Tool Center Point (TCP) Calibration Tooling for Robot

Abstract

The present invention relates to a tool center point (TCP) calibration tooling for a robot, which comprises a support assembly; a thimble pin, one end of which is connected to the support assembly and the other end of which has a tip; a guide member provided with a calibration through hole configured to communicate and guide a terminal calibration member to reach the tip of the thimble pin in multiple directions; and a locking member disposed on the guide member, one end of the locking member passing through the side wall of the calibration through hole for locking or releasing the terminal calibration member. When the above calibration tooling is used to calibrate the end tool, it only needs to control the robotic arm to drive the terminal calibration member to move and control the terminal calibration member to extend into the calibration through hole from multiple directions, so that the tip of the terminal calibration member coincides with the tip of the thimble pin, without the need to visually observe and judge whether the tip of the terminal calibration member coincides with the tip of the thimble pin. Therefore, large errors caused by low human eye accuracy can be avoided. Moreover, the calibration process is simple and convenient to operate, takes a short time, and improves the calibration efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robot-assisted tools, and in particular to a tool center point (TCP) calibration tool for robots. Background Art

[0002] When robots complete various tasks, they need to use different end tools. However, the end tools will deviate from their initial positions due to long-term use, which will cause the robot to have reduced accuracy or even fail to complete the preset functions. Therefore, after the robot has been used for a period of time, the tool center point (TCP) of the end tool needs to be recalibrated to ensure the accuracy of the tool center point (TCP) of the end tool.

[0003] At present, TCP calibration mainly adopts the multi-point calibration method. In one method, the robot is made to align the TCP (tool center point) of the end tool with a fixed point in multiple postures to obtain multiple actual posture information. The transformation matrix from the robot base coordinate system to the TCP coordinate system is calculated and updated based on the multiple actual posture information to complete the TCP calibration.

[0004] However, the existing TCP calibration method of the end tool adopts the method of naked eye observation when aligning the fixed point, which will cause large errors due to the low accuracy of the human eye. In addition, it takes a long time to align the TCP of the end tool with the fixed point during the calibration process. Summary of the invention

[0005] Based on this, it is necessary to use the naked eye observation method when aligning the fixed point of the existing TCP calibration method of the end tool, which will cause a large error due to the low accuracy of the human eye. In addition, it takes a long time to align the TCP of the end tool with the fixed point during the calibration process. Therefore, a tool center point (TCP) calibration tool for the robot is provided.

[0006] An embodiment of the present application provides a tool center point (TCP) calibration tool for a robot, and the tool center point (TCP) calibration tool for a robot includes:

[0007] Support components;

[0008] an ejector pin, one end of which is connected to the support assembly and the other end of which has a pointed tip;

[0009] A guide member, the guide member is arranged on the support assembly, the guide member is provided with a calibration through hole, one end of the calibration through hole is used to receive the end calibration member installed on the end of the robot, and the other end is connected to the tip of the ejector pin; wherein the calibration through hole is configured to be connected in multiple directions to guide the end calibration member to reach the tip of the ejector pin, and the multiple directions include the extension direction of the ejector pin; and

[0010] The locking member is disposed on the guiding member, and one end of the locking member passes through the side wall of the calibration through hole for locking or releasing the end calibration member.

[0011] When the above-mentioned tool center point (TCP) calibration tooling for a robot is used to calibrate the end tool, it only needs to control the robotic arm to drive the end calibration member to move, and control the end calibration member to extend into the calibration through hole from multiple directions, so that the tip of the end calibration member coincides with the tip of the thimble pin. There is no need to observe with the naked eye and judge whether the tip of the end calibration member coincides with the tip of the thimble pin. Therefore, there will be no large errors caused by the low accuracy of the human eye. Moreover, the calibration process is simple and convenient to operate, takes a short time, and improves the calibration efficiency. If it is necessary to calibrate the TCP of all end tools on the production line at the same time, it will not affect the production capacity of the entire production line.

