Industrial robot end tool calibration equipment and method based on laser displacement sensor

Abstract

The present invention discloses an industrial robot end tool calibration device and method based on a laser displacement sensor, the device includes a laser displacement sensor, a circular guide rotating mechanism, and a motor; the circular guide rotating mechanism includes a V-shaped circular guide, a circular guide internal gear, and a moving assembly, wherein the V-shaped circular guide is fixed to a fixed plane, and the moving assembly installed on the V-shaped circular guide is used to install the laser displacement sensor and the motor, and the moving assembly is used to provide power through the motor to drive the moving assembly to slide along the circular guide internal gear on the V-shaped circular guide. The present invention can quickly correct the end tool position of the industrial robot, and avoid the problem of affecting the accuracy of the task due to inaccurate end tool position caused by tool collision or long-term work.

Description

Technical Field

[0001] The invention relates to an industrial robot end tool calibration device and method based on a laser displacement sensor, belonging to the technical field of measurement. Background Art

[0002] In the existing tool calibration technology, the multi-point method or large equipment such as laser trackers are usually used to form point constraints, line constraints or surface constraints in space to calibrate the end tool of the industrial robot. The multi-point method usually uses the human eye to determine whether the end tool is aligned with the target position, which is prone to large errors and slow; the method of calibration with the help of laser trackers has high accuracy, but laser trackers are large and expensive equipment, not easy to carry and not conducive to industrial site calibration. Summary of the invention

[0003] The present invention provides an industrial robot end tool calibration device based on a laser displacement sensor, constructs a calibration platform for the industrial robot end tool, and further provides an industrial robot end tool calibration method based on a laser displacement sensor, which is used to calibrate the industrial robot end tool using the calibration device of the present invention.

[0004] The technical solution of the present invention is: an industrial robot end tool calibration device based on a laser displacement sensor, comprising a laser displacement sensor 2, a ring guide rotating mechanism 3, and a motor 4; the ring guide rotating mechanism 3 comprises a V-shaped ring guide 8, a ring guide internal gear 10, and a moving component, wherein the V-shaped ring guide 8 is fixed on a fixed plane, and the moving component installed on the V-shaped ring guide 8 is used to install the laser displacement sensor 2 and the motor 4, and the moving component is used to provide power through the motor 4 to drive the moving component to slide along the ring guide internal gear 10 on the V-shaped ring guide 8.

[0005] The moving assembly includes an L-shaped bracket 5, a support plate 13, a gear mechanism 19, a rotating wheel I20, a rotating wheel II21, a rotating wheel III22, and a rotating wheel IV23; wherein, the outer gear mechanism 19 is driven to rotate by the motor 4, and a gear transmission is formed between the outer gear mechanism 19 and the inner gear 10 of the annular guide rail; the rotating wheels I20, II21, III22, and IV23 roll in coordination with the V-shaped annular guide rail 8, the lower end of the support plate 13 is fixedly connected to the rotating wheels I20, II21, III22, and IV23, respectively, the upper end of the support plate 13 is fixed with the L-shaped bracket 5, and the laser displacement sensor 2 and the motor 4 are installed through the L-shaped bracket 5.

[0006] A method for calibrating an industrial robot end tool based on a laser displacement sensor is performed using any one of the above-mentioned industrial robot end tool calibration devices based on a laser displacement sensor, comprising:

[0007] Step 1: The bottom surface of the V-shaped annular guide rail 8 and the bottom surface of the base of the industrial robot are placed on the same plane, and the annular guide rail rotating mechanism 3 is fixed on the fixed plane;

[0008] Step 2: The plane where the laser beam of the laser displacement sensor 2 is located is defined as the XY plane, and the X-axis, Y-axis, and Z-axis are parallel to the positive directions of the X-axis, Y-axis, and Z-axis of the base coordinate system of the industrial robot, respectively;

[0009] Step 3: Calculate the shape equation of the annular guide rail rotating mechanism in the coordinate system based on the data recorded by the laser displacement sensor 2:

[0010] Before the robot end tool is working, the industrial robot is operated to place the robot end tool inside the circular guide rail rotating mechanism 3, and the joint angle of the industrial robot is recorded; the initial circle equation 1 in the coordinate system of the circular guide rail rotating mechanism is calculated based on the distance information data recorded by the laser displacement sensor 2;

[0011] After the robot end tool is working, when the position of the industrial robot end tool is inaccurate, the industrial robot is operated to put the robot end tool into the ring guide rotating mechanism 3 according to the joint angle of the initial circle equation 1; the ellipse equation 1 in the coordinate system of the ring guide rotating mechanism is calculated according to the distance information data recorded by the laser displacement sensor 2;

[0012] The height h of the end of the industrial robot is changed along the Z axis based on the position of the recorded ellipse equation 1, and the ellipse equation 2 in the coordinate system of the annular guide rail rotating mechanism is calculated according to the distance information data recorded by the laser displacement sensor 2.

[0013] The shape equation of the annular guide rail rotating mechanism in the coordinate system is calculated based on the distance information data recorded by the laser displacement sensor 2, specifically: the distance information is converted into coordinate information, the ellipse is fitted using the least squares method, and the shape equation of the robot end tool in the coordinate system of the annular guide rail rotating mechanism is calculated.

[0014] The beneficial effects of the present invention are:

[0015] The laser displacement sensor-based industrial robot end-tool calibration equipment adopted by the present invention uses a laser displacement sensor to rotate on a circular guide rail, which replaces the cross-intersection method of two laser displacement sensors, effectively avoiding the problem that the two laser beams are not perpendicular or not in the same plane when two laser displacement sensors are used; four sliding wheels slide in conjunction with the slide rail to hold up the support plate, reducing the wear of the gears and increasing the service life of the gears; the L-shaped bracket on the support plate is used to fix the laser displacement sensor, which is convenient for adjusting the height of the light beam emitted by the laser displacement sensor when the position of the industrial robot is singular; the use of a servo motor makes the accuracy of the entire mechanism higher.

[0016] Secondly, in terms of method, the circular guide mechanism and the base of the industrial robot are placed in the same plane, which is convenient for establishing the coordinate system of the circular guide rotation mechanism based on the base coordinate system of the industrial robot, so that the main axis directions of the two are positively parallel, which is convenient for the subsequent conversion of the coordinate system. The laser displacement sensor is rotated, and the tool end is fixed to record the three different shape equations of the tool in the coordinate system of the circular guide rotation mechanism before and after work, and calculate the center position. Then, through the relationship between the coordinate systems, it is converted into the tool center coordinates in the robot end coordinate system. According to the relationship between the three centers, the conversion relationship between the tool end coordinate system of the industrial robot and the end coordinate system of the industrial robot is calculated. After obtaining this relationship, the tool information in the teach pendant or controller of the industrial robot is corrected, and finally the calibration of the end tool is completed, and the accuracy of the industrial robot end tool during the task is calibrated, achieving the purpose of long service life, easy adjustment, high accuracy and fast calibration.

[0017] In summary, the present invention can quickly correct the tool end position of the industrial robot, avoiding the problem of affecting the accuracy of the task due to inaccurate tool end position caused by tool collision or long-term work. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an assembly schematic diagram of the present invention;

[0019] Figure 2 It is a schematic diagram of the assembly of the annular guide rail rotating mechanism;

[0020] Figure 3 is a schematic diagram of the support plate;

[0021] Figure 4 It is a schematic diagram of the circular guide rail and four wheels;

[0022] Figure 5 It is a schematic diagram of the V-shaped convex surface of the annular guide rail and the V-shaped groove of the wheel;

[0023] Figure 6This is the principle of calculating the end position and posture of the industrial robot in the present invention;

[0024] Figure 7 These are the two positions measured after work and after the tool has produced errors;

[0025] In the figure: 1—motor servo driver, 2—laser displacement sensor, 3—annular guide rotating mechanism, 4—motor component, 5—L-shaped bracket, 6—hexagon socket screw I, 7—hexagon socket screw II, 8—V-shaped annular guide, 9—fixed threaded hole, 10—annular guide internal gear, 11—L support frame threaded hole I, 12—L support frame threaded hole II, 13—support plate, 14—hexagon socket screw III, 15—hexagon socket screw IV, 16—hexagon socket screw V, 17—hexagon socket screw VI, 18—matching hole, 19—external gear mechanism, 20—rotating wheel I, 21—rotating wheel II, 22—rotating wheel III, 23—rotating wheel IV, 24—industrial robot end tool. DETAILED DESCRIPTION

[0026] The invention is further described below in conjunction with the accompanying drawings and embodiments, but the content of the invention is not limited to the scope of the embodiments.

