KR20230021253A - Calibration measurement pins - Google Patents

Abstract

According to the present invention, a calibration measurement pin is used for, when applying a virtual site modeling an automated production line using a robot to an actual site, correcting an error between the virtual site and the actual site, comprising: a fixing unit fixed on a workbench where the robot performs work by being arranged based on the original point of the actual site corresponding to the original point of the virtual site; and a measuring unit connected to the fixing unit and coming in contact with a work tool arranged on the robot. The measuring unit is removed from the fixing unit when an external force, including an impact, is applied from a collision with the robot while measuring the calibration, thereby preventing damage to the whole pin.

Description

Calibration Measurement Pins {CALIBRATION MEASUREMENT PINS}

The present invention relates to a pin for calibration measurement, and more particularly, since a measurement part is detachably provided from a fixed part, a collision between the pin and a robot that may occur during calibration measurement or other external pressure causes the pin to be damaged. The present invention relates to a pin for calibration measurement capable of being installed at various positions and angles by providing an angle of a measuring part with respect to a fixing part.

Virtual production technology is one of the main technologies that secures quality early and shortens the production preparation period by extracting problems in advance through computer simulation in an automated production line using robots. By modeling and simulating a series of processes from designing a virtual site to product production using a computer, problems that may occur after application to the actual site are reviewed in advance Reduction of production preparation period, cost reduction, and improvement of facilities Reliability improvement can be achieved.

In order to achieve the above object, a program for controlling the operation of a robot in a virtual field is created, which is referred to as Off Line Programming (OLP).

However, since the robot control program created through the above simulation is modeled based on CAD data of an actual site when modeling a virtual site, there is a difference from the case of installing facilities in an actual site.

In other words, the position of a robot in a real site or a work tool including a welding gun, a handling tool, and a painting gun mounted on the robot is different from the design data of the virtual site.

Therefore, the program created offline can be downloaded and applied to the above-described robot controller after calibrating the difference between the design data of the virtual site and the actual site.

This calibration method is a simple calibration method that secures the position of the robot TCP using the data obtained by teaching the TCP (Tool Center Point) of the work tool attached to the robot to the pin. It is universally used, and a full calibration method is used to measure the position of the TCP of the work tool installed in the robot using a 3D laser measuring device such as a laser tracker for high precision.

However, the above-described full calibration method has a problem in that it is difficult to universally apply to general facilities due to expensive equipment purchase costs and continuous maintenance costs, although the calibration accuracy is high.

In addition, the simple calibration method described above has a structure that can be used only under extremely limited conditions, and thus has limitations in compatibility in real sites in various environments. There is a problem that the pin is frequently damaged by

The present invention is to solve the above problems, and when an external force, including an impact applied when colliding with a robot, acts on a measurement unit connected to a fixing unit fixed to a worktable where a robot performs work during calibration measurement, the measurement unit It is an object to provide a pin for calibration measurement that can prevent damage to the entire pin by being removed from the fixing part.

The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above problems, the calibration measurement pin according to one embodiment of the present invention, when applying a virtual site modeling an automated production line to which a robot is applied to a real site, the error between the virtual site and the real site A pin for calibration measurement used to calibrate, a fixing unit fixed to a worktable on which the robot disposed based on the origin of the real site corresponding to the origin of the virtual site performs work; and a measurement unit connected to the fixing unit and contacting a work tool provided in the robot, wherein the measurement unit is separated from the fixing unit when an external force including an impact applied during a collision with the robot during calibration measurement is applied. , can prevent damage to the entire pin.

Here, the measuring part may have a mounting surface opposite to the fixing surface formed on the fixing part, and may be connected while being in contact with each other.

In addition, in the fixing part and the measuring part, attachment areas corresponding to each other may be formed on the fixing surface and the mounting surface so that the fixing surface and the mounting surface are attached to each other by magnetic force.