[0012] In one embodiment, the calibration through hole includes a first calibration through hole and a second calibration through hole. The first calibration through hole communicates along a first direction to guide the end calibration member to reach the tip of the thimble pin; the direction of the second calibration through hole for guiding the end calibration member is inclined to the first direction, and the first direction is the extending direction of the thimble pin.

[0013] The guiding member and the supporting assembly are rotatably connected about the axis in the first direction.

[0014] In one embodiment, the tool center point (TCP) calibration tooling for a robot further includes a rotating bearing disposed between the guiding member and the supporting assembly.

[0015] In one embodiment, the tool center point (TCP) calibration tooling for a robot further includes a rolling member, and the rolling member is disposed between the guiding member and the supporting assembly along the first direction.

[0016] In one embodiment, the calibration through hole includes a first calibration through hole and a plurality of third calibration through holes. The first calibration through hole communicates along a first direction to guide the end calibration member to reach the tip of the thimble pin; the plurality of third calibration through holes are evenly spaced around the first calibration through hole, and the directions of the plurality of third calibration through holes for guiding the end calibration member are respectively inclined to the first direction, and the first direction is the extending direction of the thimble pin.

[0017] In one embodiment, the number of calibration through holes is one, and one end of the guiding member close to the thimble pin is ball-joint connected to the supporting assembly.

[0018] In one embodiment, the tool center point (TCP) calibration tooling for a robot further includes a spherical bearing, and one end of the guiding member close to the thimble pin and the supporting assembly form a ball-joint connection with limited position through the spherical bearing.

[0019] In one embodiment, the calibration through-hole includes a first hole and a second hole that are connected and communicate with each other. The inner diameter of the first hole is larger than that of the second hole, and a first stepped surface is formed at the connection of the hole wall of the first hole and the hole wall of the second hole;

[0020] The end calibration piece includes a first section and a second section that are connected. The outer diameter of the first section is larger than that of the second section, and a second stepped surface is formed at the connection of the first section and the second section;

[0021] When the end calibration piece is inserted into the calibration through-hole and the first stepped surface fits with the second stepped surface, the tip of the end calibration piece coincides with the tip of the thimble pin.

[0022] In one embodiment, one end of the guide along the extending direction of the thimble pin is provided with a receiving cavity communicating with the calibration through-hole, and the tip of the thimble pin is located in the receiving cavity.

[0023] In one embodiment, a corresponding locking piece is provided at each calibration through-hole on the guide. Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of a tool center point (TCP) calibration tooling for a robot in one embodiment;

[0025] Figure 2 is Figure 1 a sectional view of the tool center point (TCP) calibration tooling for a robot in

[0026] Figure 3 is a schematic structural diagram of a tool center point (TCP) calibration tooling for a robot in another embodiment;

[0027] Figure 4 is Figure 3 a sectional view of the tool center point (TCP) calibration tooling for a robot in

[0028] Figure 5 is a schematic structural diagram of a tool center point (TCP) calibration tooling for a robot in yet another embodiment;

[0029] Figure 6 is Figure 5 a sectional view of the tool center point (TCP) calibration tooling for a robot in

[0030] Figure 7 is a schematic diagram of the connection relationship between the robotic arm and the end calibration piece of a robot in one embodiment.

[0031] Description of the Reference Numerals:

[0032] Tool center point (TCP) calibration tooling 100 for a robot;

[0033] Support component 110; base plate 111; column 112; mounting plate 113; protruding part 1131; support plate 114;

[0034] Ejector pin 120;

[0035] Guide 130; calibration through-hole 101; first calibration through-hole 1011; second calibration through-hole 1012; third calibration through-hole 1013; first step surface 102, second step surface 103; flange 131; accommodation cavity 104;

[0036] End calibration piece 140; first section 141; second section 142;

[0037] Locking piece 150;

[0038] Rotating bearing 160; spherical bearing 161;

