As shown in fig. 19, the three-point calibration coordinate system is realized by providing three teaching points on the surface of the workpiece, the first teaching point 51 is the origin, the second teaching point 52 is in the positive X-axis direction, the line connecting the third teaching point 53 and the second teaching point 52 is parallel to the Y-axis, and the third teaching point 53 is located in the positive Y-axis direction. The moving robot arm 10 moves to the first teaching point 51 with the laser intersection point, and then moves to the second teaching point 52 and the third teaching point 53, so that the origin, the X-axis, and the Y-axis of the calibration coordinate system B are obtained, and then the Z-axis is determined by the right-hand rule. Marking the coordinate system of the laser intersection point as TLaserThe coordinate system of the tool 20 is denoted as TToolThe coordinate system of the end flange of the robot arm is denoted as TFlangeAnd the reference coordinate system of the mechanical arm is recorded as TBaseThe distance in the Z-axis direction is h, and the coordinate transformation matrix is as follows:
the coordinate system of the tool 20 is calibrated with respect to the coordinate system of the end flange of the robot arm, so that a laser intersection point coordinate system T is obtainedLaserReference coordinate system T relative to mechanical armBaseThe coordinate transformation matrix of (2) is as follows:
as mentioned above, the laser intersection point coordinate system TLaserReference coordinate system T relative to mechanical armBaseAll parts of the coordinate transformation matrix are known, so that the laser junction point can be used for calibrating a workpiece coordinate system, and a laser junction point coordinate system T is stored in the mechanical arm before calibrationLaserA representative tool.
In the calibration process of the workpiece coordinate system, the camera 32 always aims at the intersection point of the tail end of the tool and the laser to shoot, so that the remote observation calibration process is realized.
The present invention has been described in detail with reference to the embodiments shown in the drawings, and those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details of the embodiments should not be construed as limitations of the invention, which are intended to be covered by the following claims.
Claims (9)
1. The utility model provides a non-contact calibration device of arm work piece, the end of arm is installed the instrument, its characterized in that, calibration device includes:
the three laser pens are arranged on the mechanical arm in a posture-adjustable mode, laser beams emitted by the three laser pens are intersected at one point to form a laser intersection point, and the laser intersection point can be positioned below the tool by adjusting the postures of the laser pens; and
the camera is arranged towards the tail end of the tool and the laser intersection point, the tail end of the tool and the laser intersection point are shot by the camera to obtain video data, and therefore a calibration coordinate system can be calibrated on the surface of a workpiece by utilizing the video data and the laser intersection point, and further the calibration coordinate system is obtained through conversion.
2. The non-contact calibration device for the mechanical arm workpiece as claimed in claim 1, further comprising a laser pen fixing block, wherein the laser pen fixing block is obliquely mounted on the mechanical arm;
the three laser pens are arranged on the laser pen fixing block.
3. The non-contact calibration device for the mechanical arm workpiece as claimed in claim 2, further comprising a laser pen bracket and a laser pen fixing frame;
the laser pen support is arranged on the mechanical arm and is perpendicular to the mounting surface of the mechanical arm, and a first arc-shaped adjusting groove and a first connecting hole positioned below the first arc-shaped adjusting groove are formed in the laser pen support;
the laser pen fixing frame is connected to the laser pen support through a fastener penetrating through the first arc-shaped adjusting groove and the first connecting hole, the laser pen fixing frame is perpendicular to the laser pen support, and a second arc-shaped adjusting groove and a second connecting hole located below the second arc-shaped adjusting groove are formed in the laser pen fixing frame;
the laser pen fixing block is arranged on the laser pen fixing frame and is connected to the laser pen fixing frame through a connecting piece penetrating through the second arc-shaped adjusting groove and the second connecting hole;
the laser pen fixing frame can rotate and adjust around the fastener passing through the first connecting hole by adjusting the position of the corresponding fastener along the first arc-shaped adjusting groove, so that the laser pen fixing block is driven to rotate and adjust, and the laser intersection point is adjusted to be positioned on the plane where the tool is positioned and below the tail end of the tool;
through following the position of the corresponding connecting piece is adjusted to second arc adjustment tank, make the laser pen fixed block is round passing the connecting piece of second connecting hole rotates the regulation, thereby realizes adjusting the laser junction is located on the axis of instrument.
4. The non-contact calibration device for the mechanical arm workpiece as claimed in claim 3, wherein the laser pen bracket comprises two longitudinal plates which are oppositely arranged and a horizontal plate which is connected to the tops of the two longitudinal plates, and the horizontal plate is connected to the mechanical arm;
the first arc-shaped adjusting groove and the first connecting hole are formed in the longitudinal plate;
the laser pen fixing frame is arranged between the two longitudinal plates, and the fastening piece penetrates through the two longitudinal plates and the laser pen fixing frame to achieve fastening connection.