In addition, the measuring part protrudes toward the fixing surface from one side of the attaching area formed on the mounting surface so that the measuring part is not twisted or rotated with respect to the fixing part when mounted on the fixing part, and is inserted into a coupling groove formed on the fixing surface. A plurality of coupling members may be provided.

In addition, when an external force acts on the measuring unit, the coupling member may be provided in a conical shape with a diameter narrowing in a protruding direction so that the measuring unit is separated from the fixing unit in the opposite direction to which the external force is transmitted.

In addition, the measuring unit may be mounted on the fixing part to enable angle adjustment along a virtual central axis that passes through the center of the fixing surface and is perpendicular to the fixing surface of the fixing part.

In addition, the coupling grooves may be arranged in the fixing part along the periphery of the imaginary central axis in a number at least twice as large as the number of coupling members.

The measurement unit may form a measurement area in which actual coordinate values corresponding to the reference point coordinates are generated by being in contact with and energized with a work tool connected to the robot.

In addition, the measurement area may include a confirmation member through which the work tool is retracted and energized, and may be provided in the form of an inlet groove cut in a vertical direction toward the center from any one outer circumferential surface vertically in contact with the mounting surface.

The measuring unit may have a plurality of cutout holes penetrating between an inner circumferential surface of the measuring area from an outer circumferential surface so that the checking member can be confirmed from the outside.

Meanwhile, the fixing part may have a fixing outer circumferential surface vertically contacting the fixing surface, and the fixing outer circumferential surface may be connected to be positioned on the same plane as the measurement outer circumferential surface of the measuring unit perpendicularly contacting the mounting surface.

In addition, the fixing part may be formed with a slot passing in the direction of the work table from an outer circumferential surface perpendicular to the fixing surface so that a fixed position on the work table is variable.

Here, the fixing part may further include a guide member for guiding the movement of the fixing part by contacting one surface of the workbench when the fixing position is varied in the longitudinal direction of the slot.

The calibration measurement pin of the present invention has the following effects.

First, since the measuring unit is detachably attached to the fixing unit, it is possible to prevent the pin from being damaged due to a collision between the pin and the robot or external pressure caused by other external environments during calibration measurement.

Second, by being connected so that the angle of the measuring part can be changed with respect to the fixing part, there is an effect that it is possible to install at various positions and angles in actual sites in various environments.

Third, there is an economic effect by reducing the cost of purchasing expensive equipment and the cost of continuous maintenance.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

The above summary, as well as the detailed description of the preferred embodiments of the present application set forth below, will be better understood when read in conjunction with the accompanying drawings. Preferred embodiments are shown in the drawings for the purpose of illustrating the present invention. However, it should be understood that this application is not limited to the precise arrangements and instrumentalities shown.
1 is a view showing a state of a pin for calibration measurement according to an embodiment of the present invention;
2 is a view showing a side of a pin for calibration measurement according to an embodiment of the present invention;
3 is a view showing a state in which a pin for calibration measurement is separated according to an embodiment of the present invention;
4 is a view showing a measuring unit of a pin for measuring calibration according to an embodiment of the present invention;
5 is a view for explaining a state in which a work tool is drawn into a cutout hole of a measuring unit from a pin for calibration measurement according to an embodiment of the present invention;
6 is a view for explaining an attachment area formed on a measurement unit and a coupling member in a calibration measurement pin according to an embodiment of the present invention;
7 is a view showing a fixing part of a pin for measuring calibration according to an embodiment of the present invention;
8 is a view for explaining a state in which a measurement part is retracted into a fixing part of a pin for calibration measurement according to an embodiment of the present invention;
9 is a view for explaining a state in which a measurement unit is removed from a fixing unit of a pin for calibration measurement according to an embodiment of the present invention;
10 is a view for explaining a state in which a measurement part of a pin for calibration measurement is connected to a fixing part in one direction according to an embodiment of the present invention;
11 is a view for explaining how a measuring part of a pin for calibration measurement is connected to a fixing part in different directions according to an embodiment of the present invention;
12 is a view for explaining a state in which a measuring unit having an inclined surface is connected to a fixing unit in different directions in a calibration measurement pin according to another embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention in which the object of the present invention can be realized in detail will be described with reference to the accompanying drawings. In describing the present embodiment, the same name and the same reference numeral are used for the same configuration, and additional description thereof will be omitted.