[0027] Example 1: Figure 1-7 As shown, an industrial robot end tool calibration device based on a laser displacement sensor includes a laser displacement sensor 2, a ring guide rotating mechanism 3, and a motor 4; the ring guide rotating mechanism 3 includes a V-shaped ring guide 8, a ring guide internal gear 10, and a moving component, wherein the V-shaped ring guide 8 is fixed on a fixed plane, and the moving component installed on the V-shaped ring guide 8 is used to install the laser displacement sensor 2 and the motor 4, and the moving component is used to provide power through the motor 4 to drive the moving component to slide along the ring guide internal gear 10 on the V-shaped ring guide 8.

[0028] Further, the mobile assembly includes an L-shaped bracket 5, a support plate 13, a gear mechanism 19, a rotating wheel I20, a rotating wheel II21, a rotating wheel III22, and a rotating wheel IV23; wherein, the external gear mechanism 19 is driven to rotate by the motor 4, and a gear transmission is formed between the external gear mechanism 19 and the inner gear 10 of the annular guide rail; the rotating wheels I20, II21, III22, and IV23 roll in cooperation with the V-shaped annular guide rail 8, the lower end of the support plate 13 is fixedly connected to the rotating wheels I20, II21, III22, and IV23, respectively, and the upper end of the support plate 13 is fixed with the L-shaped bracket 5, and the laser displacement sensor 2 and the motor 4 are installed through the L-shaped bracket 5. It should be noted that the present invention can provide installation space for the above components by adopting the L-shaped bracket 5 and the support plate 13 on the one hand; on the other hand, when the position of the industrial robot is singular, it is convenient to adjust the height of the light beam emitted by the laser displacement sensor.

[0029] Specifically, if Figure 1-Figure 5 As shown, the moving assembly includes an L-shaped bracket 5, an inner hexagon screw I6, an inner hexagon screw II7, a fixing threaded hole 9, an L support frame threaded hole I11, an L support frame threaded hole II12, a support plate 13, an inner hexagon screw III14, an inner hexagon screw IV15, an inner hexagon screw V16, an inner hexagon screw VI17, a matching hole 18, an external gear mechanism 19, a rotating wheel I20, a rotating wheel II21, a rotating wheel III22, and a rotating wheel IV23; wherein, the rotating wheel I20, the rotating wheel II21, the rotating wheel III22, and the rotating wheel IV23 The V-shaped groove on the L-shaped annular guide rail 8 cooperates with the V-shaped convex surface to roll, the support plate 13 is connected to the rotating wheel Ⅰ20, the rotating wheel Ⅱ21, the rotating wheel Ⅲ22, and the rotating wheel Ⅳ23 respectively by the hexagon socket screw Ⅲ14, the hexagon socket screw Ⅳ15, the hexagon socket screw Ⅴ16, and the hexagon socket screw Ⅵ17, the L-shaped bracket 5 is connected to the support plate 13 by the hexagon socket screw Ⅰ6 and the hexagon socket screw Ⅱ7, and the threaded hole on the laser displacement sensor 2 and the L support frame threaded hole Ⅰ11 and the L support frame threaded hole Ⅱ12 of the L-shaped bracket 5 are connected by M3 bolts.

