CN220783974U - Zero calibration device of robot - Google Patents

Abstract

The utility model relates to a zero calibration device of a robot, and belongs to the field of robots. The utility model comprises a calibration seat, which is structurally characterized in that: still include X axle locating plate, Y axle locating plate, Z axle locating plate, calibration piece and test block, Y axle locating plate sets up on the calibration seat, X axle locating plate and Z axle locating plate all set up on Y axle locating plate, be provided with a calibration mechanism on X axle locating plate, Y axle locating plate and the Z axle locating plate at least, calibration piece and test block all cooperate with the calibration mechanism. The calibrating mechanism comprises a dial indicator, an installation block and an installation screw, wherein the dial indicator is arranged on an X-axis locating plate, a Y-axis locating plate and a Z-axis locating plate, a measuring head of the dial indicator is matched with the calibrating block and the testing block, a sleeve of the dial indicator penetrates through the installation block, the X-axis locating plate, the Y-axis locating plate and the Z-axis locating plate, and the installation block is fixed with the X-axis locating plate, the Y-axis locating plate and the Z-axis locating plate through the installation screw.

Description

Zero calibration device of robot

Technical Field

The utility model relates to a zero calibration device of a robot, and belongs to the field of robots.

Background

The robot is widely applied to the polishing industry, and in the practical application of the robot, in order to reduce errors in practical operation, the zero point of the robot needs to be calibrated before the practical operation so as to ensure the working precision of the robot. At present, when the zero point of the robot is calibrated, a technician usually calibrates the robot in a manual adjustment mode, but the zero point of the robot is calibrated manually, so that the efficiency is low, the accuracy is poor, and the requirements of modern production cannot be met.

In view of this, patent document 201510974828.1 discloses a zero-point calibration device for a robot, a zero-point calibration system for a robot, and a calibration method, wherein the position of a positioning block is detected by a position sensor matrix on the inner surface of a sensor cavity, the position is compared with calibration data, the robot is adjusted according to the comparison result, and acquired data having the smallest difference from the calibration data is selected as zero-point calibration data for the robot.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art and provide the zero calibration device of the robot with reasonable structural design.

The utility model solves the problems by adopting the following technical scheme: the zero calibration device of the robot comprises a calibration seat, and is characterized in that: still include X axle locating plate, Y axle locating plate, Z axle locating plate, calibration piece and test block, Y axle locating plate sets up on the calibration seat, X axle locating plate and Z axle locating plate all set up on Y axle locating plate, be provided with a calibration mechanism on X axle locating plate, Y axle locating plate and the Z axle locating plate at least, calibration piece and test block all cooperate with the calibration mechanism. Through setting up the calibration piece and calibrating each calibration mechanism, the rethread test block calibrates the zero point of robot, and the calibration precision is high, more accurate.

Further, the calibration mechanism comprises a dial indicator, wherein the dial indicator is arranged on an X-axis positioning plate, a Y-axis positioning plate and a Z-axis positioning plate, and a measuring head of the dial indicator is matched with the calibration block and the test block.

Further, the calibration mechanism comprises a mounting block and a mounting screw, the sleeve of the dial indicator penetrates through the mounting block, the X-axis positioning plate, the Y-axis positioning plate and the Z-axis positioning plate, and the mounting block is fixed with the X-axis positioning plate, the Y-axis positioning plate and the Z-axis positioning plate through the mounting screw.

Further, the calibration block is arranged in a U-shaped structure.

Further, a calibration groove is formed in the calibration block, a calibration boss is arranged in the calibration groove, and the calibration boss is in contact with the measuring head of the dial indicator.

Further, an X-axis test surface, a Y-axis test surface and a Z-axis test surface are arranged on the test block, and measuring heads of the dial indicators arranged in the calibration mechanisms on the X-axis positioning plate, the Y-axis positioning plate and the Z-axis positioning plate are respectively contacted with the X-axis test surface, the Y-axis test surface and the Z-axis test surface.

Further, a locating pin is arranged on the calibration seat.

Further, the calibration seat is mounted on a base of the robot, and the test block is mounted at the end of the robot.

Further, a calibration mechanism is arranged on the X-axis positioning plate, three calibration mechanisms are arranged on the Y-axis positioning plate, and two calibration mechanisms are arranged on the Z-axis positioning plate.