1 is a view showing the appearance of a pin for measuring calibration according to an embodiment of the present invention, FIG. 2 is a view showing the side of a pin for measuring calibration according to an embodiment of the present invention, and FIG. It is a view showing a state in which a pin for measuring calibration according to an embodiment is separated, FIG. 4 is a view showing a measuring unit of a pin for measuring calibration according to an embodiment of the present invention, and FIG. 6 is a view for explaining how a work tool is drawn into a cutout hole of a measuring part from a pin for measuring calibration according to the present invention, and FIG. 7 is a view showing the fixing part of the pin for measuring calibration according to an embodiment of the present invention, and FIG. 8 is a drawing showing the fixing part of the pin for measuring calibration according to an embodiment of the present invention. Figure 9 is a view for explaining how the measuring unit is removed from the fixing unit of the pin for calibration measurement according to an embodiment of the present invention, and Figure 10 is a view for explaining an embodiment of the present invention 11 is a view for explaining how the measurement part of the pin for calibration measurement is connected to the fixing part in one direction according to the present invention, and FIG. FIG. 12 is a view for explaining a state in which a measurement unit having an inclined surface is connected to a fixing unit in different directions in a calibration measurement pin according to another embodiment of the present invention.

The calibration measurement pin of the present invention can be used to correct, ie, calibrate, an error between a virtual site and an actual site when a virtual site modeling an automated production line to which robots are applied is applied to a real site.

For example, equipment intervals of a preset automated production line can be laid out through 2D CAD and applied to industrial robots based on off-line programming (OLP).

At this time, due to the precision limit in the process of arranging the facilities including the above-mentioned robots on the actual site of the automated production line, the accumulated tolerance between the above-mentioned preset facility interval and the actual facility interval may occur, resulting in interference between facilities,

In order to solve this problem, the tool center point (TCP) of the robot is first selected, and the coordinates from the end of the previously set 6-axis robot to the end of the above-described TCP may be input to the robot in advance.

Here, the TCP may be a central axis of a work tool of the work robot.

Next, a virtual plane can be created through arbitrary 3-point coordinates (p1, p2, p3) of the virtual scene formed by the 2D CAD layout, and position and angle information of the virtual plane can be checked.

Finally, by contacting the work tool of the above-mentioned work robot to the calibration pin, the actual coordinates (t1, t2, t3) corresponding to the above-mentioned arbitrary 3-point coordinates (p1, p2, p3) are measured to create a real plane and By comparing the position and angle information of the plane with the position and angle information of the virtual plane, a difference value corresponding to the difference can be confirmed.

Therefore, the cumulative tolerance can be offset by correcting the robot coordinates including the TCP by the difference through the confirmed difference value or by actually moving the robot by the confirmed difference value.

In other words, since the robot is arranged based on the reference point of the actual site, if the center position of the robot is known based on the reference point, and the center position of the robot is known, the distance between the center of the robot and the work tool within the robot can be found in the robot specification. and each coordinate can be obtained in the order of reference point of the real environment - center position of robot - work tool - measuring part - fixing part - work table.

Therefore, when the above-described coordinates are obtained, errors can be corrected by comparing the coordinates with the coordinates of the modeled virtual site.

As shown in FIGS. 1 to 3 , the pin 10 for calibration and measurement according to an embodiment of the present invention may largely include a fixing part 100 and a measuring part 200 .

First, the fixing unit 100 may be fixed to a workbench where a robot disposed based on the origin of a real site corresponding to the origin of a virtual site performs work.