[0030] When applying the technical solution of the present invention, the annular guide rail rotating mechanism can be fixed on a fixed plane by using M3 screws to pass through the fixed threaded holes 9, and the motor 4 is driven by the motor servo driver 1. The motor main shaft drives the external gear mechanism 19 to rotate, and the motor main shaft forms a clearance fit with the matching hole 18 on the support plate 13, and is connected to the external gear mechanism 19 through a flat key. A gear transmission is formed between the external gear mechanism 19 and the annular guide rail internal gear 10, thereby driving the support plate 13 and the rotating wheels I20, II21, III22, and IV23 fixed on the support plate 13 to rotate along the V-shaped annular guide rail 8, so that the motor 4 indirectly drives the laser displacement sensor 2 to slide along the V-shaped annular guide rail 8.

[0031] A method for calibrating an industrial robot end tool based on a laser displacement sensor is performed using any one of the above-mentioned industrial robot end tool calibration devices based on a laser displacement sensor, comprising:

[0032] Step 1: The bottom surface of the V-shaped annular guide rail 8 and the bottom surface of the base of the industrial robot are placed on the same plane, and the annular guide rail rotating mechanism 3 is fixed on the fixed plane;

[0033] Step 2: The plane where the laser beam of the laser displacement sensor 2 is located is defined as the XY plane, and the X-axis, Y-axis, and Z-axis are parallel to the positive directions of the X-axis, Y-axis, and Z-axis of the base coordinate system of the industrial robot, respectively;

[0034] Step 3: Calculate the shape equation of the annular guide rail rotating mechanism in the coordinate system based on the data recorded by the laser displacement sensor 2:

[0035] Before the robot end tool is working, the industrial robot is operated to place the robot end tool inside the circular guide rail rotating mechanism 3, and the joint angle of the industrial robot is recorded; the initial circle equation 1 in the coordinate system of the circular guide rail rotating mechanism is calculated based on the distance information data recorded by the laser displacement sensor 2;

[0036] After the robot end tool is working, when the position of the industrial robot end tool is inaccurate, the industrial robot is operated to put the robot end tool into the ring guide rotating mechanism 3 according to the joint angle of the initial circle equation 1; the ellipse equation 1 in the coordinate system of the ring guide rotating mechanism is calculated according to the distance information data recorded by the laser displacement sensor 2;

[0037] The height h of the end of the industrial robot is changed along the Z axis based on the position of the recorded ellipse equation 1, and the ellipse equation 2 in the coordinate system of the annular guide rail rotating mechanism is calculated according to the distance information data recorded by the laser displacement sensor 2.

[0038] Furthermore, the shape equation of the annular guide rail rotating mechanism in the coordinate system is calculated based on the distance information data recorded by the laser displacement sensor 2 as follows: the distance information is converted into coordinate information, an ellipse is fitted using the least squares method, and the shape equation of the robot end tool in the coordinate system of the annular guide rail rotating mechanism is calculated.

[0039] Further, the following is given:

[0040] Step 1: Use M3 screws to fix the annular guide rail rotating mechanism on the fixed plane through the fixing screw holes;

[0041] Step 2: Use M3 bolts to fix the laser displacement sensor on the L-shaped bracket of the circular guide rail rotation mechanism. The plane where the laser beam is located is defined as the XY plane. The X-axis and Y-axis are respectively parallel to the X-axis and Y-axis of the industrial robot base coordinate system. The Z-axis is obtained by the right-hand rule. Figure 6 As shown, points A, B, and C are any three positions where the laser displacement sensor records data;

[0042] Step 3: Operate the industrial robot to place the end tool of the industrial robot into the inside of the circular guide rail;

[0043] Step 4: The servo motor driver 1 controls the motor 4 to drive the outer gear mechanism 19 to cooperate with the inner gear 10 of the annular guide rail, and at the same time, the V-shaped annular guide rail 8 rolls in cooperation with the four rotating wheels, and the laser displacement sensor 2 records the measured distance information data in real time;