Further, the end of the calibration groove is an open end, and the open end is in contact with the X-axis positioning plate, the Y-axis positioning plate and the Z-axis positioning plate.

Compared with the prior art, the utility model has the following advantages: the zero calibration device for the robot adjusts the zero of the dial indicator on the X-axis positioning plate, the Y-axis positioning plate and the Z-axis positioning plate through the calibration blocks, and the zero adjustment of the robot is realized through the contact between the test blocks at the tail end of the robot and the measuring head of the dial indicator.

Drawings

Fig. 1 is a schematic perspective view of a zero point calibration device (before calibration) of a robot according to an embodiment of the present utility model.

Fig. 2 is a schematic perspective view of a zero point calibration device (calibration time) of a robot according to an embodiment of the present utility model.

Fig. 3 is a schematic perspective view of a zero point calibration device (after calibration) of a robot according to an embodiment of the present utility model.

Fig. 4 is a schematic perspective view of a zero calibration device of a robot according to an embodiment of the present utility model.

Fig. 5 is a schematic structural view of a use state of the zero calibration device of the robot according to the embodiment of the present utility model.

In the figure: a calibration mechanism 1, a calibration seat 2, an X-axis positioning plate 3, a Y-axis positioning plate 4, a Z-axis positioning plate 5, a calibration block 6, a test block 7, a robot 8,

Dial gauge 11, mounting block 12, mounting screw 13,

A positioning pin 21,

Alignment groove 61, alignment boss 62, open end 63,

An X-axis test surface 71, a Y-axis test surface 72, and a Z-axis test surface 73.

Detailed Description

The present utility model will be described in further detail by way of examples with reference to the accompanying drawings, which are illustrative of the present utility model and not limited to the following examples.

Examples

Referring to fig. 1 to 5, it should be understood that the structures, proportions, sizes, etc. shown in the drawings attached to the present specification are shown only for the purpose of understanding and reading by those skilled in the art, and are not intended to limit the applicable limitations of the present utility model, so that any structural modification, change in proportion, or adjustment of size does not have any technical significance, and all fall within the scope of the technical content of the present utility model without affecting the efficacy and achievement of the present utility model. In the meantime, if the terms such as "upper", "lower", "left", "right", "middle" and "a" are used in the present specification, they are merely for convenience of description, but are not intended to limit the scope of the present utility model, and the relative relation changes or modifications are considered to be within the scope of the present utility model without substantial modification of the technical content.

The zero calibration device of the robot in the embodiment comprises a calibration seat 2, an X-axis positioning plate 3, a Y-axis positioning plate 4, a Z-axis positioning plate 5, a calibration block 6 and a test block 7, wherein a positioning pin 21 is arranged on the calibration seat 2, the calibration seat 2 is arranged on a base of the robot 8 through the positioning pin 21, and the test block 7 is arranged at the tail end of the robot 8.

The Y-axis positioning plate 4 in this embodiment is disposed on the calibration seat 2, the X-axis positioning plate 3 and the Z-axis positioning plate 5 are disposed on the Y-axis positioning plate 4, at least one calibration mechanism 1 is disposed on the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5, typically, one calibration mechanism 1 is disposed on the X-axis positioning plate 3, three calibration mechanisms 1 are disposed on the Y-axis positioning plate 4, two calibration mechanisms 1 are disposed on the Z-axis positioning plate 5, and the calibration block 6 and the test block 7 are both matched with the calibration mechanisms 1.

The calibration mechanism 1 in this embodiment includes a dial indicator 11, a mounting block 12 and a mounting screw 13, where the dial indicator 11 is disposed on the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5, and the measuring head of the dial indicator 11 is matched with the calibration block 6 and the test block 7, that is, the sleeve of the dial indicator 11 penetrates through the mounting block 12 and the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5, and the mounting block 12 is fixed with the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5 by the mounting screw 13.

The calibration block 6 in this embodiment is a U-shaped structure, a calibration groove 61 is provided on the calibration block 6, a calibration boss 62 is provided in the calibration groove 61, the calibration boss 62 contacts with the measuring head of the dial indicator 11, the end of the calibration groove 61 is an open end 63, and the open end 63 contacts with the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5.

