CN219582867U - Calibration accuracy verification device and system for robot system - Google Patents

Abstract

The utility model provides a calibration accuracy verification device and system for a robot system, and relates to the technical field of robot vision. The calibration accuracy verification device of the robot system comprises a base and a quick-dismantling assembly, wherein the base is provided with a quick-dismantling position; the quick-dismantling assembly comprises a reflecting point component and a precision verification component, wherein the reflecting point component is provided with a reflecting point, the center point of the reflecting point verification end surface of the reflecting point is a reflecting point center point, the precision verification component is provided with a precision recognition part, and the center point of the precision recognition end surface of the precision recognition part is a precision recognition center point; the light reflecting point component and the precision verification component can be detachably connected to the quick-dismantling position, and the light reflecting point center point of the light reflecting point component when installed in the quick-dismantling position coincides with the precision identification center point of the precision verification component when installed in the quick-dismantling position. The calibration accuracy verification device of the robot system has higher hand-eye calibration accuracy verification accuracy for the robot, can be flexibly arranged, and is not limited by the use environment.

Description

Calibration accuracy verification device and system for robot system

Technical Field

The utility model relates to the technical field of robot vision, in particular to a calibration accuracy verification device and system for a robot system.

Background

After the robot finishes hand-eye calibration, the hand-eye calibration precision of the robot is usually required to be verified, in the prior art, a specific calibration tool or a detection screen and other verification devices are generally required to be placed in an operation area to be tested of the robot calibration precision so as to verify the hand-eye calibration precision, however, the conventional verification device is limited in use environment due to inherent structural limitation and strict use requirements, and is inflexible in layout position even incapable of being used in a complex processing environment.

Disclosure of Invention

The utility model aims to provide a calibration precision verification device and a calibration precision verification system for a robot system, which are used for solving the technical problems that the conventional verification device is inflexible in layout position and even cannot be used in a complex processing environment.

In order to solve the problems, the utility model provides a calibration accuracy verification device of a robot system, which comprises a base and a quick-dismantling assembly, wherein the base is provided with a quick-dismantling position; the quick-dismantling assembly comprises a reflecting point component and a precision verification component, wherein the reflecting point component is provided with a reflecting point, the center point of the reflecting point verification end face of the reflecting point is a reflecting point center point, the precision verification component is provided with a precision identification part, and the center point of the precision identification end face of the precision identification part is a precision identification center point;

the light reflecting point component and the precision verification component can be detachably connected to the quick-dismantling position, and the center point of the light reflecting point when the light reflecting point component is installed in the quick-dismantling position coincides with the center point of precision identification when the precision verification component is installed in the quick-dismantling position.

Optionally, the accuracy recognition part includes a center groove;

or, the precision recognition part comprises a circular groove and at least one annular groove concentrically sleeved on the circular groove.

Optionally, the number of the precision verification components is two, namely a first precision verification component and a second precision verification component, wherein the precision identification part of the first precision verification component comprises a central groove; the precision identification part of the second precision verification part comprises a circular groove and at least one annular groove concentrically sleeved on the circular groove.

Optionally, the quick detach position is including locating the grafting groove of base, reflection of light point part with the precision verification part all is equipped with grafting post matched with grafting groove.

Optionally, the reflection of light point part with the precision verifies the grafting post of both and all coaxial limit table that is equipped with of one end that deviates from the grafting end, limit table radial protrusion the grafting post, just limit table deviates from the coaxial verification seat that is equipped with of one end of grafting post, verification seat deviates from the terminal surface of limit table is equipped with reflection of light point or precision recognition portion of corresponding part.

Optionally, a magnet is arranged on the connecting surface of the light reflecting point component and the precision verification component and the base, and the area of the base corresponding to the magnet is a magnetic attraction area;

or the connection surfaces of the base, the light reflecting point component and the precision verification component are provided with magnets, and the corresponding areas of the light reflecting point component and the precision verification component and the magnets are magnetic attraction areas.

Optionally, the base includes the base body and locates the mount pad body of base body, the base body is the magnetic force seat, quick detach position is located the mount pad body.

Optionally, a magnetism isolating member is arranged between the base body and the mounting base body.

