A tcp online rapid calibration method and device applied to industrial robots
A technology of industrial robots and calibration devices, which is applied in the direction of instruments, manipulators, manufacturing tools, etc., can solve problems that affect the production efficiency of industrial robots, reduce the overall production capacity of the production line, and take a long time in the calibration process, so as to reduce downtime maintenance time and save manpower , the effect of improving efficiency and production capacity
Active Publication Date: 2018-03-23
南京速之海自动化设备有限公司
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Problems solved by technology
However, this method has certain disadvantages: (1) The TCP calibration process of the multi-point method is mainly affected by human factors (such as operating experience, etc.), which inevitably introduces large errors; (2) The calibration process takes a long time , will affect the production efficiency of industrial robots; (3) In order to achieve periodic calibration of the production line, it will consume a lot of human resources and reduce the overall production capacity of the production line
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[0065] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.
[0066] Such as figure 1 Shown: a TCP online rapid calibration device applied to an industrial robot 3, including a control cabinet 1, a TCP calibration device 2, an industrial robot 3, an end tool 4 and a control bus 5, and the control cabinet 1 is connected to the TCP calibration via the control bus 5 The device 2 and the industrial robot 3, the end tool 4 is installed on the industrial robot 3;
[0067] Such as figure 2 As shown: the TCP calibration device 2 includes a TCP detection device 201, a calibration controller 203 and an installation base 202. The TCP detection device 201 is fixedly installed on one side of the industrial robot 3 through the installation base 202, and the measurement plane and the base coordinate system of the industrial robot 3 The XOY planes are parallel.
[0068] The laser rays of the through-beam photoelectr...
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The invention discloses a TCP online quick calibration method and device applied to an industrial robot. The device comprises a control cabinet, a TCP calibration device, the industrial robot, a terminal tool and control buses; the control cabinet is separately connected with the TCP calibration device and the industrial robot through the control buses; the terminal tool is mounted on the industrial robot; the TCP calibration device includes a TCP detecting device, a calibration controller and a mounting base; the TCP detecting device is fixedly mounted on one side of the industrial robot through the mounting base; and a measuring plane is parallel to a XOY plane of an industrial robot base coordinate system. According to on-off signals of a correlation photoelectric sensor, the pose data of a flange is recorded, and the pose deviations of the terminal tool in X / Y axis and Z axis directions are calculated and compensated; and through multiple times of repeated operations, the TCP calibration errors are reduced, the operation precision of the industrial robot is effectively improved, the stop maintenance time of the industrial robot is reduced, and the automation degree of an industrial production line is improved.
Description
technical field [0001] The invention relates to an industrial robot terminal tool calibration technology, in particular to a TCP online rapid calibration method and device applied to an industrial robot. Background technique [0002] With the rapid development of industrial robot technology, it has gradually been more and more widely used in welding, cutting, assembly and other fields. By installing different end tools, industrial robots can complete a variety of tasks. Among them, the pose calibration accuracy of the Tool Center Point (TCP) directly affects the operation accuracy of the industrial robot. [0003] After working for a long time, the end tools of industrial robots (such as stud welding guns, cutting tools, etc.) will have certain posture deviations, which will cause problems such as the inability of industrial robots to complete preset functions. At present, the calibration of the end tool TCP of industrial robots mainly adopts the multi-point method of offl...
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IPC IPC(8): B25J9/16
CPCB25J9/1605G05B2219/40527
Inventor 温秀兰乔贵方崔俊宇王东霞赵艺兵白冰峰
Owner 南京速之海自动化设备有限公司