CN219987654U - Pick up and mark integrated instrument and robot system - Google Patents

Abstract

The utility model discloses a pick-up and calibration integrated tool and a robot system, wherein the tool comprises: the mounting plate is provided with a first mounting surface and a second mounting surface which are arranged in opposite directions, and the first mounting surface is used for being connected with the tail end flange of the robot so as to mount the mounting plate on the tail end flange; the calibration piece is arranged on the second mounting surface and is used for calibrating a coordinate system; and the picking piece is arranged on the second mounting surface and is used for picking the workpiece. The integrated tool for picking up and calibrating integrates the calibrating piece and the picking-up piece, can achieve coordinate system calibration and workpiece picking-up at the same time on the premise of not changing tools, and further improves production efficiency.

Description

Pick up and mark integrated instrument and robot system

Technical Field

The utility model relates to the technical field of robots, in particular to a picking and calibrating integrated tool and a robot system.

Background

When the robot is applied to workpiece picking, the calibration of a tool coordinate system and the switching of the installation of the picking tool are frequently used, and how to quickly and accurately finish the calibration of the coordinate system and the quick installation of the picking tool, so that a lower calibration and the installation error of the picking tool is ensured, and the robot is always a difficult problem for debugging personnel.

Disclosure of Invention

The utility model aims to provide a picking and calibrating integrated tool and a robot system, which integrate a calibrating piece and a picking piece, and can realize coordinate system calibration and workpiece picking on the premise of not changing the tool, thereby improving the production efficiency.

A first aspect of an embodiment of the present utility model provides a tool for integrating picking and calibrating, including: the mounting plate is provided with a first mounting surface and a second mounting surface which are arranged in opposite directions, and the first mounting surface is used for being connected with a tail end flange of the robot so as to mount the mounting plate on the tail end flange; the calibration piece is arranged on the second mounting surface and is used for calibrating a coordinate system; and the picking piece is arranged on the second mounting surface and is used for picking the workpiece.

Wherein the calibration member is detachably mounted on the second mounting surface, and/or the pickup member is detachably mounted on the second mounting surface.

The end, deviating from the mounting plate, of the calibration piece is a tip, and the position of the calibration piece is calibrated through the tip.

The axis of the calibration piece passes through the center point of the mounting plate, and when the mounting plate is connected with the tail end flange, the center point of the mounting plate and the center point of the tail end flange are on the same straight line.

Wherein the picking member includes at least one of a vacuum chuck and a gripping member.

Wherein the tool further comprises: and the adapter is arranged on the first mounting surface of the mounting plate and used for connecting the mounting plate with the tail end flange, wherein a plurality of pipelines are arranged on the adapter and used for placing electrical wires of the robot.

Wherein the axis of the adapter passes through the center point of the mounting plate, wherein when the adapter is connected with the end flange, the center point of the adapter and the center point of the end flange are on the same straight line.

The first mounting surface of the mounting plate is provided with an annular bulge, one end of the adapter is mounted in the annular bulge, the mounting plate is provided with a first pin hole positioned in the annular bulge, and one end of the adapter is provided with a second pin hole matched with the first pin hole; the tool further includes a locating pin passing through the first pin hole and the second pin hole to lock the mounting plate and the adapter.

Wherein, the adaptor includes: the first mounting plate is mounted in the annular bulge and provided with the second pin hole; the second mounting plate is arranged opposite to the first mounting plate and is used for being connected with the tail end flange, and at least one connecting rod is connected with the first mounting plate and the second mounting plate.

A second aspect of an embodiment of the present utility model provides a robotic system comprising a robot and the pick-and-place integrated tool of any one of the above described on a robotic end flange.

The beneficial effects of the utility model are as follows: according to the integrated tool for picking and calibrating, the calibrating piece and the picking piece are integrated on the mounting plate, so that the coordinate system calibration and the workpiece picking can be realized on the premise of not changing the tool, and the production efficiency is improved.

Drawings

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

FIG. 1 is a schematic view of a structure of an embodiment of a tool for picking up calibration integrated tools according to the present utility model;

FIG. 2 is a schematic view of the mounting plate of FIG. 1 at another angle;

FIG. 3 is a schematic view of the adapter of FIG. 1 at another angle;

fig. 4 is a schematic structural view of an embodiment of the robot system according to the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1, the pick-up and calibration integrated tool 100 includes a mounting plate 101, a calibration member 102, and a pick-up member 103.

The mounting plate 101 is provided with a first mounting surface 1011 and a second mounting surface 1012 arranged opposite to each other, the first mounting surface 1011 being adapted to be connected to a robot end flange for mounting the mounting plate 101 on the end flange.

