Calibration device of robot tool hand

Abstract

The invention provides a calibration device of a robot tool hand, comprising: a first calibration module having a first calibration tip made of a conductive material; the first calibration module has a first calibration mounting position for grounding the first calibration tip; the second calibration module is provided with a second calibration mounting position mounted on the robot tool hand; the second calibration module comprises a mounting part, a main body part and a light emitting detection module, the mounting part is made of an insulating material, the mounting part is used for being in contact with a tail end connecting part of the robot, the main body part is connected with the mounting part, and the main body part is provided with a second calibration tip; the light-emitting detection module comprises a power supply and a light-emitting part, a first connecting part of the light-emitting part is connected with the power supply, and a second connecting part of the light-emitting part is connected with the main body part; when the first calibration tip is in contact with the second calibration tip, the light-emitting part emits light. Through the technical scheme provided by the invention, the technical problem that the verification of a tool hand in the prior art is not accurate enough can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of calibration devices for robot tool hands, and in particular to a calibration device for robot tool hands. Background Art

[0002] At present, with the rapid development of industrial automation in the manufacturing industry, the volume of industrial robots is getting larger and larger, especially in harsh working environments such as bridge steel structure welding, ship keel welding, automobile sheet metal cutting, and new energy casting polishing. The proportion of robots used is increasing. In particular, the application of industrial robots in the above fields requires the installation of specific pointed or quasi-pointed tooling objects at the end of the robot, such as welding guns, laser heads, grinding heads, etc. In order to ensure the working accuracy of the robot and the convenience of point teaching operation, it is usually necessary to configure a tool hand for the robot when applying the project.

[0003] However, in the prior art, manual calibration is generally performed by workers directly observing and confirming the contact between the tips. This calibration method often results in inaccurate calibration and a slow calibration speed. Summary of the invention

[0004] The main purpose of the present invention is to provide a calibration device for a robot tool hand to solve the technical problem of inaccurate calibration of the tool hand in the prior art.

[0005] In order to achieve the above object, the present invention provides a calibration device for a robot tool hand, comprising:

[0006] a first calibration module, the first calibration module having a first calibration tip, the first calibration tip being made of a conductive material; the first calibration module having a first calibration mounting position for grounding the first calibration tip;

[0007] a second calibration module having a second calibration mounting location mounted on a terminal connection of the robot;

[0008] Among them, the second calibration module includes a mounting part, a main body and a light detection module, the mounting part is made of insulating material, the mounting part is used to contact the end connection part of the robot, the main body is connected to the mounting part, the main body is made of conductive material, and the main body has a second calibration tip; the light detection module includes a power supply and a light-emitting component, the first connection part of the light-emitting component is connected to the power supply, and the second connection part of the light-emitting component is connected to the main body; when the first calibration tip is in contact with the second calibration tip, the light-emitting component emits light.

[0009] Further, the light emitting detection module is mounted on the main body; and / or,

[0010] The first calibration module includes a main body and a plug-in part. The main body is provided with a mounting through hole that passes through both ends of the main body. At least a portion of the plug-in part is installed in the mounting through hole. One end of the plug-in part extends out of the mounting through hole to form the first calibration tip. The plug-in part is made of conductive material.

[0011] Furthermore, a positioning groove is provided on the main body; and the second calibration module further includes:

[0012] A mounting seat, the mounting seat is adapted to the shape of the positioning groove, the mounting seat is used to be installed in the positioning groove, the mounting seat is made of insulating material, the mounting seat is provided with a mounting groove and a mounting hole connected to the mounting groove, the power supply is installed in the mounting groove, and the light-emitting part of the light-emitting member is extended out of the mounting hole;

[0013] The main body is also provided with a light guiding channel, the inlet end of the light guiding channel is connected with the positioning groove, and the outlet end of the light guiding channel is located on the outer wall of the main body, so as to guide the light emitted by the light emitting component out through the light guiding channel.

[0014] Further, the second connecting portion of the light emitting member is extended out of the mounting hole and contacts with the groove wall of the positioning groove; and / or,

[0015] The mounting seat is detachably arranged on the main body; and / or,

[0016] The inlet end of the light-guiding channel is arranged opposite to the light-emitting portion of the light-emitting element; and / or,

[0017] The light guide channel has a plurality of outlet ends, and the plurality of outlet ends of the light guide channel are arranged at intervals along the periphery of the light emitting component.