[0039] Limiting piece 170;

[0040] Bearing end cover 180;

[0041] Rolling element 190;

[0042] Robot 10; robotic arm 11. Detailed implementation manners

[0043] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following describes the detailed implementation manners of the present invention with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0046] In the present invention, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0048] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0049] Please refer to Figure 1 、 Figure 3 、 Figure 5 and Figure 7 , an embodiment of the present application provides a tool center point (TCP) calibration tooling 100 for a robot 10. The tool center point (TCP) calibration tooling 100 for a robot includes a support assembly 110, a thimble pin 120, a guide member 130, and a locking member 150.

[0050] One end of the thimble pin 120 is connected to the support assembly 110, and the other end has a tip. The guide 130 is disposed on the support assembly 110. The guide 130 is provided with a calibration through hole 101. One end of the calibration through hole 101 is for receiving the end calibration piece 140 installed at the end of the robot 10, and the other end communicates with the tip of the thimble pin 120. Wherein, the calibration through hole 101 is configured to communicate and guide the end calibration piece 140 to reach the tip of the thimble pin 120 in multiple directions, and the multiple directions include the extending direction of the thimble pin 120. The locking member 150 is disposed on the guide 130. One end of the locking member 150 passes through the side wall of the calibration through hole 101 for locking or releasing the end calibration piece 140.

[0051] When the above-mentioned tool center point (TCP) calibration tooling 100 for a robot is used for calibrating the tool center point (TCP) of the robot 10, the end calibration piece 140 is installed at the end of the robotic arm 11 of the robot 10. By controlling the movement of the robotic arm 11, the robotic arm 11 drives the end calibration piece 140 to move and extend into the calibration through hole 101, so that the tip of the end calibration piece 140 coincides with the tip of the thimble pin 120. Then, one end of the locking member 150 passes through the side wall of the calibration through hole 101 and abuts against the end calibration piece 140 to lock the end calibration piece 140. Since the calibration through hole 101 is configured to communicate and guide the end calibration piece 140 to reach the tip of the thimble pin 120 in multiple directions, when the end calibration piece 140 extends into the calibration through hole 101 from different directions, the tip of the end calibration piece 140 is in different poses. Furthermore, the actual pose information of the tip of the end calibration piece 140 in different poses is detected, and the transformation matrix from the robot base coordinate system to the TCP coordinate system is calculated and updated according to multiple actual pose information, and thus the calibration of the TCP can be completed.

[0052] When the above-mentioned tool center point (TCP) calibration tooling 100 for a robot is used for calibrating the TCP of the end tool, it only needs to control the robotic arm 11 to drive the end calibration piece 140 to move, and control the end calibration piece 140 to extend into the calibration through hole 101 from multiple directions, so that the tip of the end calibration piece 140 coincides with the tip of the thimble pin 120, without the need to visually observe and judge whether the tip of the end calibration piece 140 coincides with the tip of the thimble pin 120. Therefore, large errors will not be brought due to the low accuracy of human eyes. Moreover, the calibration process is simple and convenient to operate, takes a short time, and improves the calibration efficiency. If it is necessary to calibrate the TCP of all end tools on the production line at the same time, it will not affect the production capacity of the entire production line.

[0053] In one embodiment, a locking hole (not shown) is formed in the side wall of the guide member 130. One end of the locking member 150 is in threaded engagement with the inner wall of the locking hole. Thus, when the locking member 150 is used to lock the end calibration member 140, the locking member 150 is tightened so that one end of the locking member 150 passing through the side wall of the calibration through-hole 101 abuts against the side wall of the end calibration member 140, and the end calibration member 140 is locked by the abutting force. When releasing the end calibration member 140, the locking member 150 is loosened so that one end of the locking member 150 passing through the side wall of the calibration through-hole 101 is disengaged from the end calibration member 140.

