CN220829233U - Photoelectric sensor calibration gauge for vision guiding gripper - Google Patents
Photoelectric sensor calibration gauge for vision guiding gripper Download PDFInfo
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- CN220829233U CN220829233U CN202322444639.6U CN202322444639U CN220829233U CN 220829233 U CN220829233 U CN 220829233U CN 202322444639 U CN202322444639 U CN 202322444639U CN 220829233 U CN220829233 U CN 220829233U
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- 238000012795 verification Methods 0.000 abstract description 4
- 238000012937 correction Methods 0.000 description 10
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Abstract
The utility model relates to a photoelectric sensor calibration gauge for a visual guide gripper, which comprises a bottom plate, a first calibration plate and a second calibration plate, wherein the bottom plate is fixed at a target fixed position; the first calibration plate is fixed on the bottom plate, and a calibration round hole is formed in the first calibration plate; the second calibration plate is adjustably fixed on the bottom plate, a positioning mark is arranged on the second calibration plate, and light rays of the photoelectric sensor to be calibrated can pass through the calibration round hole and be beaten on the positioning mark. Compared with the prior art, the utility model can be used for simply and quickly replacing or correcting the position of the photoelectric sensor, fully ensures the uniqueness of the position of the photoelectric sensor to be replaced or corrected, saves a large amount of debugging and verification time, greatly improves the working efficiency and quickly restores production.
Description
Technical Field
The utility model relates to the technical field of robot automation, in particular to a photoelectric sensor calibration gauge for a vision-guided gripper.
Background
The vision grabbing robot is used as important equipment for factory automation and widely applied to various fields. The visual grabbing robots used in the welding workshops are provided with grippers, each visual grabbing robot is provided with a ranging photoelectric sensor, when the robots grab a workpiece in a material frame, the ranging photoelectric sensors are used for ranging at the fixed positions of the workpiece, so that the visual grabbing robots reach the fixed distance of the relative workpiece, visual photographing is performed, and then automatic grabbing of the workpiece is realized.
When the visual grabbing robot grabs the hand to measure the damage of the photoelectric sensor or collides and deforms, normal distance measurement cannot be performed, and part grabbing cannot be performed. When changing photoelectric sensor or collision and leading to the support to take place to warp, rely on debugging personnel to observe and feel completely and correct the inductor position, this kind of mode error is great, need to catch the position of shooing of piece at the material frame again, redefine range finding inductor detection distance according to the position of shooing, beat at the part position according to the photoelectricity simultaneously, reverse secondary corrects photoelectric sensor position, ensure that range finding photoelectric sensor beats and carries out range finding at part normal position, this recovery process has the operation complicacy, it is more to need the cooperation personnel, the work load is great, shortcoming such as consume time length.
Disclosure of utility model
The utility model aims to overcome the defects of the prior art and provide the photoelectric sensor calibration gauge for the visual guide gripper, which can be used for simply and quickly replacing or correcting the position of the photoelectric sensor, fully ensures the uniqueness of the position of the photoelectric sensor, saves a large amount of debugging and verification time, greatly improves the working efficiency and quickly restores production.
The aim of the utility model can be achieved by the following technical scheme:
The utility model provides a photoelectric sensor calibration gauge for a visual guide gripper, which comprises a bottom plate, a first calibration plate and a second calibration plate, wherein the photoelectric sensor calibration gauge comprises a base plate, a first calibration plate and a second calibration plate, and is characterized in that:
The bottom plate is fixed at a target fixing position;
The first calibration plate is fixed on the bottom plate, and a calibration round hole is formed in the first calibration plate;
The second calibration plate is adjustably fixed on the bottom plate, a positioning mark is arranged on the second calibration plate, and light rays of the photoelectric sensor to be calibrated can pass through the calibration round hole and be beaten on the positioning mark.
Further, a plurality of first fixing holes are formed in the bottom plate, and screws are arranged on the first fixing holes, so that the bottom plate is fixed at a target fixing position.
Further, the target fixing position is a steel structure or the ground.