[0018] Furthermore, the positioning groove includes a main groove body and a guide groove which are interconnected, and the guide groove is located at the bottom of the main groove body; at least part of the mounting seat is installed in the main groove body, the light-emitting part of the light-emitting component is adapted to the shape of the guide groove, and the light-emitting part of the light-emitting component is installed in the guide groove.

[0019] Furthermore, the mounting seat comprises:

[0020] A main seat body, which is adapted to the shape of the main slot body and forms at least a part of the mounting seat;

[0021] The raised portion is connected to the main seat body, the raised portion is protruding from the bottom of the main seat body, the shape of the raised portion is adapted to the shape of the opening of the guide groove, and the raised portion is used to block the opening of the guide groove.

[0022] Furthermore, the light guiding channel comprises:

[0023] A main light-guiding channel, the main light-guiding channel extending along the axial direction of the main body, one end of the main light-guiding channel forming an inlet end of the light-guiding channel;

[0024] A plurality of light-guiding branch channels are connected to the light-guiding main channel, the plurality of light-guiding branch channels are arranged circumferentially around the light-guiding main channel, and one end of each of the light-guiding branch channels away from the light-guiding main channel forms an exit end of the light-guiding channel.

[0025] Further, the light guiding branch channel extends along the radial direction of the main body; and / or,

[0026] The second calibration module further includes a plurality of light-transmitting members, which are arranged in one-to-one correspondence with the plurality of outlet ends, and each of the light-transmitting members is arranged at a corresponding outlet end and is adapted to the shape of the corresponding outlet end.

[0027] Further, the luminescence detection module further comprises a control element, the power source is connected to the control element, the control element is connected to the first connection portion of the luminescent element, and the control element is used to control the power supply of the power source; and / or,

[0028] The light emitting element is a light emitting diode.

[0029] Furthermore, the calibration device of the robot tool hand also includes:

[0030] a first connection base connected to the first calibration module, wherein at least a portion of the first connection base is made of a magnetic material; and / or,

[0031] A second connection base is arranged on a side of the mounting portion away from the main body portion, and at least a part of the second connection base is made of a magnetic material; and / or,

[0032] A protective cover, wherein the protective cover has a first cover section and a second cover section, the first cover section is adapted to at least a portion of the first calibration module, the second cover section is adapted to at least a portion of the second calibration module, the first calibration module has a first protective position, and the second calibration module has a second protective position; when the first calibration module is in the first protective position, the first cover section is covered on a portion of the first calibration module, and another portion of the first calibration module abuts against an end portion of the first cover section; when the second calibration module is in the second protective position, the second cover section is covered on a portion of the second calibration module, and another portion of the second calibration module abuts against an end portion of the second cover section.

[0033] By applying the technical solution of the present invention, when the first calibration tip contacts the second calibration tip, the light-emitting part emits light, and it is only necessary to determine whether the light-emitting part emits light to accurately determine whether the calibration is completed. Compared with the staff directly observing with their eyes, the calibration accuracy in the present application is higher, and the structure is simple, easy to install and operate, and the calibration speed is also accelerated, and the calibration efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0035] Figure 1 shows an exploded view of a second calibration module provided according to an embodiment of the present invention;

[0036] Figure 2 shows a front view of a second calibration module provided according to an embodiment of the present invention;

[0037] Figure 3 Shows Figure 2 CC section view in the figure;

[0038] Figure 4 It shows a schematic structural diagram of a first calibration module and a second calibration module provided according to an embodiment of the present invention;

[0039] Figure 5 A partial exploded view of a first calibration module and a second calibration module provided according to an embodiment of the present invention is shown;

[0040] Figure 6 An exploded view of a mounting base and a light emitting detection module provided according to an embodiment of the present invention is shown;

[0041] Figure 7 A schematic diagram showing a structure in which a first calibration module and a second calibration module provided in an embodiment of the present invention are installed on a protective cover;

[0042] Figure 8 A schematic structural diagram of a first calibration module provided according to an embodiment of the present invention is shown;

[0043] Fig. 9 Shows Figure 8 AA section view in.

