CN214643651U

CN214643651U - Be applied to industrial robot's online quick calibration device of TCP

Info

Publication number: CN214643651U
Application number: CN202120867525.0U
Authority: CN
Inventors: 闫放; 高霞; 代阳
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2021-11-09
Anticipated expiration: 2031-04-26

Abstract

The utility model discloses a be applied to industrial robot's online quick calibration device of TCP relates to the calibration device field, the utility model discloses a shell device, controlling means, marking device, mechanical device and transmission, a plurality of universal wheel upper surfaces all are connected with the box lower surface, and box side surface is equipped with the light beam export, and a plurality of control key one end all is connected with control panel side surface, and a plurality of pilot lamp one end all are connected with box side surface, and telescopic link one end is connected with the box lower surface, and arm side surface is connected with box side surface, and a supporting box side surface is connected with box side surface. The utility model relates to a be applied to industrial robot's TCP quick calibration device on line, control key control laser sensor makes it transversely and vertically send laser beam, and this light beam passes through horizontal light beam export and vertical light outlet, and the light beam is markd, and rethread control device controls the arm after the demarcation and makes the instrument carry out work.

Description

Be applied to industrial robot's online quick calibration device of TCP

Technical Field

The utility model relates to a calibration device field, in particular to be applied to industrial robot's online quick calibration device of TCP.

Background

The TCP device of an industrial robot is a device that uses a mechanical arm to connect a tool and then control the tool to work, such as controlling a cutting machine, a welding machine, etc.

The existing TCP device of the industrial robot is rarely calibrated, and calibration needs manual calibration for many times, so that some deviation can be caused.

Disclosure of Invention

The utility model discloses a main aim at provides a be applied to industrial robot's online quick calibration device of TCP, can effectively solve artifical many times calibration in the background art, consequently can cause the problem of some deviations.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a TCP on-line rapid calibration device applied to an industrial robot comprises a shell device, a control device, a marking device, a mechanical device and a transmission device, wherein the shell device comprises a box body, universal wheels, transverse light beam outlets, a cover and a longitudinal light outlet, the upper surfaces of the universal wheels are all connected with the lower surface of the box body, one side surface of the box body is provided with the transverse light beam outlets, the cover is installed on the upper surface of the box body, the upper surface of the cover is provided with the longitudinal light outlet, the control device comprises a control panel, control keys and indicator lamps, one side surface of the control panel is connected with one side surface of the box body, one ends of the control keys are all connected with one side surface of the control panel, one ends of the indicator lamps are all connected with one side surface of the box body, the marking device comprises a telescopic rod, one end of the telescopic rod is connected with the lower surface of the box body, the mechanical device comprises a mechanical arm, one side surface of the mechanical arm is connected with one side surface of the box body, the transmission device comprises a strut and a supporting box, one end of the strut is connected with the lower surface of the mechanical arm, and one side surface of the supporting box is connected with one side surface of the box body.

Preferably, the shell device still includes the brake block, and is a plurality of brake block side surface is connected with a plurality of universal wheel surface respectively, and the universal wheel is convenient for whole device's removal.

Preferably, the control device further comprises a display screen, wherein one side surface of the display screen is connected with one side surface of the control panel, and the display screen is used for displaying the working conditions of all parts controlled by the circuit.

Preferably, the marking device further comprises a laser sensor, the lower surface of the laser sensor is connected with one end of the telescopic rod, and the laser sensor emits light beams in the horizontal direction and the vertical direction to mark the mechanical arm during working.

Preferably, the mechanical apparatus further includes a tool, the tool side surface being connected to a robot side surface, which is a surface of the robot arm that needs to hold a tool such as a cutter or the like to perform work.

Preferably, transmission still includes the motor, the motor lower surface is connected with the inside lower surface of supporting box, the motor is equipped with the axis of rotation, pillar and the rotatory cooperation of axis of rotation, the motor rotates for the arm and provides power.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model discloses a marking device, the user carries out online demarcation through controlling means, does not need the manual work to mark, reduces the error.

The utility model discloses a set up the telescopic link, can change laser sensor's height, be applicable to the marking of co-altitude not.

The utility model discloses a set up transmission, drive the arm and carry out 360 rotations, make things convenient for its driving tool omnidirectional work.

The utility model discloses a set up the transmission universal wheel, make things convenient for the removal of whole device.

Drawings

Fig. 1 is a schematic diagram of an external overall structure of a TCP online rapid calibration device applied to an industrial robot according to the present invention;

fig. 2 is a schematic diagram of the right-view overall structure of the TCP on-line quick calibration device applied to the industrial robot of the present invention;

fig. 3 is a schematic left-view overall structure diagram of the TCP online rapid calibration device applied to the industrial robot of the present invention;

fig. 4 is a schematic top view of the TCP on-line fast calibration apparatus applied to an industrial robot according to the present invention;

fig. 5 is the utility model relates to a be applied to industrial robot's online quick calibration device's of TCP overall structure schematic diagram of cutting a section.