For example, assuming that the actual site described above is a line for welding car body panels, the work table is fixed to one side of an articulated robot in charge of production tasks such as welding in the actual site, and can fix the body panels to be worked on the upper part. can

In addition, as long as the pin 10 for calibration measurement according to an embodiment of the present invention is fixed on the work table and the above-described actual coordinates (t1, t2, t3) can be measured through the work tool T, the robot according to preset conditions It could be an unmanned guided vehicle moving around.

Specifically, in the fixing part 100, a fixing surface 120 may be formed on one surface opposite to the mounting surface 220 of the measuring part 200 to be described later, and the fixing surface 120 is coupled with the attachment area 140. A groove 160 may be formed.

For example, the fixing surface 120 of the fixing part 100 may be formed in a rectangular shape, and all corners may be provided in a rounded shape.

Here, an attachment area 140 is formed at the center of the fixing surface 120, and a magnet is inserted into the attachment area 140 to be coupled to or disengaged from the magnet of the attachment area 240 formed on the mounting surface 220 to be described later. It can be, and if the above function can be performed, the shape of the magnet and the attachment area 140 can be varied, so it will be taken for granted that the scope of the present invention is not limited.

However, for more detailed description, as an example, the attachment area 140 may be a groove that opens from the fixing surface 120 toward the inside of the fixing part 100, and the attachment area is located on one side of the outer circumferential surface of the fixing part 100. An adjustment area is formed toward 140, and may be provided so that the position of the magnet inserted into the attachment area 140 can be adjusted through the adjustment area from the outside.

In addition, a plurality of coupling grooves 160 may be spaced apart from each other by a predetermined distance around the attachment area 140 on the fixing surface 120 .

Here, the coupling grooves 160 are shown as four coupling grooves 160 around the attachment area 140 in the drawing, but are mounted by varying the angle of the measuring unit 200 in the fixing unit 100 fixed to the workbench. If it performs a function to do so, even if it is arranged in numbers and intervals not shown in the drawings, it will be said that all belong to the scope of the present invention.

At this time, the coupling groove 160 is formed so that the measurement unit 200 can be separated from the fixing unit 100 when an external force including an impact applied during a collision with the robot acts on the measurement unit 200 during calibration measurement. The fixing surface 120 may be provided in a conical shape with a narrower diameter toward the inside of the fixing part 100 .

In addition, the fixing part 100 may have a fixing outer circumferential surface that vertically contacts the fixing surface 120 .

In addition, the fixing part 100 is formed with a slot 180 penetrating in a direction toward the workbench on one outer circumferential surface perpendicular to the fixing surface 120, so that the fixing position of the fixing part 100 on the workbench can be varied. .

At this time, the fixing part 100 may further include a guide member 190 for guiding the movement of the fixing part 100 on the work table. For example, the guide member 190 has a length in the variable direction of the fixing part 100. By contacting one surface of the workbench with a contact surface having , it is possible to prevent the fixing part 100 from being moved in directions other than the above-described variable direction, and to firmly fix it to a desired precise position.

As shown in FIGS. 4 to 11 , the measurement unit 200 may be connected to the above-described fixing unit 100 and provided to contact the work tool T provided in the robot.

In this case, the measuring unit 200 measures in the fixing unit 100 without damage to the coupling member 260 inserted into the above-described coupling groove 160 when an external force including an impact applied during a collision with the robot during calibration measurement is applied. By being safely removed, damage to the entire pin 10 for calibration measurement can be prevented.

Specifically, the measuring unit 200 may have a mounting surface 220 opposite to the fixing surface 120 of the fixing unit 100 described above.

For example, as shown in the drawing, when the fixing surface 120 is formed in a polygonal shape, the mounting surface 220 is also provided in a polygonal shape, and although not shown in the drawing, when the fixing surface 120 is formed in a circular shape, the mounting surface 220 may also be formed in a circular shape accordingly, and the fixing surface 120 and the mounting surface 220 may be connected to each other while being in contact.