[0054] Please refer to Figure 1 and Figure 2 , in one embodiment, the calibration through-hole 101 includes a first calibration through-hole 1011 and a second calibration through-hole 1012. The first calibration through-hole 1011 communicates along a first direction Z to guide the end calibration member 140 to reach the tip of the thimble pin 120. The second calibration through-hole 1012 communicates in a direction inclined to the first direction Z to guide the end calibration member 140, and the first direction Z is the extending direction of the thimble pin 120. In a normal setting, the bottom plate 111 of the support assembly 110 is basically a flat plate, and the thimble pin 120 is basically perpendicular to the bottom plate 111 of the support assembly 110. In addition, when calibrating the robot 10, the bottom plate 111 of the support assembly 110 can be set to be basically parallel to the XY plane in the base coordinate system of the robot 10. At this time, the extending direction of the thimble pin 120 is basically parallel to the Z direction in the base coordinate system of the robot 10.

[0055] Specifically, since the guide member 130 is rotatably connected to the support assembly 110 about the first direction Z, when the guide member 130 rotates relative to the support assembly 110, the position of the second calibration through-hole 1012 that penetrates obliquely to the first direction Z is changed, that is, the through direction of the second calibration through-hole 1012 is changed. Thus, by rotating the guide member 130 relative to the support assembly 110, the through direction of the second calibration through-hole 1012 is adjusted and changed, so as to control the end calibration member 140 to extend into the second calibration through-hole 1012 from different directions, thereby detecting the actual pose information of the tip of the end calibration member 140 in multiple poses. During operation, only the guide member 130 needs to be rotated, which is convenient to operate and can detect the pose information at multiple positions and angles.

[0056] Please refer to Figure 1 and Figure 2, in one embodiment, the tool center point (TCP) calibration tooling 100 for a robot further includes a rotating bearing 160 disposed between the guiding member 130 and the supporting assembly 110. Specifically, in this embodiment, the guiding member 130 passes through the supporting assembly 110, the position of the supporting assembly 110 remains unchanged, and the guiding member 130 rotates relative to the supporting assembly 110. In other embodiments, it may also be that the supporting assembly passes through the guiding member, and the guiding member rotates relative to the supporting assembly, as long as rotation can be achieved. Of course, the rotating bearing may not be provided either.

[0057] In this embodiment, the rotating bearing 160 is an angular contact ball bearing. Of course, other bearings that can achieve the function are also acceptable and are not limited herein.

[0058] Please refer to Figure 2 , in one embodiment, the tool center point (TCP) calibration tooling 100 for a robot further includes a rolling member 190. Along the first direction Z, the rolling member 190 is disposed between the guiding member 130 and the supporting assembly 110.

[0059] Specifically, in order to enable the supporting assembly 110 to stably support the guiding member 130, a flange 131 is provided on the guiding member 130. The flange 131 protrudes perpendicularly from the circumferential surface of the guiding member 130, and the flange 131 is lapped on the supporting assembly 110. By providing a flange that protrudes perpendicularly from the circumferential surface of the guiding member 130, the contact area between the guiding member 130 and the supporting assembly 110 is increased, and the supporting assembly 110 can stably support the guiding member 130. Since the guiding member 130 and the supporting assembly 110 are rotationally connected about the axis of the first direction Z, relative rotation occurs between the flange 131 and the supporting assembly 110. A rolling member 190 is disposed between the guiding member 130 and the supporting assembly 110, that is, a rolling member 190 is disposed between the flange 131 and the supporting assembly 110. In this way, during the rotation of the guiding member 130, the sliding friction between the flange 131 and the supporting assembly 110 is transformed into rolling friction, which not only makes the rotation of the guiding member 130 smoother, but also avoids damage to the flange 131 or the supporting assembly 110 due to sliding friction between the flange 131 and the supporting assembly 110.

[0060] In this embodiment, the rolling member 190 is a plain bearing. Of course, the rolling member 190 can also be other rolling components as long as the function can be achieved.

