Calibration system and method for coupling robot with external shaft

Abstract

The invention provides a calibration system used for coupling a robot and an external shaft. The calibration system comprises: a steel needle type calibrator used for being coupled to a tail end shaft flange plate of the robot; a foldable annular mounting plate, which is provided with a center hole matched with the steel needle type calibrator, wherein the foldable annular mounting plate is arranged on the steel needle type calibrator in a sleeving mode and located at the position of a light beam emission port in a calibration process; a reflecting mirror surface, wherein an orthogonal cross curve mark is arranged on the surface of the reflecting mirror surface; and an L-shaped bracket, wherein one end of the L-shaped bracket is connected with the reflecting mirror surface, the other end of the L-shaped bracket is coupled to the external shaft, the joint portion of the L-shaped support is designed to be rotatable and adjustable, and the two ends of the L-shaped support are of telescopic adjusting structures. Through the calibration system, detection efficiency and detection precision can be remarkably improved, calibration precision and efficiency do not depend on experience of operators any more, and the calibration system is good in operability, visual in calibration process and easy to execute.

Description

technical field [0001] The invention belongs to the technical field of coupling calibration between a robot and an external axis, and in particular relates to a fast calibration device for coupling between a robot and an external axis based on vertical reflection. Background technique [0002] TCP is the abbreviation of "Tool Central Point". The Chinese name is tool coordinate point. The TCP in the initial state of the robot is the center point of the end shaft flange. It is to let TCP go close to this. In actual work, a tool will be fixed on the end flange, such as: glue gun, suction cup, welding torch, milling tool, laser head, etc. At this time, it is necessary to know the distance between the action point of these tools and the center point of the robot end shaft flange. In order to control the running trajectory of the action point, the process of finding the relative position relationship is called TCP calibration. [0003] Coupling calibration between robot and exte...

AI Technical Summary

Problems solved by technology

[0003] Coupling calibration between robot and external axis refers to the process of finding the relative position between the robot and the external axis after the robot completes the TCP. The traditional calibration process is to find a point on the external axis plane that is relatively Make a small hole mark at a far position. When we manually or programmatically let the robot approach the hole and observe it from different angles so that the end of the steel needle of the robot coincides with the small hole without touching it, and then rotate or flip the external axis at a certain angle. , Repeat the above operation many times to achieve calibration. This calibration method is not suitable for observing whether the steel needle and the hole position are well coincident, and is prone to collisions, which makes the measurement results invalid due to large errors, and the efficiency is very low.

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