Similar to the fixing part 100, the measuring unit 200 may also have an attaching area 240 formed on the mounting surface 220, and the shape and location of the attaching area 240 are the attaching area of the fixing part 100 described above. Since it is the same as (140), the description thereof is omitted, but for clear distinction, a drawing number will be given differently.

In other words, the attachment areas 140 and 240 are formed on the fixing surface 120 and the mounting surface 220, respectively, so that the fixing surface 120 and the mounting surface 220 can be attached to each other by magnetic force, and the two attachment areas 140 and 240 may have positions and shapes corresponding to each other.

At this time, the measuring unit 200 may further include a coupling member 260, and may protrude toward the fixing surface 120 from one side of the attachment area 240 formed on the mounting surface 220 described above.

Therefore, as shown in FIG. 8, the coupling member 260 of the mounting surface 220 is inserted into the coupling groove 160 formed on the fixing surface 120, so that the measuring unit 200 is mounted on the fixing unit 100. In some cases, it may not be twisted or rotated with respect to the fixing part 100 .

At this time, as shown in FIG. 9, when an external force acts on the measurement unit 200, the coupling member 260 protrudes so that the measurement unit 200 is separated from the fixing unit 100 in the opposite direction to which the external force is transmitted. It may be in the form of a cone whose diameter narrows in the direction.

For example, when the coupling groove 160 of the fixing unit 100 has a conical shape whose diameter narrows toward the inside as described above, the coupling member 260 of the measuring unit 200 also has a narrow diameter in the protruding direction. The edge may be provided in a conical shape.

At this time, both the coupling groove 160 and the coupling member 260 have the same ratio of narrowing diameters, but the largest diameter in the coupling groove 160 is provided larger than the largest diameter of the coupling member 260, so that the coupling groove ( When the coupling member 260 is drawn into the 160, a gap may be formed.

That is, the coupling member 260 may have the same conical shape as the coupling groove 160 of the fixing part 100 described above, but may have a smaller volume based on the cone volume of the coupling groove 160. .

As described above, the measuring unit 200 is fixed to the fixing part 100 so as not to twist or rotate with respect to the fixing part 100 due to the coupling member 260, and at the same time, the above-described coupling member 260 and the above-mentioned By setting the ratio of the number of coupling grooves 160, it is possible to adjust the angle of the measuring unit 200 along a virtual central axis that passes through the center of the fixing surface 120 and is perpendicular to the fixing surface 120 of the fixing part 100. can be arranged to do so.

For example, as shown in FIG. 7, when four coupling grooves 160 are formed around the attachment areas 140 and 240, two coupling members 260 are formed as shown in FIG. 11 and 12, as shown in FIGS. 11 and 12, the work tool T is changed and mounted at various angles according to the position, but when the mounting is completed, the measuring unit 200 may no longer shake in the fixing unit 100. there is.

In other words, the number of coupling grooves 160 is at least twice as large as the number of coupling members 260, and calibration measurements can be made at various angles by arranging the fixing part 100 along the imaginary central axis.

At this time, the measurement outer circumferential surface of the measuring unit 200 that is in vertical contact with the mounting surface is connected to be located on the same plane as the fixed outer circumferential surface that is in vertical contact with the above-described fixing surface 120, so that a step is formed at the connection portion to form a work tool (T) Alternatively, interference with the robot may be minimized.

In addition, as described above, the measurement unit 200 may contact and energize the work tool T connected to the robot to form a measurement area 280 in which actual coordinate values corresponding to the reference point coordinates are generated. Specifically, the measurement area 280 may be provided in the form of an inlet groove cut in a vertical direction toward the center from any one outer circumferential surface vertically in contact with the mounting surface 220.

At this time, a confirmation member 282 through which the work tool T is introduced and energized may be provided in the measurement area 280, so that the contact between the confirmation member 282 and the work tool T can be visually confirmed from the outside, A plurality of cutting holes 290 penetrating between the inner circumferential surfaces of the measurement area 280 may be formed on the outer circumferential surface.