Specifically, the mounting plate 101 is mounted on an end flange of the robot, so that the integrated tool 100 for picking up and calibrating is mounted on the end flange of the robot, and thus the integrated tool 100 for picking up and calibrating is calibrated and picked up under the control of the robot. The end flange of the robot refers to a flange for mounting the actuator. The connection of the mounting plate 101 to the robot end flange may be a detachable connection, such as a threaded connection, a snap-fit connection, or the like.

Wherein the calibration member 102 is disposed on the second mounting surface 1012 for coordinate system calibration. The pickup member 103 is provided on the second mounting surface 1012 for picking up the work.

Specifically, the index member 102 and the pickup member 103 are mounted on the same side of the mounting plate 101. The calibration member 102 is a rod or a probe, and the calibration member 102 can be used for calibrating any coordinate system such as a robot tool coordinate system, a workpiece coordinate system and the like, wherein when the tool coordinate system is calibrated, a 2-point method can be adopted for calibrating: one calibration point is arbitrarily selected in the movement range of the robot, so that the robot calibration piece 102 contacts the calibration point from 2 different directions, and the calibration is completed by recording data.

Specifically, the pick-up member 103 includes at least one of a vacuum chuck and a gripping member. The vacuum chuck adsorbs the work piece through the vacuum, and the clamping piece can be 2 claws, 3 claws etc. through the centre gripping pick up work piece. The number of the picking members 103 may be 4, 5, 6, etc., and the present utility model is not limited to the number of the picking members 103.

In other embodiments, the picking member 103 may be a hook member, which may hook the workpiece to perform the picking, and in any case, the shape of the picking member 103 is not limited by the present utility model.

Specifically, the calibration member 102 may be made of iron, copper, or the like, such as a common Q235 steel, which has high hardness, small plastic deformation, wear resistance, low price, high calibration accuracy, and easy purchase. The material selected for the pick-up member 103 may be copper, aluminum, etc., and for example, aluminum alloy has advantages such as low cost, light weight, easy processing, corrosion resistance, oxidation resistance, and repeated use.

In other embodiments, the calibration piece 102 may be a laser generator, and the calibration method may be: and a sensor is fixedly arranged at a certain position of the operation place, different lasers are emitted by a laser generator, and the sensor receives laser signals to determine the position, so that the calibration of a coordinate system can be completed. The laser generator is classified into a solid laser, a gas laser, a liquid laser, etc. according to the difference of working substances, and the present utility model does not limit the kind of the laser generator.

It will be appreciated that when the calibration piece 102 is a laser generator, the calibration accuracy is higher, but electrical wiring of the power supply circuit and the signal circuit is required, wiring and signal feedback setting of the electrical circuit are also required when the calibration piece 102 is replaced, and corresponding function setting needs to be added in the robot control system, which is more time-consuming than when the calibration piece 102 is a conventional calibration piece. In this embodiment, the laser generator is also detachably mounted.

From the above, it can be seen that the integrated tool 100 for picking up and calibrating integrates the calibration member 102 and the picking up member 103 on the mounting plate 101 at the same time, so that the coordinate system calibration and the workpiece picking up can be realized at the same time without changing the tool, thereby improving the production efficiency.

Wherein the calibration member 102 is removably mounted to the second mounting surface 1012 and/or the picking member 103 is removably mounted to the second mounting surface 1012.

Specifically, the calibration member 102 and the picking member 103 may be detachably mounted on the second mounting surface 1012 at the same time, or may be detachably mounted on the second mounting surface 1012, and may be non-detachably mounted on the second mounting surface 1012. For example, one application scenario is where the calibration member 102 is detachably connected to the mounting plate 101, and the pickup member 103 is non-detachably connected to the mounting plate 101; another application scenario is that the calibration member 102 is non-detachably connected to the mounting plate 101, and the pick-up member 103 is detachably connected to the mounting plate 101; still another application scenario is where the calibration member 102 and the picking member 103 are both removably attached to the mounting plate 101. The removable connection may be, for example, a threaded connection, a snap connection, etc., and the non-removable connection may be, for example, a welded, adhesive connection, etc.

Specifically, the calibration member 102 and the picking member 103 are detachably mounted on the second mounting surface 1012 at the same time, so that different calibration members 102 and picking members 103 can be replaced according to specific working requirements, or replacement can be performed according to the abrasion degrees of the calibration members 102 and the picking members 103.

Wherein, the end of the calibration member 102 facing away from the mounting plate 101 is a tip, and the calibration member 102 performs position calibration through the tip.

Specifically, the end of the calibration member 102 facing away from the mounting plate 101 is also referred to as the end that contacts the calibration point, which is configured as a tip, and can be more easily contacted and data can be more easily recorded to complete the calibration of the coordinate system.