[0044] The above drawings include the following reference numerals:

[0045] 10. A first calibration module;

[0046] 11. a first calibration tip;

[0047] 12. main body; 121. mounting through hole; 122. conical connecting section; 123. cylindrical connecting section;

[0048] 13. Plug-in part;

[0049] 20. A second calibration module; 21. A second calibration tip;

[0050] 22. Installation department;

[0051] 23. Main body;

[0052] 231, positioning groove; 2311, main groove body; 2312, guide groove;

[0053] 232, light guide channel; 2321, inlet end; 2322, outlet end; 2323, main light guide channel; 2324, branch light guide channel;

[0054] 24. Luminescence detection module; 241. Power supply; 242. Luminescence element;

[0055] 25, mounting seat; 251, mounting groove; 252, mounting hole; 253, main seat body; 254, raised portion;

[0056] 26. Light-transmitting parts;

[0057] 31. First connecting seat;

[0058] 32. Second connecting seat;

[0059] 40. Protective cover; 41. First set of sections; 42. Second set of sections. DETAILED DESCRIPTION

[0060] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0061] like Figures 1 to 9As shown, the present invention provides a calibration device for a robot tool hand, the calibration device for the robot tool hand comprises: a first calibration module 10 and a second calibration module 20, the first calibration module 10 has a first calibration tip 11, the first calibration tip 11 is made of a conductive material; the first calibration module 10 has a first calibration installation position for grounding the first calibration tip 11; the second calibration module 20 has a second calibration installation position installed on the end connection part of the robot. The second calibration module 20 comprises a mounting portion 22, a main body 23 and a light detection module 24, the mounting portion 22 is made of an insulating material, the mounting portion 22 is used to contact the end connection part of the robot, the main body 23 is connected to the mounting portion 22, the main body 23 is made of a conductive material, and the main body 23 has a second calibration tip 21; the light detection module 24 comprises a power supply 241 and a light emitting member 242, the first connection portion of the light emitting member 242 is connected to the power supply 241, and the second connection portion of the light emitting member 242 is connected to the main body 23; when the first calibration tip 11 contacts the second calibration tip 21, the light emitting member 242 emits light.

[0062] By using the calibration device for the robot tool hand provided in this embodiment, when the first calibration tip 11 contacts the second calibration tip 21, the light emitting member 242 emits light. It is only necessary to determine whether the light emitting member 242 emits light to accurately determine whether the calibration is completed. Compared with the staff directly observing with their eyes, the calibration accuracy in this application is higher, and the structure is simple, easy to install and operate, which also speeds up the calibration speed and improves the calibration efficiency. In addition, the use of the above calibration device also improves the convenience of calibration.

[0063] Specifically, the terminal connection part of the robot may be a terminal flange or a tool hand mounted on the terminal flange.

[0064] In this embodiment, the light emitting detection module 24 is installed on the main body 23. In this way, the compactness of the structure is improved, the integrity of the structure is ensured, and the installation is convenient, and there is no need to fix and limit the position of the light emitting detection module 24 separately.

[0065] Specifically, the first calibration module 10 includes a main body 12 and a plug-in part 13. The main body 12 is provided with a mounting through hole 121 that passes through both ends of the main body 12. At least part of the plug-in part 13 is installed in the mounting through hole 121. One end of the plug-in part 13 extends out of the mounting through hole 121 to form a first calibration tip 11. The plug-in part 13 is made of a conductive material. With such a structural setting, it is convenient to accurately make the light-emitting member 242 emit light only when the first calibration tip 11 is in contact with the second calibration tip 21, thereby improving the accuracy of detection and judgment.

[0066] Specifically, the main body 12 is made of insulating material, so that even if the first calibration tip 11 contacts the main body 12, the light emitting member 242 will not emit light, thereby improving the accuracy of calibration judgment.

[0067] Specifically, the first calibration tip 11 is smaller than the main body 12, so that the tip-to-tip contact between the first calibration tip 11 and the second calibration tip 21 can effectively ensure electrical conduction so that the light-emitting element 242 emits light, thereby effectively ensuring the accuracy of the calibration judgment.