Here, if the worker or manager can visually check the contact between the confirmation member 282 and the work tool T from various angles, the shape and position of the incision hole 290 may vary, thereby extending the scope of the present invention. It would be natural to say that it is not limited.

However, if described as an example for more detailed description, the plurality of cutting holes 290 may be formed on both the above-described outer circumferential surface for measurement and one surface parallel to the mounting surface 220 in the measurement unit 200 .

In addition, it may be formed on only one of the above-described measurement outer circumferential surface and one surface parallel to the mounting surface 220, and furthermore, the cutout hole 290 measures the size and position of the measuring unit 200 in response to the operator or manager's confirmation position. It may be provided to be variable on the top.

Meanwhile, the pin 20 for calibration measurement according to another embodiment of the present invention may largely include a fixing part 100 and a measuring part 200.

Here, since the fixing part 100 and the measuring part 200 are similar to the fixing part and the measuring part described through one embodiment of the present invention, their descriptions are omitted and the same drawing numbers are given, and according to another embodiment of the present invention In the pin 20 for calibration measurement, the measurement unit 200 may include a mounting surface 220, a coupling member 260, a measurement area 280, a confirmation member 282, and a cutout hole 290. Since it is similar to the mounting surface, coupling member, measurement area, confirmation member, and cutting hole described through the embodiment of the present invention, the same drawing number will be given and the description thereof will be omitted.

In this case, the measuring unit 200 may further include an inclined surface 270 .

For example, as shown in FIG. 12 , an inclined surface 270 having a downward slope from the mounting surface 220 toward the measurement area 280 may be formed on the measurement outer circumferential surface perpendicular to the mounting surface 220 .

Through the formation of the inclined surface 270, it is possible to check the angle of the measurement unit 200 with respect to the fixing unit 100, and at the same time, as shown in FIG. When the 282 is fixed, interference can be minimized by preventing the confirmation member 282 from protruding out of the pin 20 for calibration measurement.

Furthermore, the inclined surface 270 is provided to adjust the angle, and a camera is installed on the inclined surface 270 so that the operator or manager can remotely check the contact between the work tool T and the confirmation member 282 without visually checking. It may be possible to arrange.

In addition, although not shown in the drawings, the inclined surface 270 is also mounted on the measuring part 200, or a part including the inclined surface 270 is mounted on the measuring part 200 by using the above-described coupling method between the fixing part 100 and the measuring part 200. It can be arranged to be removed.

For example, a coupling groove having a narrower diameter toward the center of the measuring unit 200 may be formed on the upper surface of the measuring unit 220, and at this time, the inclined member including the inclined surface 270 is the measuring unit 200. The coupling member is formed on the surface opposite to the upper surface of the coupling groove, so that the inclined member including the inclined surface 270 can be installed or removed from the measuring unit 200 .

At this time, as described above, magnets are provided on the upper surface of the measurement unit 220 and the opposite surface of the inclined member facing the upper surface, and may be coupled when they are in contact with each other.

Therefore, when the above-described external force acts on the inclined member including the inclined surface 270, it can be removed from the measuring unit 200 without damage.

Through the configuration as described above, the pin 10 for calibration measurement of the present invention is provided so that the measurement unit 200 is detachable from the fixing unit 100, so that during calibration measurement, a collision between the pin and the robot or other external environments It is possible to prevent the pin from being damaged by external pressure caused by, and by being connected so that the angle of the measurement part 200 can be changed with respect to the fixing part 100, it is possible to install it at various positions and angles in actual sites in various environments. can

In addition, it may have an economic effect by reducing the cost of purchasing expensive equipment and the cost of continuous maintenance.

As described above, the preferred embodiments according to the present invention have been reviewed, and the fact that the present invention can be embodied in other specific forms without departing from the spirit or scope in addition to the above-described embodiments is a matter of ordinary knowledge in the art. It is self-evident to them. Therefore, the embodiments described above are to be regarded as illustrative rather than restrictive, and thus the present invention is not limited to the above description, but may vary within the scope of the appended claims and their equivalents.