In other embodiments, the end of the calibration member 102 facing away from the mounting plate 101 may be provided in other shapes, such as oval, etc., regardless of the ease of calibration.

Wherein, the axis of the calibration piece 102 passes through the center point of the mounting plate 101, and when the mounting plate 101 is connected with the end flange, the center point of the mounting plate 101 and the center point of the end flange are on the same straight line.

Specifically, on the robot, the end flange is coaxially disposed with the screw spline such that the end flange is rotated by the screw spline, and the calibration member 102 is coaxially centered with the mounting plate 101, and the center point of the mounting plate 101 is used for connection with the end flange, so that the calibration member 102, the mounting plate 101, the end flange, and the screw spline are coaxially centered.

Because the calibration result of the calibration piece 102 is influenced by the positions of the calibration piece 102 and the mounting plate 101 and the movement of the screw spline, the calibration piece 102, the mounting plate 101 and the screw spline are coaxial, so that small eccentric error during rotation of the screw spline can be ensured, and the calibration result is more accurate.

In other embodiments, the calibration member 102 may be different from the mounting plate 101 without regard to the accuracy of calibration.

With continued reference to fig. 1, the tool 100 further includes an adapter 104, the adapter 104 being mounted on the first mounting surface 1011 of the mounting plate 101 for connecting the mounting plate 101 to the end flange, the adapter 104 having a plurality of conduits 1044 disposed thereon for electrical cabling of the robot.

Specifically, the pick-up calibration integrated tool 100 needs to receive electrical control signals of the robot and the like to execute corresponding control commands. If the adaptor 104 is not provided, the robot can only transmit signals to the pick-up calibration integrated tool 100 through external cabling, which has the following disadvantages: 1) The appearance of the robot is not compact and beautiful; 2) The external wiring is easy to wind with each joint of the robot, so that the normal operation of the robot is influenced, and the normal transmission of signals is also influenced.

Thus, the adaptor 104 is provided with a plurality of pipes 1044, and electrical wires can be installed in the pipes 1044. The adapter 104 connects the mounting plate 101 to the robot on the one hand and avoids the 2 disadvantages described above on the other hand.

Wherein the axis of the adapter 104 passes through the center point of the mounting plate 101, and when the adapter 104 is connected to the end flange, the center point of the adapter 104 is on the same line as the center point of the end flange.

Specifically, as the axis of the calibration member 102 passes through the center point of the mounting plate 101, for more accurate calibration, the adaptor 104 is coaxial with the mounting plate 101, the center point of the adaptor 104 is on the same line as the center point of the end flange, and the end flange is coaxially disposed with the screw spline, so that the calibration member 102, the mounting plate 101, the adaptor 104, the end flange and the screw spline are coaxially disposed.

In other embodiments, the axis of the adapter 104 may not pass through the center point of the mounting plate 101, regardless of the accuracy of calibration.

In this embodiment, it is ensured that the mounting plate 101, the calibration member 102 and the adaptor 104 have strict machining errors, shape and position errors and mounting errors during machining, and then the mounting plate 101, the calibration member 102 and the adaptor 104 have the same axis with the spline of the screw rod of the robot during actual use, so as to reduce the eccentric errors during the four-axis rotation of the robot, and improve the calibration precision.

Referring to fig. 1, 2 and 3, the first mounting surface 1011 of the mounting plate 101 is provided with an annular protrusion 1013, and one end of the adapter 104 is mounted inside the annular protrusion 1013, wherein the mounting plate 101 is provided with a first pin hole 1015 located inside the annular protrusion 1013, and one end of the adapter 104 is provided with a second pin hole 1016 matching the first pin hole 1015; the tool 100 further includes a locating pin (not shown) that passes through the first pin hole 1015 and the second pin hole 1016 to lock the mounting plate 101 and the adapter 104.

Specifically, the dowel pin is a part that limits the degrees of freedom of the object, controlling the linear motion of the object in three axes of X, Y, Z, and six degrees of freedom of rotational motion about X, Y, Z.

Specifically, the cooperation of the locating pins with the first and second pin holes 1015, 1016 enables the mounting plate 101 to be coupled to the adapter 104. In other embodiments, the adaptor 104 may be provided with a positioning pin, and the annular protrusion 1013 may be provided with a positioning pin hole therein; or the adaptor 104 is provided with a positioning pin hole, the inside of the annular protrusion 1013 is provided with a positioning pin, and the mounting plate 101 and the adaptor 104 are locked through the positioning pin and the positioning pin hole. In one embodiment, the locating pin may be, for example, a cylindrical pin, and the locating pin hole is, correspondingly, a cylindrical pin hole. In another embodiment, the dowel pins may be diamond shaped pins, for example, and the dowel pin holes correspond to diamond shaped pin holes.