The test block 7 in this embodiment is provided with an X-axis test surface 71, a Y-axis test surface 72, and a Z-axis test surface 73, and the measuring heads of the dial indicator 11 in the calibration mechanism 1 provided on the X-axis positioning plate 3, the Y-axis positioning plate 4, and the Z-axis positioning plate 5 are respectively in contact with the X-axis test surface 71, the Y-axis test surface 72, and the Z-axis test surface 73.

The calibration method of the robot zero calibration device in this embodiment is as follows: the calibration seat 2 is installed on the base of the robot 8 after being positioned by the positioning pin 21, the test block 7 is installed at the tail end of the robot 8, the dial indicator 11 in the calibration mechanism 1 arranged on the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5 is calibrated by the calibration block 6, and the X-axis test surface 71, the Y-axis test surface 72 and the Z-axis test surface 73 of the test block 7 are respectively contacted with the measuring heads of the dial indicator 11 in the calibration mechanism 1 on the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5 by the robot 8.

When the dial indicator 11 in the calibrating mechanism 1 on the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5 is calibrated through the calibrating blocks 6, the open ends 63 are respectively contacted with the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5, so that the calibrating bosses 62 are contacted with the measuring heads of the dial indicator 11, and the calibration of the dial indicator 11 can be completed.

When the robot 8 has a fixed posture, the numerical value of the motor encoder is generated, 1-6 axes of data are reserved, and when the motor does not generate displacement, the data are reversely led into the driver, so that the zero point in factory leaving can be corrected.

Specifically, the robot 8 is calibrated by a laser tracker before leaving the factory, a precise zero point is generated, the robot 8 is firstly operated to the zero point position, the single-circle encoder value of the 1-6-axis absolute value servo motor of the robot 8 is recorded, the joint positions of the 1-6 axes of the robot 8 under a specific gesture are recorded, all recorded contents are archived and printed in plastic package according to the factory number of the robot 8, and the printed plastic package contents are stored and handed over.

Specifically, install calibration seat 2 through locating pin 21 back on the base of robot 8, install the end at robot 8 with test block 7, press close to the dial indicator 11 pointer on X axle locating plate 3, Y axle locating plate 4, Z axle locating plate 5 through handheld calibration block 6, make X axle locating plate 3, Y axle locating plate 4, the dial indicator 11 pointer on Z axle locating plate 5 go into 2 millimeters in the visual inspection, the whole manual clear of dial indicator 11, switch robot 8 to manual teaching mode again, safety confirmation before the operation: the robot 8 can only be programmed by a designated person.

Before starting the operation setup procedure, the operator must check the robot 8 and the control system, ensuring that there are no potential dangerous, non-normative situations and no people are in the work area; if possible, the teaching operation should be controlled outside the working area, before operating in the working area, the operator must ensure from outside that all the required protection and safety measures are in place and work well, in particular the teaching end has been adjusted (slow, emergency braking, starting device, etc.).

During operation, only the operator holding the hand-held teach pendant is allowed to enter the work area, the starting motor (driving on) must be controlled from a position outside the range of the robot 8 after checking to determine that no person is present in the work area, and after the relevant machine state indication is displayed, the driving on operation is completed.

In operation, the operator must be kept at a distance from the robot 8 to avoid any offending machine movements and in a safe position to avoid risks of getting trapped between the robot 8 and structural parts (load-carrying columns, barriers, etc.) or between the actual movable parts of the robot 8.

The operator should avoid staying in a position to avoid that some part of the robot 8 moves downwards due to gravity or moves upwards or both sides (when mounted on an inclined plane), in some cases, if a close visual inspection is required, the operator can only set a period according to a normal operation speed detection program in a working area after a complete detection period is finished at a low speed, and the movement direction of the robot 8 should be noted during detection.

The operator should pay special attention to using the hand-held teach pendant: in this case, although all hardware and software safety facilities are activated, the robot 8 is still dependent on the operator's control, a new program may move along an unexpected path when the robot 8 is first run, and unexpected actions may occur when the program is detected after program steps (e.g., steps from one point to another in the flow, erroneous recording of steps, changing the robot position if the path between two steps in the connection program deviates) are changed.

