Online rapid TCP calibrating method and device capable of achieving six freedom degrees

Abstract

The invention discloses an online rapid TCP calibrating method and device capable of achieving six freedom degrees. The online rapid TCP calibrating device capable of achieving six freedom degrees comprises a control cabinet, a TCP calibrating device, a robot and an end-of-arm tool. The control cabinet is connected with the TPC calibrating device and the robot. The end-of-arm tool is installed onthe robot. The TCP calibrating device comprises a TCP detecting device, a calibrating controller and an installation base. The TCP detecting device is fixedly installed on one side of the robot through the installation base. A measuring plane is parallel to the XOY plane of a robot base coordinate system. According to on-off signals of correlation type photoelectric sensors, position and posture data of a flange are recorded, the angle and position deviations of the end-of-arm tool in the X-axis, Y-axis and Z-axis are calculated and compensated for; through repeated operation, the calibrationerror of the TCP is reduced, the operation precision of the robot is effectively improved, the halt maintenance time of the robot is shortened, and the automation degree of an industrial production line is improved.

Description

technical field [0001] The invention relates to an online rapid calibration method and device, in particular to a TCP online rapid calibration method and device capable of realizing six degrees of freedom. Background technique [0002] With the rapid development of industrial robot technology, it has been more and more widely used in the manufacturing industry. The product update speed of the 3C industry is fast, and the traditional manual or rigid automation system is gradually unable to meet the development needs of the 3C industry. Industrial robots have gradually entered the 3C industry (referring to the technology industry based on computers, communications and consumer electronics), using robots to undertake repetitive and cumbersome operations such as sorting and assembly. According to different tasks, different tools need to be installed at the end of the industrial robot. The positioning accuracy of the tool center point (TCP) at the end of the industrial robot di...

AI Technical Summary

Problems solved by technology

The product update speed of the 3C industry is fast, and the traditional manual or rigid automation system is gradually unable to meet the development needs of the 3C industry

The positioning accuracy of the Tool Center Point (TCP) at the end of the industrial robot directly affects the quality of the products on the production line, and poor accuracy may even lead to failure to complete corresponding tasks

[0003] Usually, two-finger air grippers are installed at the end of industrial robots to realize the assembly of parts, etc. After a long time of work, the robot will have a certain position deviation, which will cause the robot to fail to complete the preset operation and other problems.

At present, the offline manual teaching method is mainly used for the calibration of the robot end tool TCP. The calibration accuracy of this method is greatly affected by human factors. At the same time, the calibration process takes a long time and affects the production efficiency of the production line.

Patent ZL201610351194.9 proposes a TCP online rapid calibration method and device applied to industrial robots, but this method can only realize the 5-degree-of-freedom calibration of the robot's end tool, and the angular error of the Z-axis cannot be calibrated

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