[0068] Preferably, the first calibration tip 11 is a conical structure, the maximum cross section of the first calibration tip 11 corresponds to a diameter d, the end of the body 12 close to the first calibration tip 11 has a conical connecting section 122, the body 12 also includes a columnar connecting section 123, and the columnar connecting section 123 is located on the side of the conical connecting section 122 away from the first calibration tip 11. The diameter corresponding to the maximum cross section of the conical connecting section is D, the cone vertex angle corresponding to the conical connecting section is greater than or equal to the cone vertex angle corresponding to the first calibration tip 11, the axial length of the first calibration tip 11 is l, and the axial length of the conical connecting section is L. Among them, 0.01≤d / D≤0.1, 0.01≤l / L≤0.1, so as to ensure that the extended size of the first calibration tip 11 is small, so as to facilitate the effective guarantee of the tip-to-tip contact between the first calibration tip 11 and the second calibration tip 21 as much as possible, so as to facilitate the effective guarantee of the accuracy of the calibration judgment.

[0069] Preferably, 0.5mm≤d≤5mm, 0.5mm≤l≤5mm.

[0070] Specifically, the body portion 12 in this embodiment is made of insulating material to prevent the second calibration tip 21 from being conductive when in contact with the body portion 12 and causing the light emitting member 242 to emit light.

[0071] Specifically, “the first calibration module 10 has a first calibration installation position for grounding the first calibration tip 11” can be understood as the first calibration tip 11 is used for grounding connection through the end of the plug-in portion 13 away from the first calibration tip 11 to facilitate grounding contact.

[0072] Specifically, a positioning groove 231 is provided on the main body 23; the second calibration module 20 also includes a mounting seat 25, the mounting seat 25 is adapted to the shape of the positioning groove 231, the mounting seat 25 is used to be installed in the positioning groove 231, the mounting seat 25 is made of insulating material, the mounting seat 25 is provided with a mounting groove 251 and a mounting hole 252 connected with the mounting groove 251, the power supply 241 is installed in the mounting groove 251, and the light-emitting part of the light-emitting component 242 is extended out of the mounting hole 252. Among them, a light-guiding channel 232 is also provided on the main body 23, the inlet end 2321 of the light-guiding channel 232 is connected with the positioning groove 231, and the outlet end 2322 of the light-guiding channel 232 is located on the outer wall of the main body 23, so as to guide the light emitted by the light-emitting component 242 out through the light-guiding channel 232. Such a structural setting can effectively ensure the compactness of the structural layout of the luminescence detection module 24, optimize the structural layout, integrate and modularize the overall components, and facilitate modular installation during operation as well as disassembly and assembly when maintenance is required.

[0073] In addition, the mounting seat 25 is made of insulating material, which avoids the situation where the mounting seat 25 is grounded through the robot tool hand when in contact with the robot tool hand, thereby avoiding the situation where detection errors occur.

[0074] Specifically, the second connection portion of the light emitting member 242 extends out of the mounting hole 252 and contacts the groove wall of the positioning groove 231 so as to contact the conductive main body 23 to ensure the accuracy of calibration.

[0075] Specifically, the mounting seat 25 is detachably disposed on the main body 23 to facilitate repair and maintenance.

[0076] Specifically, the inlet end 2321 of the light guiding channel 232 is arranged opposite to the light emitting portion of the light emitting member 242 to facilitate better light guiding.

[0077] Specifically, there are multiple outlet ends 2322 of the light guide channel 232, and the outlet ends 2322 of the multiple light guide channels 232 are arranged at intervals along the periphery of the light emitting member 242. In this way, the staff can observe at different viewing angles, which improves the convenience of operation and facilitates accurate judgment of whether the calibration is completed.

[0078] In this embodiment, the positioning groove 231 includes a main groove body 2311 and a guide groove 2312 which are interconnected, and the guide groove 2312 is located at the bottom of the main groove body 2311; at least part of the mounting seat 25 is mounted in the main groove body 2311, and the light-emitting portion of the light-emitting member 242 is matched with the shape of the guide groove 2312, and the light-emitting portion of the light-emitting member 242 is mounted in the guide groove 2312. In this way, the installation of the light-emitting portion of the light-emitting member 242 can be optimized, the compactness of the installation is improved, and the light-emitting portion is also conveniently protected.

[0079] Specifically, the mounting seat 25 includes a main seat body 253 and a protrusion 254. The main seat body 253 is adapted to the shape of the main slot body 2311 and forms at least part of the mounting seat 25. The protrusion 254 is connected to the main seat body 253, and the protrusion 254 is arranged to protrude from the bottom of the main seat body 253. The shape of the protrusion 254 is adapted to the shape of the opening of the guide slot 2312, and the protrusion 254 is used to block the opening of the guide slot 2312. With such a structural arrangement, it is convenient to protect the light-emitting part in the guide slot 2312 through the protrusion 254 to prevent foreign matter from entering the guide slot 2312.

