CN219666707U - Industrial robot calibration tool adjusting device - Google Patents
Industrial robot calibration tool adjusting device Download PDFInfo
- Publication number
- CN219666707U CN219666707U CN202320607111.3U CN202320607111U CN219666707U CN 219666707 U CN219666707 U CN 219666707U CN 202320607111 U CN202320607111 U CN 202320607111U CN 219666707 U CN219666707 U CN 219666707U
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- base
- industrial robot
- calibration tool
- sliding seat
- calibration
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- 238000010030 laminating Methods 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses an industrial robot calibration tool adjusting device which comprises a base, wherein a lead screw arranged on the base drives a lead screw at an output end to rotate, a sliding seat is arranged on the lead screw, a calibration tool is arranged on the upper portion of the sliding seat through a calibration tool base, a grating ruler measuring head is arranged on one side of the sliding seat, a photoelectric sensing piece is arranged on the other side of the sliding seat, a grating ruler is fixedly attached to the side face of the base and is positioned on the same side with the grating ruler measuring head, and photoelectric sensors are arranged at two end parts of the other side face of the base and are positioned on the same side with the photoelectric sensing piece. According to the utility model, the tool for adjusting the position of the industrial robot calibration tool is skillfully designed, the laser calibration device can be fixed on the sliding seat of the linear guide rail through the adjusting device, and the high precision of the linear guide rail is utilized to change the position of the laser calibration device, so that the calibration device obtains joint information of the industrial robot with more accurate positions, and the defects that the traditional manual movement calibration tool can generate large measurement errors and installation positioning errors are overcome.
Description
Technical Field
The utility model relates to an industrial robot calibration tool adjusting device, and belongs to the field of robot calibration.
Background
Robot calibration is a key technology for improving the precision of robots, is also important content of robotics, and has very important theoretical and practical significance at present for unprecedented development of robots. The robot kinematics calibration is based on kinematics modeling, geometric error parameter identification is used as an object, and a basis is provided for error compensation of the robot.
The laser calibration tool is characterized in that the laser replaces a physical device to enable the tail end of the industrial robot to be positioned at the same point, the gesture of the industrial robot is simultaneously changed, the joint angles are collected in different gestures, and key information is obtained for subsequent calibration. In order to make the obtained information amount larger and the calibration result more reliable, the positions of the laser calibration device need to be changed, but accurate distances between the changed positions are needed to lay a foundation for the more accurate calibration result.
The prior art needs a lot of time to position and measure the position by manually changing the position of the laser calibration device.
Disclosure of Invention
The utility model provides an industrial robot calibration tool adjusting device, which is used for constructing a tool for adjusting the position of an industrial robot calibration tool through reasonable constitution and connection.
The technical scheme of the utility model is as follows: the utility model provides an industrial robot marks instrument adjusting device, including base 1, the lead screw 13 of the motor 8 drive output of installing on base 1 rotates, installs slide 5 on the lead screw 13, and the marking tool is installed through marking tool base 10 on slide 5 upper portion, and grating chi gauge head 3 is installed to slide 5 one side, and photoelectric sensing piece 14 is installed to slide 5 opposite side, and the fixed laminating of grating chi 12 is located same one side at the side of base 1 and with grating chi gauge head 3, and photoelectric sensor 15 is installed at base 1 another side both ends and is located same one side with photoelectric sensing piece 14.
The output end of the motor 8 is connected with one end of a lead screw 13, and the other end of the lead screw 13 is arranged on the bearing seat 9 through a bearing 11.
The utility model also comprises an upper cover plate 4 and a side cover plate 6 which are fixedly connected with the base 1.
The beneficial effects of the utility model are as follows: according to the utility model, the tool for adjusting the position of the industrial robot calibration tool is skillfully designed, the laser calibration device can be fixed on the sliding seat of the linear guide rail through the adjusting device, and the high precision of the linear guide rail is utilized to change the position of the laser calibration device, so that the calibration device obtains joint information of the industrial robot with more accurate positions, and the defects that the traditional manual movement calibration tool can generate large measurement errors and installation positioning errors are overcome.
Drawings
FIG. 1 is an isometric view of the present utility model;
FIG. 2 is a schematic illustration of the exterior (front view) of the present utility model;
FIG. 3 is a schematic representation of the exterior (top view) of the present utility model;
FIG. 4 is a cross-sectional view of the present utility model;
the reference numerals in the figures are: 1-base, 2-sensor fixed plate, 3-grating ruler gauge head, 4-upper cover plate, 5-slide, 6-side cover plate, 7-fixing bolt, 8-servo motor, 9-lead screw bearing seat, 10-calibration tool base, 11-bearing, 12-grating ruler, 13-lead screw, 14-photoelectric sensing piece, 15-photoelectric sensor.
Detailed Description
The utility model will be further described with reference to the drawings and examples, but the utility model is not limited to the scope.