[0044] Step 5: Set the center of the circular guide rotating mechanism as the origin of the coordinate system formed by the circular guide rotating mechanism and the laser displacement sensor. Each time the laser displacement sensor records data, it will record the pulses of the motor accordingly. The angle θ of the circular guide rotating mechanism is calculated by the pulse difference. The distance information measured by the laser displacement sensor is converted into coordinate information. The least squares method is used to fit the ellipse and calculate the shape equation of the industrial robot end tool in the coordinate system formed by the circular guide rotating mechanism and the laser displacement sensor, that is, the shape equation in the coordinate system of the circular guide rotating mechanism. Figure 6 Assume that the distance l measured at any three locations A, B, and C is calculated. a , l b , l c , converted into the coordinate value in the XY coordinate system of the circular guide rotating mechanism. The distance from the laser to the center of the circular guide rotating mechanism is D / 2. Therefore, the coordinate of the laser displacement sensor beam emission position in the coordinate system of the circular guide rotating mechanism is expressed by parametric equation (1):

[0045]

[0046] Where D represents twice the distance from the laser emission position to the center of the circular guideway rotating mechanism. The distance from the point where the laser beam hits the tool to the origin can be expressed as:

[0047]

[0048] Among them, l 实测 Indicates the distance measured by the laser displacement sensor, l 工具 is the distance from the point where the tool is measured to the origin, l a , l b , l c Indicates the distances measured by the laser displacement sensors at positions A, B, and C, l ta ,l tb ,l tc It indicates the distance from the measured position point on the tool corresponding to the three positions A, B, and C to the origin of the coordinate system of the circular guide rail rotating mechanism. From this, the coordinate value of the measured position can be obtained:

[0049]

[0050] x 工具 ,y 工具 Indicates the coordinate value of the measured position of the industrial robot end tool; x ta ,x tb ,x tc ,y ta ,y tb ,y tcThey represent the coordinates of the measured positions on the tool corresponding to the three positions A, B, and C. So far, the coordinates of the corresponding points on the end effector of the industrial robot recorded by the laser displacement sensor can be calculated based on the cooperation between the circular guide rail and the laser displacement sensor.

[0051] Because a circle is a special case of an ellipse, and when a circle is cut by a plane with a certain angle, it becomes an ellipse. Based on the coordinate values ​​of the industrial robot end effector obtained from multiple measurement points, the shape of the industrial robot end effector in the XY plane of the coordinates formed by the ring rotating mechanism is fitted. The specific calculation formula is as follows:

[0052] Calculation part:

[0053] Given the equation of an ellipse:

[0054] x 2 +Axy+By 2 +Cx+Dy+E=0 (4)

[0055] Optimization target W = [A, B, C, D, E] T ,X=[x 2 ,xy,y 2 ,x,y,1] T

[0056] F(A,B,C,D,E)=min||W T X|| 2 (5)

[0057] To minimize F:

[0058]

[0059] From this we can get:

[0060]

[0061] It can be expressed as:

[0062] M1[ABCDE] T =M2 (8)

[0063] It can be concluded that:

[0064]

[0065] The values ​​of A, B, C, D, and E calculated by formula (9) are then substituted into formula (10) which is the standard expression converted from general expression (4) to obtain:

[0066]

[0067] in

[0068] Among them, x0 and y0 represent the center of the circle, a and b represent the major axis and minor axis respectively, and θ r Represents the inclination of the ellipse.

[0069] Step 6: First, before the industrial robot end tool starts working, execute steps 3, 4, and 5, record the initial data and obtain the initial circle equation 1.

[0070] Step 7: After work, the end tool of the industrial robot collides, etc., resulting in inaccurate end position. At this time, repeat steps 3, 4, and 5 to obtain the ellipse equation 1 of the end tool with error in the coordinate system of the circular guide rail rotating mechanism; it should be noted that steps 6 and 7 are to record data when the industrial robot is operated in the same joint angle state.

[0071] Step 8: Change the height h of the end of the industrial robot along the Z axis, repeat steps 3, 4, and 5 again, and obtain the ellipse equation 2 of the tool end with error in the coordinate system of the circular guide rail rotation mechanism;

[0072] Step 9: According to the inverse cosine theorem, the position of the tool end in the industrial robot end coordinate system (lx, ly, lz) is calculated from the relationship between the initial circle equation 1 and the ellipse equation 1; according to the parallel relationship, triangle similarity theorem, and inverse cosine theorem, the position and posture (deflection angle) of the industrial robot end is calculated from the relationship between the ellipse equation 1 and the ellipse equation 2. pitch angle θ and roll angle φ).