[0080] In this embodiment, the light guide channel 232 includes a main light guide channel 2323 and a plurality of branch light guide channels 2324. The main light guide channel 2323 extends along the axial direction of the main body 23, and one end of the main light guide channel 2323 forms an inlet end 2321 of the light guide channel 232. The plurality of branch light guide channels 2324 are all connected to the main light guide channel 2323, and the plurality of branch light guide channels 2324 are arranged circumferentially around the main light guide channel 2323, and one end of each branch light guide channel 2324 away from the main light guide channel 2323 forms an outlet end 2322 of the light guide channel 232. In this way, it is convenient to emit light in multiple directions, so that it is convenient for the staff to observe whether the calibration is completed.

[0081] Specifically, the light-guiding branch channel 2324 extends radially along the main body 23 so as to optimize the direction of the light-guiding branch channel 2324 and better facilitate staff to observe from different perspectives.

[0082] In this embodiment, the second calibration module 20 further includes a plurality of light-transmitting members 26, which are arranged one by one corresponding to the plurality of outlet ends 2322, and each light-transmitting member 26 is arranged at a corresponding outlet end 2322 and matches the shape of the corresponding outlet end 2322. In this way, each outlet end 2322 can be blocked by the light-transmitting member 26, and an effective light-transmitting operation can be performed, so as to ensure that the calibration result can be transmitted in time. Specifically, the light-transmitting member 26 is made of a light-transmitting material.

[0083] Specifically, the light emitting detection module 24 further includes a control member, the power supply 241 is connected to the control member, the control member is connected to the first connection portion of the light emitting member 242, and the control member is used to control the power supply 241 of the power supply 241. Specifically, the control member is used to control the voltage of the power supply 241 of the power supply 241, so as to better adapt the voltage of the power supply 241 to the voltage of the light emitting member 242.

[0084] Specifically, the light emitting element 242 is a light emitting diode.

[0085] Specifically, the power supply 241 can be a battery, the battery type is a CR2032 button battery, and the power supply 241 control board is a boost and current stabilization device, which can boost the 3V voltage of the button battery CR2032 to 5V, and control the current at 0.01mA. The light-emitting diode only needs to be able to light up at 5V and 0.01mA.

[0086] Specifically, the calibration device of the robot tool hand also includes a first connection seat 31, which is connected to the first calibration module 10 and is made of a magnetic material. In this way, the magnetic adsorption of the first connection seat 31 can facilitate the installation of the first calibration module 10.

[0087] Specifically, the calibration device of the robot tool hand also includes a second connection seat 32, which is arranged on a side of the mounting portion 22 away from the main body 23, and is made of a magnetic material. In this way, the magnetic adsorption of the second connection seat 32 can facilitate the installation of the second calibration module 20.

[0088] Specifically, the calibration device of the robot tool hand also includes a protective cover 40, which has a first set section 41 and a second set section 42. The first set section 41 is adapted to at least part of the first calibration module 10, and the second set section 42 is adapted to at least part of the second calibration module 20. The first calibration module 10 has a first protection position, and the second calibration module 20 has a second protection position; when the first calibration module 10 is in the first protection position, the first set section 41 is set on a part of the first calibration module 10, and the other part of the first calibration module 10 abuts against the end of the first set section 41; when the second calibration module 20 is in the second protection position, the second set section 42 is set on a part of the second calibration module 20, and the other part of the second calibration module 20 abuts against the end of the second set section 42. With such a structural setting, it is convenient to carry out daily protection of the first calibration module 10 and the second calibration module 20 when no calibration is performed. In addition, the above structure also facilitates the connection of the first calibration module 10 and the second calibration module 20 with the protective cover 40.

[0089] Specifically, at least part of the first connection base 31 and at least part of the second connection base 32 may be a magnetic base, which is magnetized / demagnetized by turning the switch. When the switch is turned, the magnetic path is changed by the change of the physical structure, so that the bottom of the magnetic base produces a magnetic attraction or non-magnetic attraction effect. When used on a non-magnetic material surface, the first connection base 31 can be separated from the first calibration module 10, and the stud on the first calibration module 10 can be directly fastened to the threaded hole on the other surface.