[0061] Please refer to Figure 1 and Figure 2In one embodiment, the support assembly 110 includes a base plate 111, a plurality of columns 112 and a mounting plate 113. The columns 112 are located between the base plate 111 and the mounting plate 113. The plurality of columns 112 are evenly spaced along the axial direction of the mounting plate 113. The base plate 111 and the mounting plate 113 are respectively connected to both ends of the columns 112, so that the mounting plate 113 is subjected to balanced force, thereby enabling the guide member 130 to be in a stable state during operation.

[0062] Please refer to Figure 2 In one embodiment, the guide member 130 is passed through the mounting plate 113, the rotating bearing 160 is located between the mounting plate 113 and the guide member 130, and the side of the mounting plate 113 close to the rotating bearing 160 has a protrusion 1131 protruding toward the rotating bearing 160, and the outer ring of the rotating bearing 160 is arranged on the protrusion 1131. The tool center point (TCP) calibration fixture 100 for the robot also includes a stopper 170, which is sleeved on the guide member 130, and the inner ring of the rotating bearing 160 is arranged on the stopper 170. The tool center point (TCP) calibration fixture 100 for the robot also includes a bearing end cover 180, which is located between the guide member 130 and the rotating bearing 160 along the axial direction of the guide member 130, and the bearing end cover 180 is fixedly connected to the mounting plate 113. In summary, along the axial direction of the guide member 130, the bearing end cover 180, the protrusion 1131, and the limit member 170 jointly limit the rotating bearing 160 to prevent the rotating bearing 160 from shaking along the axial direction of the guide member 130; along the radial direction of the guide member 130, the side wall of the mounting plate 113 and the outer peripheral surface of the guide member 130 limit the rotating bearing 160 to prevent the rotating bearing 160 from shaking along the radial direction of the guide member 130, that is, the rotating bearing 160 can only rotate but not move, thereby preventing the tip of the end calibration member 140 from being unable to overlap with the tip of the ejector pin 120 due to the shaking of the rotating bearing 160, thereby avoiding the generation of errors as much as possible.

[0063] Please refer to Figure 2 In this embodiment, specifically, the flange 131 overlaps the mounting plate 113, so that the mounting plate 113 can more reliably support the guide member 130. In fact, the bearing end cover 180 is located between the flange 131 and the mounting plate 113, and the bearing end cover 180 is provided with a groove (not shown) extending in the circumferential direction, and the rolling member 190 is arranged in the groove, so that the sliding friction between the flange 131 and the bearing end cover 180 is converted into rolling friction, thereby preventing the flange 131 or the bearing end cover 180 from being damaged by long-term friction.

[0064] Please refer to Figure 1 , Figure 2 as well as Figure 7, when the above-mentioned tool center point (TCP) calibration tooling 100 for the robot is used to calibrate the TCP of the end tool, the end calibration piece 140 is installed at the end of the robotic arm 11 of the robot 10. By controlling the movement of the robotic arm 11, the robotic arm 11 drives the end calibration piece 140 to move and extend into the calibration through-hole 101, so that the tip of the end calibration piece 140 coincides with the tip of the thimble pin 120. Then, one end of the locking piece 150 passes through the side wall of the calibration through-hole 101 and abuts against the end calibration piece 140 to lock the end calibration piece 140. By rotating the guiding piece 130, the through direction of the second calibration through-hole 1012 is changed, so that the end calibration piece 140 extends into the calibration through-hole 101 from different directions, and then the actual pose information of the tip of the end calibration piece 140 in different poses is detected. According to multiple actual pose information, the transformation matrix from the robot base coordinate system to the TCP coordinate system is calculated and updated, and the calibration of the TCP can be completed.