[0073] Specifically:

[0074] Since the XY coordinate system of the circular guide rotating mechanism mentioned in step 2 is parallel to the XY coordinate system of the industrial robot, and the base coordinate systems of the two industrial robots and the coordinate system of the circular guide rotating mechanism are installed on the same fixed plane, the coordinates of the origin of the coordinate system of the circular guide rotating mechanism in the base coordinate system can be obtained by measurement: B T SO =( B x so , B y so , B z so ), then the coordinate values ​​of each point in the coordinate system of the annular guide rail rotating mechanism can be calculated using the following formula to obtain the coordinate values ​​in the base coordinate system: B T s_anypos = S T s_anypos + B T SO .in S T s_anypos Represents any point in the coordinate system of the circular guide rotating mechanism.

[0075] And because the transformation relationship from the industrial robot base coordinate system to the industrial robot terminal coordinate system can be expressed as follows according to the DH modeling rule:

[0076]

[0077] in, represents the transformation matrix from the front joint to the back joint of the industrial robot, (nx,ny,nz), (ox,oy,oz), (ax,ay,az) represent the unit vectors of the main axis direction of the industrial robot terminal coordinate system in the industrial robot base coordinate system, (p X ,p Y ,p Z ) represents the origin of the industrial robot terminal coordinate system under the industrial robot base coordinate system. Therefore, the industrial robot base coordinate system under the industrial robot terminal coordinate system can be obtained Therefore, the transformation relationship from the industrial robot terminal coordinate system to the coordinate system of the circular guide rail rotation mechanism can be obtained:

[0078] Therefore, the coordinate values ​​of the obtained annular guide rail rotating mechanism in the coordinate system are converted into the coordinate values ​​of the industrial robot terminal coordinate system by the above method. The end deviations of the industrial robot tool in the X and Y directions in the industrial robot terminal coordinate system are calculated by the relationship between the center of the initial circle equation 1 and the center of the ellipse equation 1, as follows:

[0079]

[0080] Where (x1, y1) represents the center C1 of the transformed ellipse 1, (x0, y0) represents the center C2 of the transformed initial circle, and l x , l y They respectively represent the deviations of the industrial robot end tool in the X and Y directions in the industrial robot end coordinate system.

[0081] The position and posture of the end of the industrial robot can be calculated by the relationship between the ellipse equations 1 and 2. Figure 7 As shown, C1 represents the center position of ellipse 1 in the industrial robot end coordinate system, and C2 represents the center position of ellipse 2 in the industrial robot end coordinate system. The end position of the industrial robot will not change, so θ can be calculated. t , the calculation formula is as follows:

[0082]

[0083] The length L of the industrial robot end tool is usually known at the time of purchase, so the coordinate l of the industrial robot end tool in the Z direction in the industrial robot end coordinate system after a collision or other error occurs during work can be calculated. z =L×cos(θ t ), the vector formed by C1 and C2' is expressed as (Δx, Δy, Δz) = (x c2 -x c1 ,y c2 -y c1 ,h), the transformation relationship between the industrial robot end coordinate system and the industrial robot tool end coordinate system C2' represents the position of C2 after the end tool moves for h along the Z-axis direction of the industrial robot base coordinate system.

[0084] At this time, the corresponding Euler angle of the industrial robot end tool is the rotation deflection angle around the X axis The pitch angle θ rotates around the Y axis and the roll angle φ rotates around the new Z axis. Assume an upward vector U = (0, 0, 1) and a perpendicular And the vector W0 parallel to the XY plane is (-Δy, Δx, 0), then it can be expressed as The angle between U and U0 at this time is the deflection angle. It can be calculated as:

[0085]

[0086] So as to find The corresponding rotation matrix in is:

[0087]

[0088] At this point, the pose rotation matrix and position matrix (lx, ly, lz) are all calculated, and the transformation matrix from the industrial robot's end coordinate system to the tool coordinate system can be obtained.

[0089]

[0090] It should be noted that, in the above variable symbols, T, E, B, and S in the upper left and lower left scripts respectively represent the industrial robot tool end coordinate system, the industrial robot end coordinate system, the industrial robot base coordinate system, and the coordinate system of the circular guide rail rotation mechanism.