Further, the first fixing holes are formed in the base plate in a plurality.
Further, the number of the calibration first fixing holes is 4 on the bottom plate and the calibration first fixing holes are distributed at four corners of the bottom plate.
Further, the positioning mark is a cross-shaped groove.
Further, the light of the photoelectric sensor to be calibrated can pass through the calibration round hole and be beaten at the center position of the cross-shaped groove.
Further, the second calibration plate comprises a vertical plate and a transverse plate which are perpendicular to each other.
Further, a second fixing hole is formed in the bottom plate, and internal threads are arranged in the second fixing hole.
Further, a bar-shaped hole is formed in the transverse plate, and a bolt matched with the internal thread is arranged on the bar-shaped hole, so that the second calibration plate can be adjusted in position relative to the second fixing hole.
Compared with the prior art, the utility model has the following technical advantages:
1) The utility model uses the round hole and the cross center to position, can be used for simply and quickly replacing or correcting the position of the photoelectric sensor, fully ensures the uniqueness of the position of the photoelectric sensor to be replaced or corrected, saves a large amount of debugging and verification time, greatly improves the working efficiency and quickly restores the production;
2) The utility model ensures that the photoelectric sensor of the visual guide gripper is simple and convenient to replace, does not need professional technical personnel to operate, and saves personnel verification time.
3) According to the second calibration plate, when the robot defines the correction position, the second calibration plate can be adjusted according to the length direction of the strip-shaped hole, so that partial deviation is eliminated, and the debugging quantity is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
the figure indicates:
1-calibration round hole, 2-positioning mark, 3-adjustable bolt, 4-first fixed hole, 5, second calibration plate, 6, first calibration plate.
Detailed Description
The utility model will now be described in detail with reference to the drawings and specific examples. Features such as a part model, a material name, a connection structure, a control method, an algorithm and the like which are not explicitly described in the technical scheme are all regarded as common technical features disclosed in the prior art.
The utility model provides a photoelectric sensor calibration gauge for a visual guide gripper, which comprises a bottom plate, a first calibration plate 6 and a second calibration plate 5, wherein the photoelectric sensor calibration gauge is specifically shown in fig. 1.
The bottom plate is fixed at a target fixing position; the first calibration plate 6 is fixed on the bottom plate, and a calibration round hole 1 is formed in the first calibration plate 6; the second calibration plate 5 is adjustably fixed on the bottom plate, the second calibration plate 5 is provided with a positioning mark 2, and light rays of the photoelectric sensor to be calibrated can pass through the calibration round hole 1 and are beaten on the positioning mark 2.
The base plate is provided with a plurality of first fixing holes 4, and screws are arranged on the first fixing holes 4 so as to fix the base plate at a target fixing position. The target fixing position is a steel structure or the ground.
In the implementation process, the number of the first fixing holes 4 is 4 on the bottom plate and distributed at four corners of the bottom plate.
The positioning mark 2 is a cross-shaped groove. The light of the photoelectric sensor to be calibrated can pass through the calibration round hole 1 and is beaten at the center position of the cross-shaped groove.
The second calibration plate 5 comprises a vertical plate and a horizontal plate which are perpendicular to each other. The bottom plate is provided with a second fixing hole, and an internal thread is arranged in the second fixing hole. The transverse plate is provided with a strip-shaped hole 3, and the strip-shaped hole 3 is provided with a bolt matched with the internal thread, so that the second calibration plate 5 can be subjected to position adjustment relative to the second fixing hole. When the robot defines the correction position, the correction position can be adjusted according to the length direction of the strip-shaped hole 3, so that partial deviation is eliminated, and the debugging quantity is reduced.
The tool for calibrating the photoelectric sensor of the visual guide gripper is fixed on a robot accessory fixed steel structure or the ground.
The specific use process of the utility model comprises the following steps:
First, a vision gripping robot, which normally uses a photoelectric sensor, is taught to a position near the quick correction tool.