[0065] Please refer to Figure 3 and Figure 4 , in an embodiment, the calibration through-hole 101 includes a first calibration through-hole 1011 and a plurality of third calibration through-holes 1013. The first calibration through-hole 1011 communicates along the first direction Z to guide the end calibration piece 140 to reach the tip of the thimble pin 120. The plurality of third calibration through-holes 1013 are arranged at equal intervals around the first calibration through-hole 1011, and the directions of the plurality of third calibration through-holes 1013 for guiding the end calibration piece 1440 are respectively inclined to the first direction Z, and the first direction Z is the extending direction of the thimble pin 120.

[0066] In this way, the through directions of the first calibration through-hole 1011 and the plurality of third calibration through-holes 1013 are different. The end calibration piece 140 is extended into the calibration through-holes 101 in different directions, so as to detect the actual pose information of the tip of the end calibration piece 140 in different poses. According to multiple actual pose information, the transformation matrix from the robot base coordinate system to the TCP coordinate system is calculated and updated, and the calibration of the TCP can be completed.

[0067] In this embodiment, the number of the third calibration through-holes 1013 is six. The six third calibration through-holes 1013 are arranged at equal intervals around the first calibration through-hole 1011 and penetrate obliquely to the first direction Z. It should be understood that in other embodiments, according to different actual calibration methods used, the number of the third calibration through-holes 1013 required is also different. Setting six third calibration through-holes 1013 in this embodiment can generally meet various different calibration methods, but the scope of the present application is not limited thereto.

[0068] Please refer to Figure 3 and Figure 4, in one embodiment, the support assembly 110 includes a bottom plate 111 and a plurality of columns 112. The columns 112 are located between the bottom plate 111 and the guide member 130. The plurality of columns 112 are evenly spaced along the axial direction of the guide member 130, and the bottom plate 111 and the guide member 130 are respectively connected to both ends of the columns 112, so that the guide member 130 is subjected to balanced and stable forces.

[0069] Please refer to Figure 3 , Figure 4 and Figure 7 , when the above-mentioned tool center point (TCP) calibration tooling 100 for a robot is used to calibrate the TCP of the end tool, the end calibration piece 140 is installed at the end of the robotic arm 11 of the robot 10. By controlling the movement of the robotic arm 11, the robotic arm 11 drives the end calibration piece 140 to move and extend into the calibration through holes 101 that penetrate in different directions, and the tip of the end calibration piece 140 coincides with the tip of the thimble pin 120, so as to realize that the end calibration piece 140 extends into the calibration through holes 101 from different directions, thereby detecting the actual pose information of the tip of the end calibration piece 140 in different poses. According to a plurality of actual pose information, the transformation matrix from the robot base coordinate system to the TCP coordinate system is calculated and updated, and the calibration of the TCP can be completed.

[0070] Please refer to Figure 5 and Figure 6 , in one embodiment, the number of the calibration through holes 101 is one. One end of the guide member 130 close to the thimble pin 120 is connected to the support assembly 110 by a spherical hinge, so that one end of the guide member 130 close to the thimble pin 120 can rotate relative to the support assembly 110, so that the guide member 130 is in different poses, that is, the calibration through holes 101 are in different poses, which is convenient for the end calibration piece 140 to extend into the calibration through holes 101 in different poses for calibration.

[0071] Please refer to Figure 5 and Figure 6 , in one embodiment, the tool center point (TCP) calibration tooling 100 for a robot further includes a spherical bearing 161. One end of the guide member 130 close to the thimble pin 120 is connected to the support assembly 110 by a spherical bearing 161 to form a ball joint with limited rotation.

[0072] Specifically, the spherical bearing 161 is disposed on the support assembly 110. One end of the guide member 130 close to the thimble pin 120 is connected to the spherical bearing 161. Thus, one end of the guide member 130 close to the thimble pin 120 and the spherical bearing 161 form a ball joint connection with limited displacement, thereby changing the pose of the guide member 130, and further changing the pose of the calibration through hole 101. The ball joint connection with limited displacement means that the rotation angle of the ball joint connection is limited. That is, when one end of the guide member 130 close to the thimble pin 120 rotates relative to the spherical bearing to the limit, the direction in which the calibration through hole 101 communicates with the guiding end calibration member 140 is inclined to the first direction Z, and the included angle between the calibration through hole 101 and the first direction Z is fixed at this time. For example, the included angle between the calibration through hole 101 and the first direction Z is 30°, 45°, 60°, etc. During use, an angle that meets the use requirements can be set. When operating, the staff only needs to rotate the guide member 130 to the limit position for the calibration of the TCP, which is convenient to operate.

