A six-degree-of-freedom industrial robot end tool coordinate system calibration device and method
A technology of industrial robot and tool coordinate system, which is applied in the field of calibration device of end tool coordinate system of six-degree-of-freedom industrial robot, can solve the problems such as relatively high requirements for operators and difficulty in doing so, and achieve improved calibration accuracy, reliable data, and reduced The effect of small errors
Active Publication Date: 2018-04-24
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
[0004] The traditional calibration method has relatively high requirements for the operator. The operator needs to skillfully adjust the pose of the robot and observe the alignment and contact status of the two tips at all times. maintain contact with the tip of the tool, which is practically difficult
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[0048] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0049] The embodiment of the present invention provides a six-degree-of-freedom industrial robot terminal tool coordinate system calibration device, which mainly includes a longitude bar 1, an upper connecting plate 2, a lower connecting plate 3, an optical path sending tube 4 and an optical path receiving tube 5, wherein, The longitude bar 1 is installed on the upper connecting plate 2 and the ...
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The invention discloses a calibration device and method for a six-freedom-degree industrial robot end-of-arm tooling coordinate system. The calibration device comprises longitude strips, an upper connecting plate, a lower connecting plate, light path transmitting tubes and light path receiving tubes, wherein the two ends of each longitude strip are connected with the upper connecting plate and the lower connecting plate correspondingly; and the longitude strips are arranged in pairs, and every pair of longitude strips are connected into a complete circle through the upper connecting plate and the lower connecting plate. Three round bosses are evenly formed on the lower half portion of each longitude strip. The lateral surfaces of the upper connecting plate and the lower connecting plate are provided with grooves for installation of the longitude strips, and the middle of the upper connecting plate and the middle of the lower connecting plate are each provided with a round boss. One end of each light path transmitting tube is designed to be conical, the conical end of each light path transmitting tube is matched with a conical hole of a first central hole, and a laser transmitting head is arranged in the conical end. The light path receiving tubes are installed on the lower half portions of the longitude strips, and laser receiving heads are installed in the light path receiving tubes. The calibration device and method for the six-freedom-degree industrial robot end-of-arm tooling coordinate system can realize effective calibration of the six-freedom-degree industrial robot end-of-arm tooling coordinate system, and have the advantages of being high in calibration accuracy, reliable in calibration result, convenient to operate and the like.
Description
technical field [0001] The invention belongs to the technical field of robot end tool coordinate system calibration, and more specifically relates to a six-degree-of-freedom industrial robot end tool coordinate system calibration device and method. Background technique [0002] Industrial robots complete various tasks by installing different tools at the end, and the accuracy of the tool coordinate system directly affects the trajectory accuracy of the robot. Especially for industrial robots used in milling, drilling, grinding and other mechanical processing occasions, the requirements for the trajectory accuracy of the end of the robot are very high. Therefore, it is usually necessary to calibrate the tool coordinate system of the robot before use. Calibrating the tool coordinate system of the robot generally refers to measuring the offset of the end point of the tool assembled at the end of the flange relative to the coordinate system of the flange center point. [0003] ...
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IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 许剑锋张伟苏畅韦瑞新
Owner HUAZHONG UNIV OF SCI & TECH