Optionally, the base body, the magnetism isolating piece and the mounting seat body are provided with corresponding positioning holes and connecting holes, and the connecting holes of the mounting seat body are provided with internal threads; the verification device further comprises a positioning pin and a connecting bolt, wherein the positioning pin is sequentially inserted into the positioning holes of the installation base body, the magnetism isolating piece and the base body, and the connecting bolt penetrates through the connecting holes of the installation base body and the magnetism isolating piece and is screwed into the connecting holes of the base body.

The utility model also provides a calibration precision verification system of the robot system, which comprises a robot, a vision module and the verification device, wherein the tail end of the robot is provided with a probe, and the vision module is in communication connection with a controller of the robot.

In the calibration accuracy verification device for the robot system, when the reflecting point component is arranged on the base, the reflecting point center point of the reflecting point can be accurately identified by the vision module to serve as a standard target position with higher position accuracy, so that the condition that the subsequent calibration accuracy verification condition of the robot is influenced due to lower accuracy of the standard target position is reduced, and the verification accuracy of the verification device on the calibration accuracy of the robot is ensured; when the precision verification component is arranged on the base, the precision recognition center point of the precision recognition part coincides with the standard target position to be used as a precision comparison position of the robot probe to the actual target position, and the setting of the precision recognition part is more convenient for determining the offset of the actual target position relative to the standard target position, so that the verification efficiency of the calibration precision of the robot hand and the eye is improved; meanwhile, the light reflection point component and the precision verification component can be quickly disassembled and assembled with the quick disassembly of the base, so that the verification efficiency of the verification device on the calibration precision of the robot hand and eye is further ensured. In addition, the base, the reflecting point component and the precision verification component of the verification device are used without connecting a power supply or connecting operation with a controller and the like, and the device has the advantages of simple structure, small size and no specific requirement on the use environment, so that the device has less limitation on the use environment, and can be flexibly arranged and applied under a complex processing environment on the basis of ensuring the verification precision of calibration precision.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a calibration accuracy verification device for a robot system according to the present utility model, wherein a first accuracy verification component is mounted on a base;

FIG. 2 is a schematic diagram of a calibration accuracy verification device for a robot system according to the present utility model, wherein a second accuracy verification component is mounted on a base;

FIG. 3 is a schematic view of the calibration accuracy verification device of the robot system according to the present utility model, when a light reflection point component is mounted on a base;

FIG. 4 is a top view of a reflector assembly in the calibration accuracy verification device of the robotic system provided by the utility model;

FIG. 5 is an isometric cross-sectional view taken in the direction A-A of FIG. 4;

fig. 6 is a sectional view in the direction B-B of fig. 4.

Reference numerals illustrate:

100-base; 110-a base body; 120-mounting a seat body; 121-connecting the seat body; 122-quick-release base; 123-inserting grooves; 130-magnetism isolating piece; 140-positioning holes; 150-connecting holes; 160-locating pins; 170-connecting bolts; 180-accommodating grooves; 200-retroreflective dot elements; 210-reflection point; 300-a first accuracy verification component; 310-a central slot; 400-a second accuracy verification component; 410-a circular groove; 420-annular groove; 510-plug-in posts; 520-a limit table; 530-verifying the seat; 531-reflecting spot verification end face; 532—precision recognition end face; 540-magnet.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

The embodiment provides a calibration accuracy verification device of a robot system, which is shown in fig. 1-3, and comprises a base 100 and a quick-dismantling assembly, wherein the base 100 is provided with a quick-dismantling position; the quick-dismantling assembly comprises a reflecting point component 200 and an accuracy verification component, wherein the reflecting point component 200 is provided with a reflecting point 210, and the central point of a reflecting point verification end surface 531 of the reflecting point 210 is the central point of the reflecting point; the accuracy verification member is provided with an accuracy recognition portion, the center point of the accuracy recognition end face 532 of the accuracy recognition portion being an accuracy recognition center point; the light reflecting point component 200 and the precision verification component can be detachably connected to the quick-dismantling position, and the light reflecting point center point of the light reflecting point component 200 when installed in the quick-dismantling position coincides with the precision recognition center point of the precision verification component when installed in the quick-dismantling position.

The embodiment also provides a calibration accuracy verification system of the robot system, which comprises a robot, a vision module and the verification device, wherein the tail end of the robot is provided with a probe, and the vision module is in communication connection with a controller of the robot.