In all cases, the operation should be carefully performed, the speed is kept outside the action range of the robot 8, the operation is performed at a slow speed after the safety is confirmed, the operation is performed through a demonstrator system, the operation is switched to a Cartesian coordinate system, the speed is adjusted to 10% for visual inspection, the distance between the X-Axis test surface 71 and the X-Axis positioning plate 3 is about 5 mm, the distance between the Y-Axis test surface 72 and the Y-Axis positioning plate 4 is about 5 mm, the distance between the Z-Axis test surface 73 and the Z-Axis positioning plate 5 is about 5 mm, the speed of the robot 8 is adjusted to 1%, firstly, the speed of the X-Axis test surface 71 is gradually close to the dial 11 gauge on the X-Axis positioning plate 3, the gauge needle reading is watched at any time, the speed is reduced to about 0.05 mm from 2 mm, secondly, the speed of the Y-Axis test surface 72 is gradually close to the dial 11 gauge needle on the Y-Axis positioning plate 4, the gauge needle reading is watched at any time, the Z-Axis test surface 73 is gradually close to the dial 11 gauge on the Z-Axis locating plate 5 from 2 mm to about 0.05 mm again, the gauge reading is watched at any time, the speed is reduced to about 0.05 mm from 2 mm, finally the speed is reduced to 0.01%, the dial 11 on the X-Axis locating plate 3, the Y-Axis locating plate 4 and the Z-Axis locating plate 5 are sequentially fine-tuned to 0.00 mm, at the moment, the coordinate system of the robot 8 is switched to the joint coordinate system, the position of the robot 8 is read from the interface of the demonstrator, the Axis 1-0.486 DEG, axis 2-21.731 DEG, axis 3-60.486 DEG, axis 4.66 DEG, axis 5-83.131 DEG and Axis6 120.853 DEG, the absolute value servo motor single-turn encoder value is read, the Axis1 value is 686040, the Axis3 value is 7638526, the Axis4 value is 5350352, the Axis5 value is 546108, and the Axis6 value is 278173.

At this time, firstly, the single-turn encoder value of the 1-6 axis absolute value servo motor of the robot 8 in the zero position state of the robot 8 is recorded, then the joint positions of the 1-6 axes of the robot 8 in a specific posture are recorded, all recorded contents are archived according to the factory number of the robot, the plastic package is printed, and the printed plastic package contents are randomly stored and handed over.

When the zero point is lost and the positions of the axes are not right, the same method is adopted, the operation is carried out through a demonstrator system after the safety is confirmed, the speed is switched to a Cartesian coordinate system, the speed is adjusted to 10 percent for visual observation, the distance between an X-Axis test surface 71 and an X-Axis positioning plate 3 is about 5 mm, the distance between a Y-Axis test surface 72 and a Y-Axis positioning plate 4 is about 5 mm, the distance between a Z-Axis test surface 73 and the Z-Axis positioning plate 5 is about 5 mm, the speed of a robot 8 is adjusted to 1 percent, firstly, the speed of the X-Axis test surface 71 is slowly close to a dial 11 gauge on the X-Axis positioning plate 3, the reading of the gauge is watched at any time, the speed is reduced from about 2 mm to about 0.05 mm, secondly, the speed of the Y-Axis test surface 72 is slowly close to the dial 11 gauge on the Y-Axis positioning plate 4 is watched at any time, the speed is reduced from about 2 mm to about 0.05 mm, the speed of the Z-Axis test surface 73 is slowly close to the dial 11 gauge on the Z-Axis positioning plate 5 again, watch needle reading at any time, reducing the speed to about 0.05 mm from 2 mm, finally reducing the speed to 0.01%, sequentially trimming dial gauges 11 to 0.00 mm on an X-Axis positioning plate 3, a Y-Axis positioning plate 4 and a Z-Axis positioning plate 5, at the moment, establishing a robot 8 shaft 1 to a robot 6 as an origin, creating a program YD, creating a PTP point in the program, resetting the previously archived robot position, axis1 to 0.486 degrees, axis2 to 21.731 degrees, axis3 to 60.486 degrees, axis 4.66 degrees, axis5 to 83.131 degrees and Axis6 to 120.853 degrees, namely Axis 1.486 degrees, axis2 to 21.731 degrees, axis3 to 60.486 degrees, axis4 to 0.66 degrees, axis5 to 83.131 degrees, axis6 to 120.853 degrees, running the robot 8 to the position, resetting each Axis data, finally checking the absolute value servo motor of each Axis of the robot 8, adjusting the speed to the lowest speed, the single-circle position of each shaft is manually taught and operated to a position which is archived before, namely, the value of the shaft 1 is 686040, the value of the shaft 2 is 7638526, the value of the shaft 3 is 636168, the value of the shaft 4 is 5350352, the value of the shaft 5 is 546108, the value of the shaft 6 is 278173, at the moment, a zero point is reestablished, namely, the zero point of the robot 8 when leaving the factory is completed, the zero point calibration of the robot 8 is completed at the moment, the zero point found by adopting the calibration method is compared with the zero point calibrated by the FARO laser tracker, the maximum error of each shaft is 0.002 degrees, and after the zero point is reestablished, retests are carried out according to GB/T12642-2013 and ISO9823-1998 standards, and the test data is almost not different from the measurement contrast when leaving the factory.