In the practical application scene, the different mounting plates 101 are required to be replaced in the face of different work piece operation requirements, after the freedom degrees of the adapter 104 and the mounting plates 101 are limited through the locating pin, the first pin hole 1015 and the second pin hole 1016, the direction of a coordinate system can be ensured not to be changed after the mounting plates 101 are replaced, and the calibration piece 102 is not required to be used for recalibrating, so that work piece picking is directly performed, and the working efficiency is improved.

The adaptor 104 includes a first mounting plate 1041, a second mounting plate 1042, and a connecting rod 1043. Wherein the first mounting plate 1041 is mounted inside the annular protrusion 1013, provided with a second pin hole 1016; the second mounting plate 1042 is disposed opposite to the first mounting plate 1041 and is used for connecting the end flanges, and at least one connecting rod 1043 connects the first mounting plate 1041 and the second mounting plate 1042.

Specifically, the first mounting plate 1041 and the annular protrusion 1013 may be connected by, for example, screw connection, snap connection, or the like; the connection between the second mounting plate 1042 and the end flange may be, for example, a threaded connection, a snap connection, etc.; the connecting rods 1043 are multiple, for example, 2, 3, 4, etc., and a space is enclosed in the middle of the connecting rods 1043, so that the electrical wiring of the robot can pass through conveniently.

In other embodiments, the adapter 104 may have other shapes, and if the end flange is square, the second mounting plate 1042 is also square; the utility model is not limited to the shape of the adapter 104.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a robot system 200 according to the present utility model, wherein the robot system 200 includes a robot 210 and a pick-and-place integrated tool 220. The pick-up calibration integrated tool 220 has the same structure as the pick-up calibration integrated tool 100 in any of the above embodiments, and the specific structure can be referred to in the above description, and will not be repeated here.

Specifically, the pick-and-calibrate integrated tool 220 may be mounted on a scara robot or other industrial robot. Because the robot system 200 is provided with the pick-up and calibration integrated tool 220 on the robot 210, the conditions of large calibration error, low installation efficiency and poor workpiece pick-up precision of the robot caused by replacing the calibration tool and the workpiece pick-up tool are avoided, and the production efficiency is improved.

The foregoing description is only of embodiments of the present utility model, and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present utility model or directly or indirectly applied to other related technical fields are included in the scope of the present utility model.

Claims (10)

1. A pick-up calibration integrated tool, comprising:

the mounting plate is provided with a first mounting surface and a second mounting surface which are arranged in opposite directions, and the first mounting surface is used for being connected with a tail end flange of the robot so as to mount the mounting plate on the tail end flange;

the calibration piece is arranged on the second mounting surface and is used for calibrating a coordinate system;

and the picking piece is arranged on the second mounting surface and is used for picking the workpiece.

2. The tool of claim 1, wherein the indexing member is removably mounted on the second mounting surface and/or the picking member is removably mounted on the second mounting surface.

3. The tool of claim 1, wherein an end of the indexing member facing away from the mounting plate is a tip through which the indexing member is positioned.

4. The tool of claim 1, wherein the axis of the calibration element passes through a center point of the mounting plate, wherein the center point of the mounting plate is collinear with the center point of the end flange when the mounting plate is coupled to the end flange.

5. The tool of claim 1, wherein the pick-up member comprises at least one of a vacuum chuck and a gripper.

6. The tool of claim 1, wherein the tool further comprises:

and the adapter is arranged on the first mounting surface of the mounting plate and used for connecting the mounting plate with the tail end flange, wherein a plurality of pipelines are arranged on the adapter and used for placing electrical wires of the robot.

7. The tool of claim 6, wherein the axis of the adapter passes through a center point of the mounting plate, wherein the center point of the adapter is collinear with the center point of the end flange when the adapter is connected to the end flange.

8. The tool of claim 6, wherein the first mounting surface of the mounting plate is provided with an annular protrusion, one end of the adapter is mounted inside the annular protrusion, wherein the mounting plate is provided with a first pin hole inside the annular protrusion, and one end of the adapter is provided with a second pin hole matched with the first pin hole;

the tool further includes a locating pin passing through the first pin hole and the second pin hole to lock the mounting plate and the adapter.

9. The tool of claim 8, wherein the adapter comprises:

the first mounting plate is mounted in the annular bulge and provided with the second pin hole;

the second mounting plate is arranged opposite to the first mounting plate and is used for being connected with the tail end flange, and at least one connecting rod is connected with the first mounting plate and the second mounting plate.

10. A robotic system comprising a robot and a pick and place integrated tool as claimed in any one of claims 1 to 9 mounted on a terminal flange of the robot.