[0073] In other embodiments, it may not be the spherical bearing 161, and any component that can achieve a ball joint connection is acceptable.

[0074] Please refer to Figure 3 and Figure 4 , in one embodiment, the support assembly 110 includes a bottom plate 111, a plurality of columns 112, and a support plate 114. The columns 112 are located between the bottom plate 111 and the support plate 114. The plurality of columns 112 are evenly spaced along the circumferential direction of the support plate 114, and the bottom plate 111 and the support plate 114 are respectively connected to both ends of the columns 112. Thus, the bottom plate 111 supports the columns 112 and indirectly supports the support plate 114. The spherical bearing 161 is disposed on the support plate 114.

[0075] Please refer to Figure 5 , Figure 6 and Figure 7 , when the above-mentioned tool center point (TCP) calibration tool 100 for a robot is used to calibrate the TCP of the end tool, the end calibration member 140 is installed at the end of the robotic arm 11 of the robot 10. By controlling the movement of the robotic arm 11, the robotic arm 11 drives the end calibration member 140 to move into the calibration through hole 101, so that the tip of the end calibration member 140 coincides with the tip of the thimble pin 120. Then, one end of the locking member 150 passes through the side wall of the calibration through hole 101 and abuts against the end calibration member 140 to lock the end calibration member 140. By rotating one end of the guide member 130 close to the thimble pin 120, the through direction of the calibration through hole 101 is changed, so that the end calibration member 140 extends into the calibration through hole 101 from different directions, thereby detecting the actual pose information of the tip of the end calibration member 140 in different poses. According to multiple actual pose information, the transformation matrix from the robot base coordinate system to the TCP coordinate system is calculated and updated, and the calibration of the TCP can be completed.

[0076] Please refer to Figure 2 and Figure 6 In one embodiment, the calibration through hole 101 includes a first hole (not shown) and a second hole (not shown) that are in communication with each other. The inner diameter of the first hole is larger than that of the second hole, and a first step surface 102 is formed at the connection of the hole wall of the first hole and the hole wall of the second hole. The end calibration member 140 includes a first section 141 and a second section 142 that are connected to each other. The outer diameter of the first section 141 is larger than that of the second section 142, and a second step surface 103 is formed at the connection of the first section 141 and the second section 142. When the end calibration member 140 is inserted into the calibration through hole 101 and the first step surface 102 fits with the second step surface 103, the tip of the end calibration member 140 coincides with the tip of the thimble pin 120, so that it is not necessary to visually observe and judge whether the tip of the end calibration member 140 coincides with the tip of the thimble pin 120, and the operation is convenient and the error is small.

[0077] Please refer to Figure 2 and Figure 6 In one embodiment, a receiving cavity 104 communicating with the calibration through hole 101 is provided at one end of the guiding member 130 along the first direction Z, and the tip of the thimble pin 120 is located in the receiving cavity 104, so that the structure of the tool center point (TCP) calibration tooling 100 for the robot along the first direction Z is compact and space is saved.

[0078] Please refer to Figure 2 、 Figure 4 and Figure 6 In one embodiment, corresponding locking members 150 are respectively provided at each calibration through hole 101 on the guiding member 130. Thus, when a plurality of robotic arms 11 respectively drive the end calibration members 140 to extend into different calibration through holes 101 for calibration, the plurality of end calibration members 140 can be locked simultaneously.