Secondly, teaching the robot track, enabling light of the photoelectric sensor to pass through a calibration round hole 1 of the correction tool, ensuring that the light is beaten at the center of a square plate with a cross mark, simultaneously recording the current position coordinate, defining the current position coordinate as a correction position, and teaching the robot back to the Home position.
Thirdly, when the photoelectric sensor used in normal production is damaged and needs to be replaced or the photoelectric sensor bracket collides to cause deformation and needs to be corrected, teaching the robot from the Home position to the correction position defined in the second step, replacing a new photoelectric sensor, and adjusting a bolt for fixing the photoelectric sensor in the strip-shaped hole 3 by using a fixed correction tool so that light of the photoelectric sensor can pass through a calibration round hole 1 of the correction tool and is beaten at the center of a square plate with a cross mark; the support mode of correcting the photoelectric sensor is the same, the rotation direction of the support is adjusted, light of the photoelectric sensor can penetrate through the calibration round hole 1 of the correcting tool, the light is beaten at the center of the square plate with the cross mark, and the robot is taught back to the Home position from the correcting position after replacement or correction is finished, so that normal production can be restored.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present utility model. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present utility model is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present utility model.
Claims (10)
1. A utensil is examined in photoelectric sensor demarcation for vision guide tongs, characterized in that includes:
a base plate fixed to a target fixing position;
The first calibration plate (6) is fixed on the bottom plate, and a calibration round hole (1) is formed in the first calibration plate (6);
The second calibration plate (5) is adjustably fixed on the bottom plate, a positioning mark (2) is arranged on the second calibration plate (5), and light rays of the photoelectric sensor to be calibrated can pass through the calibration round hole (1) and are beaten on the positioning mark (2).
2. The photoelectric sensor calibration gauge for a visual guide grip according to claim 1, wherein a plurality of first fixing holes (4) are formed in the base plate, and screws are arranged on the first fixing holes (4) to fix the base plate at a target fixing position.
3. The photoelectric sensor calibration gauge for a vision-guided grip of claim 1, wherein the target fixed location is a steel structure or the ground.
4. A photoelectric sensor calibration gauge for a vision-guided grip according to claim 2, characterized in that the first fixing hole (4) is provided in plurality on the bottom plate.
5. The photoelectric sensor calibration gauge for a visual guide grip according to claim 4, wherein the first fixing holes (4) are formed in the base plate in 4 numbers and distributed at four corners of the base plate.
6. The photoelectric sensor calibration gauge for a visual guide grip according to claim 1, wherein the positioning mark (2) is a cross-shaped groove.
7. The photoelectric sensor calibration gauge for the visual guide grip according to claim 6, wherein light rays of the photoelectric sensor to be calibrated can pass through the calibration round hole (1) and be beaten at the center position of the cross-shaped groove.
8. A photoelectric sensor calibration gauge for a vision-guided grip according to claim 1, characterized in that the second calibration plate (5) comprises a vertical plate and a horizontal plate perpendicular to each other.
9. The photoelectric sensor calibration gauge for a visual guide grip according to claim 8, wherein the bottom plate is provided with a second fixing hole, and an internal thread is provided in the second fixing hole.
10. The photoelectric sensor calibration gauge for the visual guide grip according to claim 9, wherein the transverse plate is provided with a strip-shaped hole (3), and the strip-shaped hole (3) is provided with a bolt matched with the internal thread, so that the second calibration plate (5) can be adjusted in position relative to the second fixing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322444639.6U CN220829233U (en) | 2023-09-08 | 2023-09-08 | Photoelectric sensor calibration gauge for vision guiding gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322444639.6U CN220829233U (en) | 2023-09-08 | 2023-09-08 | Photoelectric sensor calibration gauge for vision guiding gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220829233U true CN220829233U (en) | 2024-04-23 |
Family
ID=90727411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322444639.6U Active CN220829233U (en) | 2023-09-08 | 2023-09-08 | Photoelectric sensor calibration gauge for vision guiding gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220829233U (en) |
-
2023
- 2023-09-08 CN CN202322444639.6U patent/CN220829233U/en active Active
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