In the figure: 100. housing means; 110. a box body; 120. a universal wheel; 130. a brake pad; 140. a transverse beam outlet; 150. a cover; 160. a longitudinal light outlet; 200. a control device; 210. a control panel; 220. a control key; 230. a display screen; 240. an indicator light; 300. a line marking device; 310. a telescopic rod; 320. a laser sensor; 400. a mechanical device; 410. a mechanical arm; 420. a tool; 500. a transmission device; 510. a pillar; 520. a motor; 530. a support box.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-5, the present invention relates to a TCP on-line fast calibration device applied to an industrial robot, including a housing device 100, a control device 200, a line marking device 300, a mechanical device 400 and a transmission device 500, wherein the housing device 100 includes a box body 110, universal wheels 120, transverse light beam outlets 140, a cover 150 and a longitudinal light outlet 160, upper surfaces of the universal wheels 120 are all connected to a lower surface of the box body 110, a side surface of the box body 110 is provided with the transverse light beam outlets 140, the cover 150 is mounted on an upper surface of the box body 110, an upper surface of the cover 150 is provided with the longitudinal light outlet 160, the control device 200 includes a control panel 210, a control key 220 and an indicator lamp 240, a side surface of the control panel 210 is connected to a side surface of the box body 110, one end of the control key 220 is connected to a side surface of the control panel 210, one end of the indicator lamp 240 is connected to a side surface of the box body 110, the line marking apparatus 300 includes a telescopic rod 310, one end of the telescopic rod 310 is connected to a lower surface of the box body 110, the mechanical apparatus 400 includes a mechanical arm 410, a side surface of the mechanical arm 410 is connected to a side surface of the box body 110, the transmission 500 includes a support column 510 and a support box 530, one end of the support column 510 is connected to the lower surface of the mechanical arm 410, and a side surface of the support box 530 is connected to a side surface of the box body 110.

Further, the housing device 100 further includes a plurality of brake pads 130, and a side surface of the plurality of brake pads 130 is respectively connected to an outer surface of the plurality of universal wheels 120, and the universal wheels 120 facilitate movement of the entire device.

Further, the control device 200 further includes a display 230, a side surface of the display 230 is connected to a side surface of the control panel 210, and the display 230 is used for displaying the operation of each part controlled by the circuit.

Further, the line marking device 300 further comprises a laser sensor 320, the lower surface of the laser sensor 320 is connected with one end of the telescopic rod 310, and the laser sensor 320 emits light beams in the horizontal direction and the vertical direction to mark lines when the mechanical arm 410 works.

Further, the robot 400 further includes a tool 420, and a surface of the tool 420 is connected to a surface of the robot 410, so that the robot 410 needs to hold the tool 420 such as a cutter or the like for work.

Further, transmission 500 still includes motor 520, and the lower surface of motor 520 is connected with the inside lower surface of supporting box 530, and motor 520 is equipped with the axis of rotation, and pillar 510 and the rotatory cooperation of axis of rotation, motor 520 rotate for arm 410 and provide power.

The working principle of the utility model is as follows:

please refer to fig. 1-5, the utility model relates to a TCP online quick calibration device applied to an industrial robot, wherein the model of the motor 520 is YE2-132S1-2, the model of the laser sensor 320 is scan control-26x0, the control key 220 controls the laser sensor 320 to emit laser beams in the horizontal and vertical directions, the laser beams pass through the horizontal light beam outlet 140 and the vertical light outlet 160, the laser beams are calibrated, the control device 200 controls the mechanical arm 410 to work the tool 420 after calibration, meanwhile, the telescopic rod 310 is arranged at the base of the laser sensor 320, the height of the telescopic rod 310 can be adjusted according to actual conditions, further, the height of the laser sensor 320 is changed, the universal wheel 120 is arranged at the outer surface of the box body 110, which facilitates the movement of the whole device and saves labor, and the brake pad 130 is used for fixing the universal wheel 120.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a be applied to online quick calibration device of TCP of industrial robot, includes shell device (100), controlling means (200), marking device (300), mechanical device (400) and transmission (500), its characterized in that: the shell device (100) comprises a box body (110), universal wheels (120), a transverse light beam outlet (140), a cover (150) and a longitudinal light beam outlet (160), wherein the upper surfaces of the universal wheels (120) are connected with the lower surface of the box body (110), one side surface of the box body (110) is provided with the transverse light beam outlet (140), the cover (150) is installed on the upper surface of the box body (110), the upper surface of the cover (150) is provided with the longitudinal light beam outlet (160), the control device (200) comprises a control panel (210), control keys (220) and indicator lamps (240), one side surface of the control panel (210) is connected with one side surface of the box body (110), one ends of the control keys (220) are connected with one side surface of the control panel (210), one ends of the indicator lamps (240) are connected with one side surface of the box body (110), the marking device (300) comprises a telescopic rod (310), telescopic link (310) one end is connected with box (110) lower surface, mechanical device (400) include arm (410), arm (410) a side surface is connected with box (110) a side surface, transmission (500) include pillar (510) and supporting box (530), pillar (510) one end is connected with arm (410) lower surface, supporting box (530) a side surface is connected with box (110) a side surface.

2. The on-line rapid calibration device for the TCP of the industrial robot in accordance with claim 1 is characterized in that: the shell device (100) further comprises a plurality of brake pads (130), and one side surface of each brake pad (130) is connected with the outer surfaces of the universal wheels (120) respectively.

3. The on-line rapid calibration device for the TCP of the industrial robot in accordance with claim 1 is characterized in that: the control device (200) further comprises a display screen (230), and one side surface of the display screen (230) is connected with one side surface of the control panel (210).

4. The on-line rapid calibration device for the TCP of the industrial robot in accordance with claim 1 is characterized in that: the line marking device (300) further comprises a laser sensor (320), and the lower surface of the laser sensor (320) is connected with one end of the telescopic rod (310).

5. The on-line rapid calibration device for the TCP of the industrial robot in accordance with claim 1 is characterized in that: the mechanical device (400) further comprises a tool (420), and one side surface of the tool (420) is connected with one side surface of the mechanical arm (410).

6. The on-line rapid calibration device for the TCP of the industrial robot in accordance with claim 1 is characterized in that: the transmission device (500) further comprises a motor (520), the lower surface of the motor (520) is connected with the inner lower surface of the support box (530), the motor (520) is provided with a rotating shaft, and the support column (510) is matched with the rotating shaft in a rotating mode.