10,20: pins for calibration measurement
T: work tool
100: fixing part
120: fixed surface
140,240: attachment area
160: coupling groove
180: slot
190: guide member
200: measuring unit
220: mounting surface
260: coupling member
270: slope
280: measurement area
282: no confirmation
290: cutting hole

Claims (13)

As a calibration measurement pin used to correct an error between the virtual site and the real site when a virtual site modeling an automated production line with robots is applied to a real site,
a fixing unit fixed to a worktable on which the robots arranged based on the origin of the real site corresponding to the origin of the virtual site perform work; and
A measurement unit connected to the fixing unit and contacting a work tool provided in the robot,
The measuring unit,
Characterized in that, during calibration measurement, damage to the entire pin is prevented by being separated from the fixing part when an external force, including an impact applied when colliding with the robot, acts.
Pin for calibration measurement. According to claim 1,
The measuring unit,
Characterized in that a mounting surface opposite to the fixing surface formed in the fixing part is formed and connected while being in contact with each other,
Pin for calibration measurement. According to claim 2,
The fixing part and the measuring part,
Characterized in that attachment areas corresponding to each other are formed on the fixing surface and the mounting surface so that the fixing surface and the mounting surface are attached to each other by magnetic force.
Pin for calibration measurement. According to claim 3,
The measuring unit,
A plurality of coupling members protruding toward the fixing surface from one side of the attachment area formed on the mounting surface and being inserted into coupling grooves formed on the fixing surface so as not to be twisted or rotated with respect to the fixing portion when mounted on the fixing portion. Characterized in that provided,
Pin for calibration measurement. According to claim 4,
The coupling member is
Characterized in that, when an external force acts on the measuring unit, it is provided in a conical shape with a diameter narrowing in the protruding direction so that the measuring unit is separated from the fixing unit in the opposite direction to which the external force is transmitted.
Pin for calibration measurement. According to claim 4,
The measuring unit,
Characterized in that it is mounted on the fixing part so that the angle can be adjusted along a virtual central axis passing through the center of the fixing surface and being perpendicular to the fixing surface of the fixing part.
Pin for calibration measurement. According to claim 6,
The coupling groove is
Characterized in that it is arranged in the fixing part along the periphery of the imaginary central axis in a number at least twice as large as the number of coupling members,
Pin for calibration measurement. According to claim 2,
The measuring unit,
Characterized in that a measurement area is formed in which actual coordinate values corresponding to the reference point coordinates are generated by contacting and energizing a work tool connected to the robot.
Pin for calibration measurement. According to claim 8,
The measurement area is
It includes a confirmation member through which the work tool is retracted and energized,
Characterized in that it is provided in the form of an inlet groove cut in a vertical direction toward the center from any one outer circumferential surface vertically in contact with the mounting surface,
Pin for calibration measurement. According to claim 9,
The measuring unit,
Characterized in that a plurality of cut holes are formed passing through between the inner circumferential surface of the measurement area from the outer circumferential surface so that the confirmation member can be confirmed from the outside.
Pin for calibration measurement. According to claim 2,
The fixing part,
A fixed outer circumferential surface vertically in contact with the fixed surface is formed,
Characterized in that the fixed outer circumferential surface is connected so as to be located on the same plane as the measuring outer circumferential surface of the measuring unit vertically in contact with the mounting surface,
Pin for calibration measurement. According to claim 11,
The fixing part,
Characterized in that a slot passing in the direction of the worktable is formed from an outer circumferential surface perpendicular to the fixing surface so that the fixed position on the worktable is variable.
Pin for calibration measurement. According to claim 12,
The fixing part,
When the fixed position is varied in the longitudinal direction of the slot,
Characterized in that it further comprises a guide member for guiding the movement of the fixing unit by contacting one surface of the workbench.
Pin for calibration measurement.

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