The calibration accuracy verification device and the calibration accuracy verification system for the robot system provided by the embodiment, wherein the calibration accuracy verification device for the robot system comprises a base 100 serving as a carrier, a quick-dismantling assembly capable of being quickly dismantled from the base 100, and the quick-dismantling assembly comprises a light reflection point component 200 for providing a standard target position and an accuracy verification component for verifying the accuracy of an actual position of a robot after the tail end moves relative to the standard target position; the robot system calibration accuracy verification system comprises a robot with calibration accuracy to be verified, a vision module and the verification device capable of verifying the calibration accuracy.

When the verification device verifies the calibration precision of the human eye calibration robot system, the base 100 of the verification device can be firstly arranged in an operation area to be tested of the robot calibration precision, then the reflecting point component 200 is arranged at the quick-dismantling position of the base 100, the vision module can collect the image of the reflecting point 210 in the reflecting point component 200 and identify the central point of the reflecting point verification end surface 531 of the reflecting point component, so that the reflecting point position information of the reflecting point central point is accurately obtained, and the reflecting point position information is input or fed back to the controller of the robot; and then the light reflecting point component 200 is disassembled, the accuracy verification component is arranged at the quick disassembly position of the base 100, the controller of the robot takes the light reflecting point position information as standard target position information, and drives the probe at the tail end of the robot to reach an actual target position according to the standard target position information on the basis of a robot eye calibration coordinate system, and as the accuracy recognition center point of the accuracy recognition part coincides with the light reflecting point center point of the light reflecting point component 200 when the accuracy verification component is arranged on the base 100, the accuracy recognition center point of the accuracy recognition part at the moment is the standard target position where the light reflecting point center point is positioned, and an operator can quickly verify whether the accuracy of the robot eye meets the requirement according to the offset of the actual target position of the probe relative to the accuracy recognition center point.

In the verification device, when the reflecting point component 200 is mounted on the base 100, the reflecting point center point of the reflecting point 210 can be accurately identified by the vision module to serve as a standard target position with higher position accuracy, so that the occurrence of the condition that the accuracy of the standard target position is lower to influence the subsequent calibration accuracy verification of the robot is reduced, and the verification accuracy of the verification device on the calibration accuracy of the robot is ensured; when the accuracy verification component is installed on the base 100, an accuracy recognition center point of the accuracy recognition part coincides with a standard target position to be used as an accuracy comparison position of the robot probe to an actual target position, and the accuracy recognition part is more convenient to determine the offset of the actual target position relative to the standard target position, so that the verification efficiency of the calibration accuracy of the robot hand eye is improved; meanwhile, the light reflection point component 200 and the precision verification component can be quickly disassembled and assembled with the quick disassembly of the base 100, so that the verification efficiency of the verification device on the calibration precision of the robot hand and eye is further ensured. In addition, the base 100, the light reflection point component 200 and the precision verification component of the verification device are used without connecting a power supply or connecting operation with a controller and the like, and the verification device has the advantages of simple structure, small size and no specific requirement on the use environment, so that the use environment is less limited, and the verification device can be flexibly arranged and applied in a complex processing environment on the basis of ensuring the calibration precision verification precision.

Specifically, as shown in fig. 1, in the present embodiment, the accuracy identifying portion of the accuracy verifying member includes a center groove 310. Here, in one specific form of the accuracy identifying portion, the center groove 310 is located on the outer wall of the accuracy identifying member, the area where the notch of the center groove 310 is located is taken as the accuracy identifying end face 532 of the accuracy identifying portion, and when the accuracy identifying member is mounted on the base 100, the center point of the area where the notch of the center groove 310 is located (i.e., the accuracy identifying center point) coincides with the center point of the light reflecting point 210 when the light reflecting point member 200 is mounted on the base 100; in the verification process, when the probe reaches the actual target position, an operator can use the notch of the central groove 310 as a reference, and the hand-eye calibration precision of the robot can be rapidly verified through the offset of the probe and the central point of the area where the notch of the central groove 310 is located and the edge of the central groove 310, so that the use convenience and precision of the verification device are improved. Preferably, the central slot 310 may be a circular slot, and the center point of the area where the notch of the central slot 310 is located is the center point thereof; of course, the center groove 310 may have a regular polygonal shape such as a square shape, in addition to the circular groove.

When the precision recognition part of the precision verification component adopts the form of the central groove 310, besides the verification of the calibration precision of the robot hand and the eye, the comprehensive calibration precision of a handheld indicator with a robot teaching function in a robot system and the robot system can be verified, the tail ends of the probe and the handheld indicator are respectively provided with a positioning head matched with the central groove 310, the positioning heads can be embedded in the central groove 310 at multi-pose angles, and the central points of the positioning heads and the central points of the areas where the notch of the central groove 310 is positioned are overlapped; the hand-held indicator is provided with a feature set which can be used for acquiring pose information by the vision module, and the vision module can quickly identify and acquire the position information of the hand-held indicator.

When the device is used, the base 100 is arranged in an operation area to be measured of the calibration precision of the robot, the precision verification component provided with the central groove 310 is arranged in the quick-dismantling position, the positioning head of the handheld indicator is embedded in the central groove 310, and the vision module acquires the central point position information of the positioning head at the tail end of the handheld indicator and feeds back the central point position information to the controller of the robot; and (3) detaching the precision verification component, installing the reflecting point component 200 in the quick detach position, collecting the reflecting point position information of the reflecting point center point by the vision module, and solving the deviation between the center point position information of the positioning head of the tail end of the handheld indicator and the reflecting point position information, thereby obtaining the calibration precision of the vision module and the handheld indicator. The central point position information of the positioning head at the tail end of the hand-held indicator is used as target position information, the hand-operated robot drives the positioning head at the tail end of the probe to move until the positioning head at the tail end of the probe is embedded in the central groove 310, the controller of the robot obtains the actual position information of the central point of the positioning head at the tail end of the probe through the gesture data of the robot, then solves the offset of the actual position coordinate represented by the actual position information touched by the positioning head at the tail end of the probe and the target position coordinate represented by the target position information to be transmitted to the robot by the hand-held indicator after the hand-operated robot reaches the target position, so that the errors of the comprehensive calibration precision of the robot system and the hand-held indicator and the calibration precision between the hand-held indicator and the vision module are obtained, and whether the calibration error of the robot system meets the requirement can be obtained by combining a robot hand-eye calibration precision verification method.

In addition to the form of the central groove 310, in this embodiment, as shown in fig. 2, the accuracy identifying portion of the accuracy verifying member may also include a circular groove 410 and at least one annular groove 420 concentrically sleeved in the circular groove 410. The circular groove 410 and the annular groove 420 concentrically sleeved on the outer side of the circular groove 410 are both positioned on the outer wall of the precision verification part and form a target ring structure, and the center point of the area where the notch of the circular groove 410 is positioned is used as the center point of the target ring structure, so that the circular edge of the circular groove 410, the inner ring edge and the outer ring edge of the annular groove 420 can be used as target rings to mark the offset with the center point; in the verification process, when the probe reaches the actual target position, an operator can more quickly and accurately determine the offset of the actual target position relative to the standard target position according to the target ring position of the actual target position, and correspondingly, the hand-eye calibration precision of the robot can be quickly and accurately verified. Specifically, the radial dimensions of the circular grooves 410 and 420 and the number of the circular grooves 420 may be determined according to the accuracy requirements of practical applications, so as to rapidly judge the accuracy level.

Of course, in other embodiments, the accuracy identifying portion of the accuracy verification component may also take other forms, such as an identifier drawn on an outer wall of the accuracy verification component; the probe is preferably soft so as to reduce damage to the probe caused by collision of the end of the probe with the accuracy recognition part due to the fact that the actual target position is located on the inner side of the standard target position, and an operator can judge the offset according to the bending deformation degree of the probe.

In addition to the above-mentioned single precision verification part, in particular, in this embodiment, there may be two precision verification parts, where the two precision verification parts are a first precision verification part 300 and a second precision verification part 400, respectively, and as shown in fig. 1, the precision recognition part of the first precision verification part 300 includes a central slot 310; as shown in fig. 2, the accuracy identifying portion of the second accuracy verifying member 400 includes a circular groove 410 and at least one annular groove 420 concentrically sleeved on the circular groove 410. The verification device comprises the two precision verification components, when the device is used, the reflection point component 200, the first precision verification component 300 and the second precision verification component 400 can be selected and used according to the requirements, so that verification of calibration precision among different objects in a robot system is realized, and besides the verification method, the reflection point component 200, the first precision verification component 300 and the second precision verification component 400 can be matched and used at the same time.

When in use, the tail end of the hand-held indicator is provided with a positioning head matched with the central groove 310, the positioning head can be embedded in the central groove 310 at a multi-pose angle, and the central point of the positioning head is coincident with the central point of the area where the notch of the central groove 310 is positioned; arranging the base 100 in an operation area to be measured of the calibration precision of the robot, then installing the reflecting point component 200 in the quick-dismantling position of the base 100, collecting an image of the reflecting point 210 by a vision module, identifying the reflecting point center point of the reflecting point verification end surface 531 of the reflecting point, thereby obtaining accurate reflecting point position information, and feeding the reflecting point position information back to a controller of the robot; taking down the reflecting point component 200, quickly assembling the first precision verification component 300 on the quick-dismantling position of the base 100, embedding the positioning head of the handheld indicator in the central groove 310, acquiring the central point position information of the positioning head of the tail end of the handheld indicator by the vision module, feeding back the central point position information to the controller of the robot, and solving the deviation between the central point position information of the positioning head of the tail end of the handheld indicator and the reflecting point position information, thereby obtaining the calibration precision between the handheld indicator and the vision module; removing the first accuracy verification part 300 from the quick-release position, and quick-mounting the second accuracy verification part 400 to the quick-release position; the controller controls the robot to drive the probe at the tail end of the robot to move to the actual target position according to the position information of the central point of the positioning head at the tail end of the handheld indicator, an operator can quickly determine the offset of the actual target position relative to the central point of the target ring structure according to the target ring position of the actual target position, and accordingly, the comprehensive calibration precision among the vision module, the handheld indicator and the robot in the robot system can be quickly and accurately verified.

Of course, the three verification methods are only specific use methods of part of the verification device, and the parts can be matched for use according to the number and the types of the parts in the verification device so as to verify different calibration precision in the robot system.

Specifically, in this embodiment, as shown in fig. 5 and 6, the quick-release position includes a plugging slot 123 provided in the base 100, and the light reflection point component 200 and the accuracy verification component are both provided with plugging posts 510 matched with the plugging slot 123. Here, in one specific form of quick-dismantling, matching and quick-dismantling the reflection point component 200 and the precision verification component, when the reflection point component 200 or the precision verification component needs to be installed, the plugging column 510 is matched and inserted into the plugging groove 123 of the base 100, so that quick-installing of the reflection point component 200 and the precision verification component can be realized; similarly, when the reflector spot component 200 or the accuracy verification component needs to be removed, the plug-in post 510 of the reflector spot component is pulled out of the plug-in groove 123, so that quick disassembly of the reflector spot component and the accuracy verification component can be realized, the disassembly and assembly are convenient, the plug-in groove 123 can limit the position of the plug-in post 510, and the accuracy of the positions of the reflector spot component 200 and the accuracy verification component mounted on the base 100 can be ensured, so that the verification accuracy of the verification device can be ensured. Specifically, the plugging columns 510 and the plugging grooves 123 are precisely clearance fit determined by multiple adaptation after surface treatment, so that not only can the replacement of the reflector spot component 200 and the precision verification component by manually assembling and disassembling the plugging columns 510 be ensured, but also the high-precision fit of the plugging columns 510 and the plugging grooves 123 can be ensured, and the position precision of the reflector spot component 200 and the precision verification component mounted on the base 100 can be correspondingly ensured.

Specifically, in this embodiment, as shown in fig. 5 and 6, the end of the plugging post 510 of both the light reflection point component 200 and the accuracy verification component, which is away from the plugging end, is coaxially provided with a limiting table 520, the limiting table 520 radially protrudes out of the plugging post 510, and the end of the limiting table 520, which is away from the plugging post 510, is coaxially provided with a verification seat 530, and the end surface of the verification seat 530, which is away from the limiting table 520, is provided with the light reflection point 210 or the accuracy recognition portion of the corresponding component. Here, in one specific form of the light reflection point component 200 and the accuracy verification component, the plugging column 510, the limiting table 520 and the verification seat 530 are sequentially arranged along the axial direction and are coaxially arranged; during installation, the plug-in column 510 is plugged in the plug-in groove 123 of the base 100 until the limiting table 520 is abutted against the groove end face of the plug-in groove 123, the axial depth position of the plug-in column 510 inserted into the plug-in groove 123 can be limited by the setting of the limiting table 520, and the radial position of the plug-in column 510 can be limited by the plug-in groove 123, so that the position accuracy of the plug-in column 510 plugged in the plug-in groove 123 is further improved, the position accuracy of the verification seat 530 and the reflection point 210 or the accuracy recognition part arranged on the verification end face of the verification seat is correspondingly improved, and the verification accuracy of the verification device on the calibration accuracy of a robot system is further improved. Wherein, the light reflecting point 210 of the light reflecting point component 200 is arranged on the end surface of the verification seat 530 facing away from the limit table 520, and preferably, the light reflecting point 210 is cylindrical or disc-shaped, and the light reflecting point 210 and the end surface of the verification seat 530 are coaxially arranged; the central groove 310 of the first precision verification part 300 is arranged on the end surface of the verification seat 530 facing away from the limit table 520, and the central groove 310 and the end surface are coaxially arranged; the circular groove 410 of the second precision verification part 400 is arranged on the end surface of the verification seat, which is away from the limiting table, and the circular groove 410 and the end surface are coaxially arranged.

Alternatively, in this embodiment, as shown in fig. 5, the connection surface between the light reflection point component 200 and the accuracy verification component and the base 100 is provided with a magnet 540, and the area of the base 100 corresponding to the magnet 540 is a magnetic attraction area. When the light reflecting point component 200 or the accuracy verification component is connected to the quick-dismantling position of the base 100, the magnet 540 on the connecting surface of the light reflecting point component 200 or the accuracy verification component and the base 100 can be magnetically attracted to the magnetic attraction area of the corresponding area of the base 100, so that the stability and the firmness of the light reflecting point component 200 and the accuracy verification component connected to the base 100 are improved, the position stability of the light reflecting point 210 of the light reflecting point component 200 and the accuracy recognition part of the accuracy verification component are correspondingly ensured, and the occurrence of the condition that the accuracy of verification is influenced by the relative quick-dismantling position deviation of the light reflecting point component 200 and the accuracy verification component is reduced; when the light reflection point component 200 or the accuracy verification component needs to be taken down, the disassembly mode is the same as that when the magnet 540 is not arranged, the plugging column 510 is only required to be pulled out outwards by force, namely, the magnet 540 and the magnetic attraction area are arranged, and the disassembly convenience can still be ensured on the basis of improving the connection stability and the firmness.

In addition to the above-mentioned arrangement of the magnet 540 on the reflector 200 and the accuracy verification member, and the corresponding area of the base 100 is set as the magnetic attraction area, similarly, in this embodiment, the magnet 540 may be disposed on the connection surface between the base 100 and the reflector 200 and the accuracy verification member, and the corresponding areas of the reflector 200 and the accuracy verification member with the magnet 540 may be magnetic attraction areas. The magnet 540 and the magnetic energy of the magnetic attraction zone can further connect the light reflection point component 200 and the accuracy verification component which are installed at the quick-dismantling position, so that the connection stability and the firmness are improved, and the disassembly convenience is guaranteed.

Specifically, the magnet 540 may be embedded in the end face of the limiting table 520 facing the plugging column 510, the end face of the plugging slot 123 is a magnetic attraction area, when the plugging column 510 is inserted into the plugging slot 123, the end face of the limiting table 520 facing the plugging column 510 is abutted against the slot end face of the plugging slot 123, and the magnet 540 is magnetically attracted to the slot end face, so that the secondary connection between the limiting table 520 and the plugging slot 123 is realized, and the connection stability and firmness between the light reflection point component 200 and the precision verification component and the base 100 are correspondingly improved; preferably, the number of the magnets 540 is two, and the two magnets 540 are located at two diametrically opposite sides of the limiting table 520.

Alternatively, in the present embodiment, as shown in fig. 5 and 6, the base 100 includes a base body 110 and a mounting base body 120 disposed on the base body 110, where the base body 110 is a magnetic base, and the mounting base body 120 is disposed in a quick-release manner. Here, in one specific form of the base 100, on the one hand, when the base 100 is arranged, the base body 110 of the base 100 can be flexibly magnetically attracted on a magnetic attraction device such as a workpiece table, a positioner or a tooling table of a working area to be measured of the calibration precision of the robot according to actual demands, so that the use flexibility of the verification device is further improved, compared with the use of screws and the like for fixing the base 100, the damage of the base 100 caused by the arrangement of the base 100 on a magnetic attraction piece opening and the like can be reduced, and the limitation of the arrangement of the base 100 on a use scene is reduced, so that the arrangement convenience and the applicability of the base 100 are improved. On the other hand, the base 100 is split into two base bodies, namely the base body 110 and the mounting base body 120, on the basis of improving the processing convenience of the base 100, the damage to the strength caused by frequent disassembly and assembly and the like caused by the fact that the whole base 100 is a magnetic component on which the inserting groove 123 is processed is reduced, the disassembly and assembly of the magnetic component and the light reflecting point component 200 and the precision verification component are ensured correspondingly through the mounting base body 120, and the adverse effect of the magnetic base on the installed light reflecting point component 200 and the precision verification component is reduced.

Specifically, in the present embodiment, as shown in fig. 1-3, a magnetism isolating member 130 is disposed between the base body 110 and the mounting base body 120. The magnetism isolating member 130 is isolated between the base body 110 and the mounting base body 120, and can effectively isolate the magnetic attraction force of the base body 110, so as to further reduce the adverse effect of the magnetic attraction force of the base body 110 on the disassembly and assembly of the light reflecting point component 200 and the accuracy verification component and the mounting base body 120, and correspondingly ensure the disassembly and assembly convenience and the connection stability of the light reflecting point component 200 and the accuracy verification component and the quick disassembly.

In this embodiment, as shown in fig. 4, 5 and 6, the base 110, the magnetism insulator 130 and the mounting base 120 are provided with corresponding positioning holes 140 and connecting holes 150, and the connecting holes 150 of the mounting base 120 are provided with internal threads; the verification device further comprises a positioning pin 160 and a connecting bolt 170, wherein the positioning pin 160 is sequentially inserted into the positioning holes 140 of the installation base 120, the magnetism isolating piece 130 and the base 110, and the connecting bolt 170 penetrates through the connecting holes 150 of the installation base 120 and the magnetism isolating piece 130 and is screwed to the connecting holes 150 of the base 110. When the base body 110, the magnetism isolating member 130 and the mounting base body 120 of the base 100 are connected, the positioning holes 140 and the connecting holes 150 of the three can be aligned, then the positioning pins 160 are inserted into the positioning holes 140 of the three to realize preliminary positioning of the three, and then the connecting bolts 170 sequentially penetrate through the connecting holes 150 of the mounting base body 120 and the magnetism isolating member 130 and then are screwed into the connecting holes 150 of the base body 110, so that firm connection of the three is realized. The positioning hole 140 and the positioning pin 160 can be used for initially positioning the relative connection positions of the base body 110, the magnetism isolating piece 130 and the mounting seat body 120, so that the connection convenience of the subsequent connecting bolt 170 is improved, the connecting bolt 170 is connected with the connecting hole 150, and the connection convenience is high and the cost is low on the basis of ensuring the connection firmness of the base body 110, the magnetism isolating piece 130 and the mounting seat body 120. Specifically, as shown in fig. 4, the positioning holes 140 may be two, and the connecting holes 150 may be two, where the two positioning holes 140 and the two connecting holes 150 are alternately and uniformly arranged along the circumferential direction of the mounting base 120, so as to improve the positioning stability of the positioning pin 160 and the connection firmness of the connecting bolt 170.

Specifically, as shown in fig. 5 and 6, the mounting base 120 includes a connection base 121 for connecting with the magnetism isolating member 130 and a quick-release base 122 for connecting with the light reflection point component 200 and the accuracy verification component, wherein the positioning hole 140 and the connection hole 150 are both disposed on the connection base 121, and the plugging slot 123 is disposed on the quick-release base 122; preferably, the connecting seat body 121 is further provided with a containing groove 180, the connecting hole 150 is formed in the bottom of the containing groove 180, the containing groove 180 is used for containing a screw head of the connecting bolt 170, when the connecting bolt 170 is installed, a screw rod of the connecting bolt 170 sequentially passes through the connecting seat body 121, the magnetism isolating piece 130 and the connecting hole 150 of the base body 110 after passing through the containing groove 180, and the screw head of the connecting bolt 170 is contained in the containing groove 180, so that adverse effects of the screw head protruding out of the connecting seat body 121 on the overall shape of the base 100 are reduced, and the overall uniformity of the base 100 is correspondingly improved.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The calibration accuracy verification device of the robot system is characterized by comprising a base (100) and a quick-dismantling assembly, wherein the base (100) is provided with a quick-dismantling position; the quick-dismantling assembly comprises a reflecting point component (200) and a precision verification component, wherein the reflecting point component (200) is provided with a reflecting point (210), the central point of a reflecting point verification end surface (531) of the reflecting point (210) is a reflecting point central point, the precision verification component is provided with a precision identification part, and the central point of a precision identification end surface (532) of the precision identification part is a precision identification central point;

the light reflecting point component (200) and the precision verification component can be detachably connected to the quick-dismantling position, and the light reflecting point center point of the light reflecting point component (200) when installed in the quick-dismantling position coincides with the precision recognition center point of the precision verification component when installed in the quick-dismantling position.

2. The robotic system calibration accuracy verification device of claim 1, wherein the accuracy recognition portion includes a central slot (310);

or, the precision recognition part comprises a circular groove (410) and at least one annular groove (420) concentrically sleeved on the circular groove (410).

3. The robot system calibration accuracy verification device according to claim 1, wherein the number of the accuracy verification components is two, namely a first accuracy verification component (300) and a second accuracy verification component (400), wherein the accuracy recognition part of the first accuracy verification component (300) comprises a central groove (310); the precision identification part of the second precision verification part (400) comprises a circular groove (410) and at least one annular groove (420) concentrically sleeved on the circular groove (410).

4. A calibration accuracy verification device for a robotic system according to any one of claims 1-3, wherein the quick-release position comprises a socket (123) provided in the base (100), and the light-reflecting point component (200) and the accuracy verification component are provided with socket columns (510) matching the socket (123).

5. The calibration accuracy verification device of a robot system according to claim 4, wherein a limiting table (520) is coaxially arranged at one end of a plug-in post (510) of both the light reflecting point component (200) and the accuracy verification component, which is away from the plug-in end, the limiting table (520) radially protrudes out of the plug-in post (510), a verification seat (530) is coaxially arranged at one end of the limiting table (520), which is away from the plug-in post (510), and a light reflecting point (210) or an accuracy recognition part of a corresponding component are arranged at the end surface of the verification seat (530), which is away from the limiting table (520).

6. A calibration accuracy verification device for a robot system according to any one of claims 1 to 3, wherein a magnet (540) is arranged on a connection surface between the light reflecting point component (200) and the accuracy verification component and the base (100), and a region of the base (100) corresponding to the magnet (540) is a magnetic attraction region;

or, the connection surface of the base (100) and the light reflecting point component (200) and the precision verification component is provided with a magnet (540), and the corresponding areas of the light reflecting point component (200) and the precision verification component and the magnet (540) are magnetic attraction areas.

7. A calibration accuracy verification device for a robot system according to any one of claims 1 to 3, wherein the base (100) comprises a base body (110) and an installation base body (120) arranged on the base body (110), the base body (110) is a magnetic base, and the quick-release position is arranged on the installation base body (120).

8. The calibration accuracy verification device of a robotic system according to claim 7, wherein the base body (110) is spaced from the mounting base body (120) by a magnetic shield (130).

9. The calibration accuracy verification device of a robot system according to claim 8, wherein the base body (110), the magnetism isolating member (130) and the mounting base body (120) are provided with corresponding positioning holes (140) and connecting holes (150), and the connecting holes (150) of the mounting base body (120) are provided with internal threads; the verification device further comprises a positioning pin (160) and a connecting bolt (170), wherein the positioning pin (160) is sequentially inserted into the positioning hole (140) of the installation base body (120), the magnetism isolating piece (130) and the base body (110), and the connecting bolt (170) penetrates through the connecting hole (150) of the installation base body (120) and the magnetism isolating piece (130) and is screwed into the connecting hole (150) of the base body (110).

10. A calibration accuracy verification system for a robot system, comprising a robot, a vision module and a verification device according to any one of claims 1-9, wherein a probe is mounted at the end of the robot, and the vision module is in communication connection with a controller of the robot.