Example 1: as shown in fig. 1-4, an industrial robot calibration tool adjusting device comprises a base 1, a lead screw 13 arranged on the base 1 and used for driving an output end to rotate, a sliding seat 5 is arranged on the lead screw 13, a calibration tool is arranged on the upper portion of the sliding seat 5 through a calibration tool base 10, a grating ruler measuring head 3 is arranged on one side of the sliding seat 5 through a sensor fixing plate 2, a photoelectric sensing piece 14 is arranged on the other side of the sliding seat 5, a grating ruler 12 is fixedly attached to the side face of the base 1 and is positioned on the same side with the grating ruler measuring head 3, and a photoelectric sensor 15 is arranged on two end portions of the other side face of the base 1 and is positioned on the same side with the photoelectric sensing piece 14. The photoelectric sensor is arranged at the limit position of the sliding seat, when the photoelectric sensor sheet 14 senses the photoelectric sensor 15, the position acquired by the measuring head of the grating ruler stops outputting, and the sliding seat can be prevented from sliding out of the range of the grating ruler to cause inaccurate position.
Further, the output end of the motor 8 is connected with one end of a lead screw 13, and the other end of the lead screw 13 is arranged on the bearing seat 9 through a bearing 11. The inner ring of the bearing 11 is fixedly connected with the screw rod 13, the outer ring of the bearing 14 is contacted with the inner ring of the hole on the bearing seat 9, and friction during rotation of the screw rod 13 is reduced through the design of the bearing; the screw rod 13 rotates along with the servo motor 8, and the spiral rotation on the screw rod 13 is converted into linear motion of the sliding seat 5 so as to drive a laser calibration tool fixedly connected to the sliding seat 5 to an ideal position.
Further, the utility model also comprises an upper cover plate 4 and a side cover plate 6 which are fixedly connected with the base 1. In the figure, side cover plates 6 are arranged on two sides of the bottom side along the axial direction of a screw rod 13, and an upper cover plate 4 is arranged on the upper part of a base 1 through a fixing bolt 7, so that the dustproof effect is achieved.
Further, for purposes of illustration and not limitation, the type of grating scale employed by the physical adjustment device to be constructed is given: RKLC-S.
According to the utility model, the laser calibration device is fixed on the linear guide rail, and the position of the laser calibration device is changed by utilizing the high precision of the linear guide rail, so that the calibration device obtains joint information of the industrial robot with more accurate positions. Specifically:
when the position of the calibration tool needs to be adjusted, the servo motor 8 is driven to drive the screw rod 13 to rotate; the rotation of the screw 13 is converted into a linear movement of the slide 5, further carrying the movement of the calibration tool. Simultaneously, the photoelectric sensing piece 14 moves along with the sliding seat 5, when the photoelectric sensing piece 14 moves to the photoelectric sensor 15, the photoelectric sensor gives instructions to the upper computer, the upper computer stops receiving the position information, and meanwhile, the upper computer gives a stop instruction to the servo motor. The position information is obtained by the cooperation of the grating gauge head 3 and the grating gauge 12. The control of the motor movement forms a closed loop through the position information obtained by the measuring head of the grating ruler; the motor 8 is controlled to drive the screw rod 13 to rotate, and the rotation of the screw rod 13 is converted into linear motion of the sliding seat 5 to obtain the ideal position of the sliding seat, so that the position of the calibration tool can be adjusted more quickly, and the calibration time is shortened.
While the present utility model has been described in detail with reference to the drawings, the present utility model is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present utility model within the knowledge of those skilled in the art.
Claims (3)
1. The utility model provides an industrial robot calibration instrument adjusting device, a serial communication port, including base (1), install lead screw (13) rotation of motor (8) drive output on base (1), install slide (5) on lead screw (13), the calibration instrument is installed through calibration instrument base (10) on slide (5) upper portion, grating chi gauge head (3) are installed to slide (5) one side, photoelectric sensing piece (14) are installed to slide (5) opposite side, the fixed laminating of grating chi (12) is in the side of base (1) and is located same one side with grating chi gauge head (3), photoelectric sensor (15) are installed at base (1) another side both ends and are located same one side with photoelectric sensing piece (14).
2. The industrial robot calibration tool adjusting device according to claim 1, wherein the output end of the motor (8) is connected with one end of a screw rod (13), and the other end of the screw rod (13) is mounted on the bearing seat (9) through a bearing (11).
3. The industrial robot calibration tool adjusting device according to claim 1, further comprising an upper cover plate (4) and a side cover plate (6) fixedly connected with the base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320607111.3U CN219666707U (en) | 2023-03-24 | 2023-03-24 | Industrial robot calibration tool adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320607111.3U CN219666707U (en) | 2023-03-24 | 2023-03-24 | Industrial robot calibration tool adjusting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219666707U true CN219666707U (en) | 2023-09-12 |
Family
ID=87923369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320607111.3U Active CN219666707U (en) | 2023-03-24 | 2023-03-24 | Industrial robot calibration tool adjusting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219666707U (en) |
-
2023
- 2023-03-24 CN CN202320607111.3U patent/CN219666707U/en active Active
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