In addition, it should be noted that the specific embodiments described in the present specification may vary from part to part, from name to name, etc., and the above description in the present specification is merely illustrative of the structure of the present utility model. All equivalent or simple changes of the structure, characteristics and principle according to the inventive concept are included in the protection scope of the present patent. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions in a similar manner without departing from the scope of the utility model as defined in the accompanying claims.

Claims (10)

1. Zero calibration device of robot, including calibration seat (2), its characterized in that: still include X axle locating plate (3), Y axle locating plate (4), Z axle locating plate (5), calibration piece (6) and test piece (7), Y axle locating plate (4) set up on calibration seat (2), X axle locating plate (3) and Z axle locating plate (5) all set up on Y axle locating plate (4), be provided with at least one calibration mechanism (1) on X axle locating plate (3), Y axle locating plate (4) and the Z axle locating plate (5), calibration piece (6) and test piece (7) all cooperate with calibration mechanism (1).

2. The robot zero calibration device according to claim 1, wherein: the calibrating mechanism (1) comprises a dial indicator (11), wherein the dial indicator (11) is arranged on an X-axis locating plate (3), a Y-axis locating plate (4) and a Z-axis locating plate (5), and a measuring head of the dial indicator (11) is matched with the calibrating block (6) and the testing block (7).

3. The robot zero calibration device according to claim 2, wherein: the calibrating mechanism (1) comprises a mounting block (12) and a mounting screw (13), wherein the sleeve of the dial indicator (11) penetrates through the mounting block (12) and the X-axis locating plate (3), the Y-axis locating plate (4) and the Z-axis locating plate (5), and the mounting block (12) is fixed with the X-axis locating plate (3), the Y-axis locating plate (4) and the Z-axis locating plate (5) through the mounting screw (13).

4. The robot zero calibration device according to claim 1, wherein: the calibration block (6) is arranged in a U-shaped structure.

5. The robot zero calibration device according to claim 1, wherein: the calibrating block (6) is provided with a calibrating groove (61), a calibrating boss (62) is arranged in the calibrating groove (61), and the calibrating boss (62) is contacted with the measuring head of the dial indicator (11).

6. The robot zero calibration device according to claim 1, wherein: the test block (7) is provided with an X-axis test surface (71), a Y-axis test surface (72) and a Z-axis test surface (73), and measuring heads of the dial indicators (11) in the calibration mechanism (1) arranged on the X-axis positioning plate (3), the Y-axis positioning plate (4) and the Z-axis positioning plate (5) are respectively contacted with the X-axis test surface (71), the Y-axis test surface (72) and the Z-axis test surface (73).

7. The robot zero calibration device according to claim 1, wherein: and a locating pin (21) is arranged on the calibration seat (2).

8. The robot zero calibration device according to claim 1, wherein: the calibration seat (2) is arranged on the base of the robot (8), and the test block (7) is arranged at the tail end of the robot (8).

9. The robot zero calibration device according to claim 1, wherein: the X-axis positioning plate (3) is provided with a calibration mechanism (1), the Y-axis positioning plate (4) is provided with three calibration mechanisms (1), and the Z-axis positioning plate (5) is provided with two calibration mechanisms (1).

10. The robot zero calibration device of claim 5, wherein: the end of the calibration groove (61) is an open end (63), and the open end (63) is in contact with the X-axis positioning plate (3), the Y-axis positioning plate (4) and the Z-axis positioning plate (5).