5. The non-contact type calibration device for the mechanical arm workpiece as claimed in claim 3, wherein the laser pen fixing frame comprises a fixing portion located at the upper part and a connecting portion located at the lower part, the connecting portion and the fixing portion are arranged in parallel and in different planes, and a connecting section is vertically connected between the connecting portion and the fixing portion;
the fixed part with the laser pen leg joint, connecting portion with the laser pen fixed block is connected.
6. The non-contact calibration device for the mechanical arm workpiece as claimed in claim 3, further comprising an L-shaped mounting bracket, which comprises a first mounting part and a second mounting part which are vertically connected with each other, wherein the first mounting part is arranged horizontally, and the second mounting part is arranged vertically;
the laser pen bracket is arranged on the first installation part;
the second installation portion is installed on the mechanical arm, and the camera is rotatably installed on the second installation portion.
7. The non-contact calibration device for the mechanical arm workpiece as claimed in claim 6, further comprising a camera bracket and a camera fixing frame;
the camera is arranged on the second installation part through the camera bracket and the camera fixing frame;
the camera support can be rotationally adjusted in a vertical plane;
the camera fixing frame can be rotationally adjusted in a longitudinal plane;
the visual angle range of the camera can be adjusted through the rotation adjustment of the camera bracket and the camera fixing frame.
8. A non-contact calibration arrangement for a robotic arm workpiece as claimed in claim 2, wherein said camera is angularly and rotatably adjustable mounted on said robotic arm, said camera being rotatably adjustable such that the range of view of said camera covers the tip of said tool and said laser intersection.
9. The non-contact calibration device for the mechanical arm workpiece as claimed in claim 2, wherein an installation groove is arranged on the laser pen fixing block;
the laser pen is arranged in the corresponding mounting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120282010.4U CN214560922U (en) | 2021-02-01 | 2021-02-01 | Non-contact type calibration device for mechanical arm workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120282010.4U CN214560922U (en) | 2021-02-01 | 2021-02-01 | Non-contact type calibration device for mechanical arm workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214560922U true CN214560922U (en) | 2021-11-02 |
Family
ID=78315044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120282010.4U Active CN214560922U (en) | 2021-02-01 | 2021-02-01 | Non-contact type calibration device for mechanical arm workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214560922U (en) |
-
2021
- 2021-02-01 CN CN202120282010.4U patent/CN214560922U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106705956B (en) | Industrial robot end pose rapid measuring device and measuring method thereof | |
| US8989897B2 (en) | Robot-cell calibration | |
| US8457786B2 (en) | Method and an apparatus for calibration of an industrial robot system | |
| US6317699B1 (en) | Device and method for calibrating a robot | |
| US7324217B2 (en) | Device and method for measuring components | |
| US8695447B2 (en) | Probe end module for articulated arms | |
| JP4005921B2 (en) | Industrial robot calibration apparatus, method and computer program product for calibration | |
| CN110757504B (en) | Positioning error compensation method of high-precision movable robot | |
| US5813128A (en) | Ball bar apparatus for calibrating a machine | |
| CA2292491A1 (en) | Method and device for robot tool frame calibration | |
| CN109227551B (en) | Hand-eye coordinate conversion method for visual positioning robot | |
| CN112917513A (en) | TCP calibration method of three-dimensional dispensing needle head based on machine vision | |
| CN104197831B (en) | Accuracy calibration device for six-joint industrial robot | |
| JPH0126833B2 (en) | ||
| CN109551518A (en) | Measurement system | |
| CN109341746B (en) | Three-dimensional standard device for multi-system cooperative measurement and calibration | |
| CN109719714A (en) | The Coordinate Setting method of robot, robot system and robot | |
| CN111272098A (en) | Calibration method and calibration device for laser sensor mounting position | |
| CN215037637U (en) | Camera external parameter calibration device for visual guidance of industrial robot | |
| CN214560922U (en) | Non-contact type calibration device for mechanical arm workpiece | |
| CN110561500A (en) | space positioning error measuring device and measuring method thereof | |
| CN112792817A (en) | Non-contact type calibration device and method for mechanical arm workpiece coordinate system | |
| JP2021058985A (en) | Robot, measuring jig, and method of deciding tool tip end position | |
| CN110561400A (en) | Efficient and accurate positioning system and method for parts uniformly distributed on circumference | |
| CN112762822B (en) | Mechanical arm calibration method and system based on laser tracker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |