A tcp online rapid calibration method and device capable of realizing six degrees of freedom

Abstract

The invention discloses a TCP online rapid calibration method and device capable of realizing six degrees of freedom, including a control cabinet, a TCP calibration device, a robot, and an end tool. The control cabinet is respectively connected to the TCP calibration device and the robot, and the end tool is installed on the robot; The TCP calibration device includes a TCP detection device, a calibration controller and a mounting base. The TCP detection device is fixedly installed on one side of the robot through the mounting base, and the measurement plane is parallel to the XOY plane of the robot's base coordinate system. According to the on-off signal of the through-beam photoelectric sensor, record the flange pose data, calculate and compensate the angle and position deviation of the end tool in the X / Y / Z axis direction, and reduce the TCP calibration error through repeated operations, effectively It greatly improves the working accuracy of the robot, reduces the downtime and maintenance time of the robot, and improves the automation of the industrial production line.

Description

technical field [0001] The invention relates to an online fast calibration method and device, in particular to a TCP online fast calibration method and device that can realize 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 traditional manual or rigid automation systems are gradually unable to meet the development needs of the 3C industry. Industrial robots have gradually entered the 3C industry (referring to the technology industry dominated by computers, communications and consumer electronics), using robots to undertake repetitive and tedious 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 directly ...

AI Technical Summary

Problems solved by technology

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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