[0079] Please refer to Figure 1 and Figure 5 In one embodiment, each calibration through hole 101 corresponds to two locking members 150. Thus, the two locking members 150 jointly lock the end calibration member 140, so that the position of the end calibration member 140 is accurate during the calibration process and errors are avoided.

[0080] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0081] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A tool center point (TCP) calibration tooling for a robot, characterized in that The tool center point (TCP) calibration tooling for a robot includes: A support assembly; A thimble pin, one end of which is connected to the support assembly and the other end has a tip; A guide member, the guide member is arranged on the support assembly, the guide member is provided with a calibration through hole, one end of the calibration through hole is used to receive a terminal calibration member installed at the end of the robot, and the other end communicates with the tip of the thimble pin; wherein, the calibration through hole is configured to communicate and guide the terminal calibration member to reach the tip of the thimble pin in multiple directions, and the multiple directions include the extending direction of the thimble pin; and A locking member, the locking member is arranged on the guide member, and one end of the locking member passes through the side wall of the calibration through hole to lock or release the terminal calibration member.

2. The TCP calibration tooling for a robot according to claim 1, wherein The calibration through hole includes a first calibration through hole and a second calibration through hole, the first calibration through hole communicates and guides the terminal calibration member to reach the tip of the thimble pin along a first direction; the direction of the second calibration through hole for communicating and guiding the terminal calibration member is inclined to the first direction, and the first direction is the extending direction of the thimble pin; The guide member is rotationally connected to the support assembly around the axis in the first direction.

3. The tool center point (TCP) calibration tooling for a robot according to claim 2, characterized in that, The tool center point (TCP) calibration tooling for a robot further includes a rotating bearing arranged between the guide member and the support assembly.

4. The tool center point (TCP) calibration tooling for a robot according to claim 2, wherein The tool center point (TCP) calibration tooling for a robot further includes rolling elements, and along the first direction, the rolling elements are arranged between the guide member and the support assembly.

5. The TCP calibration tooling for a robot according to claim 1, wherein, The calibration through hole includes a first calibration through hole and a plurality of third calibration through holes, the first calibration through hole communicates and guides the terminal calibration member to reach the tip of the thimble pin along a first direction; the plurality of third calibration through holes are evenly spaced around the first calibration through hole, and the directions of the plurality of third calibration through holes for communicating and guiding the terminal calibration member are respectively inclined to the first direction, and the first direction is the extending direction of the thimble pin.

6. The TCP (Tool Center Point) calibration tooling for a robot according to claim 1, characterized in that, The number of the calibration through holes is one, and one end of the guide member close to the thimble pin is ball-joint connected to the support assembly.

7. The tool center point (TCP) calibration tooling for a robot according to claim 6, characterized in that, The tool center point (TCP) calibration tooling for a robot further includes a spherical bearing, and one end of the guide member close to the thimble pin is ball-joint connected to the support assembly through the spherical bearing to form a limited-position ball joint.

8. The tool center point (TCP) calibration tooling for a robot according to any one of claims 1 to 7, wherein The calibration through hole includes a first hole and a second hole that are communicated, the inner diameter of the first hole is larger than the inner diameter of the second hole, and a first step surface is formed at the connection of the hole wall of the first hole and the hole wall of the second hole; The terminal calibration member includes a first section and a second section that are connected, the outer diameter of the first section is larger than the outer diameter of the second section, and a second step surface is formed at the connection of the first section and the second section; When the terminal calibration member is inserted into the calibration through hole and the first step surface fits with the second step surface, the tip of the terminal calibration member coincides with the tip of the thimble pin.

9. The TCP calibration tooling for a robot according to any one of claims 1 to 7, characterized in that One end of the guide member along the extending direction of the ejector pin is provided with a receiving cavity communicating with the calibration through hole, and the tip of the ejector pin is located in the receiving cavity.

10. The tool center point (TCP) calibration tooling for a robot according to any one of claims 1 to 7, characterized in that A corresponding locking member is respectively arranged at each calibration through hole on the guide member.

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