[0091] The above method is suitable for quickly calibrating the end effector of a cylindrical industrial robot, such as a welding gun, a spraying tool, etc., and has the advantages of simple operation, applicability to industrial sites, and low cost.

[0092] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. An industrial robot end tool calibration device based on a laser displacement sensor, characterized in that: The invention comprises a laser displacement sensor (2), an annular guide rail rotating mechanism (3), and a motor (4); the annular guide rail rotating mechanism (3) comprises a V-shaped annular guide rail (8), an annular guide rail internal gear (10), and a moving assembly, wherein the V-shaped annular guide rail (8) is fixed to a fixed plane, the moving assembly installed on the V-shaped annular guide rail (8) is used to install the laser displacement sensor (2) and the motor (4), and the moving assembly is used to provide power through the motor (4) to drive the moving assembly to slide along the annular guide rail internal gear (10) on the V-shaped annular guide rail (8); The moving assembly comprises an L-shaped bracket (5), a support plate (13), a gear mechanism (19), a rotating wheel I (20), a rotating wheel II (21), a rotating wheel III (22), and a rotating wheel IV (23); wherein the outer gear mechanism (19) is driven to rotate by a motor (4), and a gear transmission is formed between the outer gear mechanism (19) and the inner gear (10) of the annular guide rail; the rotating wheel I (20), the rotating wheel II (21), the rotating wheel III (22), and the rotating wheel IV (23) roll in cooperation with the V-shaped annular guide rail (8); the lower end of the support plate (13) is fixedly connected to the rotating wheel I (20), the rotating wheel II (21), the rotating wheel III (22), and the rotating wheel IV (23), respectively; the upper end of the support plate (13) is fixed to the L-shaped bracket (5) by a hexagon socket screw, and the laser displacement sensor (2) and the motor (4) are installed through the L-shaped bracket (5).

2. A method for calibrating an industrial robot end tool based on a laser displacement sensor, characterized in that: The industrial robot end tool calibration device based on a laser displacement sensor as claimed in claim 1 is used, comprising: Step 1: The bottom surface of the V-shaped annular guide rail (8) and the bottom surface of the base of the industrial robot are placed on the same plane, and the annular guide rail rotating mechanism (3) is fixed on the fixed plane; Step 2: The plane where the laser beam of the laser displacement sensor (2) is located is defined as the XY plane, and the X axis, Y axis, and Z axis are respectively parallel to the positive directions of the X axis, Y axis, and Z axis of the base coordinate system of the industrial robot; Step 3: Calculate the shape equation of the annular guide rail rotating mechanism in the coordinate system based on the data recorded by the laser displacement sensor (2): Before the robot end tool is working, the industrial robot is operated to place the robot end tool into the annular guide rail rotating mechanism (3), and the joint angle of the industrial robot is recorded; the initial circle equation 1 in the annular guide rail rotating mechanism coordinate system is calculated based on the distance information data recorded by the laser displacement sensor (2); After the robot end tool is working, when the position of the industrial robot end tool is inaccurate, the industrial robot is operated to place the robot end tool into the circular guide rail rotating mechanism (3) according to the joint angle of the initial circle equation 1; the ellipse equation 1 in the coordinate system of the circular guide rail rotating mechanism is calculated according to the distance information data recorded by the laser displacement sensor (2); Change the height of the end of the industrial robot along the Z axis based on the position of the recorded ellipse equation 1 h , the ellipse equation 2 in the coordinate system of the annular guide rotating mechanism is calculated based on the distance information data recorded by the laser displacement sensor (2).

3. The method for calibrating an industrial robot end tool based on a laser displacement sensor according to claim 2, characterized in that: The shape equation of the annular guide rail rotating mechanism in the coordinate system is calculated based on the distance information data recorded by the laser displacement sensor (2), specifically: the obtained distance information is converted into coordinate information, an ellipse is fitted using the least squares method, and the shape equation of the robot end tool in the coordinate system of the annular guide rail rotating mechanism is calculated.

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