[0090] Specifically, the connection between the first connection seat 31 and the first calibration module 10 in this embodiment does not affect the grounding contact of the plug-in portion 13. Specifically, part of the first connection seat 31 can be made of conductive material, so that the plug-in portion 13 is grounded through part of the first connection seat 31; or, the first connection seat 31 is made of non-conductive material, and a avoidance hole is provided on the first connection seat 31 to avoid the end of the plug-in portion 13 away from the first calibration tip 11, and a conductive connector for grounding connection is provided at the avoidance hole, one end of the conductive connector is connected to the avoidance plug-in portion 13, and the other end of the conductive connector is used for grounding connection, thereby effectively realizing the grounding setting of the avoidance plug-in portion 13. Specifically, the conductive connector is made of conductive material, and can be a structure that can achieve conductive connection, such as a conductive wire or a conductive column.

[0091] Specifically, the plug-in portion 13 is a pure aluminum workpiece, and the main body 23 of the second calibration module 20 is the shell of the aluminum workpiece. The design of the pointed cone shape is because the tool hand of the industrial robot must be pointed to the pointed cone to ensure the accuracy of the tool hand during the teaching configuration. The first calibration module 10 needs to be reliably grounded. When the first calibration module 10 and the second calibration module 20 are in contact, the light-emitting diode is short-circuited to the ground to form a current loop, thereby lighting the light-emitting diode.

[0092] The second calibration module 20 includes a photoelectric signal compartment (i.e., a mounting seat 25), in which a photoelectric signal control module (i.e., a luminous detection module 24) is installed. The photoelectric signal control module can generate a light signal and transmit the light signal through a photoelectric signal transmission link to achieve visualization of status information.

[0093] The reliable light emission of the optical signal is controlled by the photoelectric signal control module, which is a boost and current stabilization module that can keep the brightness of the light emitting diode consistent.

[0094] Specifically, the calibration device for the robot tool hand in the present application is used when an industrial robot needs to be equipped with a tool hand. The first calibration module 10 is installed on a magnetic mounting base (i.e., a first connecting base 31), and the magnetic mounting base is fixed to any position of the industrial robot's workspace and the position is reliably grounded. The second calibration module 20 is combined with an adapter flange (i.e., an installation portion 22) and a magnetic mounting flange (i.e., a second connecting base 32), and then installed at the end position of the industrial robot. It should be noted that the adapter flange needs to be made of insulating materials with certain mechanical performance requirements. The photoelectric signal control module includes a battery, a micro power supply 241 control board (corresponding to a control component), and a light-emitting diode. The positive electrode of the battery is connected to the positive electrode of the light-emitting diode through the micro power supply 241 control board, and the negative electrode of the light-emitting diode is connected to the second calibration module 20. During the calibration of the tool hand of the industrial robot, once the second calibration module 20 contacts the tip of the first calibration module 10, the negative electrode of the light-emitting diode is connected to the ground, so that the battery produces a "leakage" phenomenon to form a micro-voltage circuit to drive the light-emitting diode to emit light, and transmit the optical signal through the photoelectric signal transmission link, so that the staff can know the accuracy of the operation at a glance.

[0095] Specifically, according to the site conditions, the first calibration module 10 can be directly fixed to any position in the working space of the industrial robot through its own threaded column and the position can be reliably grounded. The second calibration module 20 is combined with the adapter flange and then fixed to the end position of the industrial robot through its own threaded column for use. That is, the first calibration module 10 and the second calibration module 20 can be fixed by a magnetic device or by their own threaded column, which is flexible in application and convenient and fast.

[0096] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: diversified structural design, different components can be matched according to different needs; the magnetic module (corresponding to the first connecting seat 31 and the second connecting seat 32) installation design is adopted to make the installation of the device simple and efficient; the introduction of the photoelectric signal display module (that is, the luminous detection module 24) can easily realize the visualization of the calibration process and reduce the fatigue of the naked eye caused by long-term work; the lightweight structural design makes the device easy to carry, safe and reliable.

[0097] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0098] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0099] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0100] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0101] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A calibration device for a robot tool hand, characterized in that: include: A first calibration module (10), the first calibration module (10) having a first calibration tip (11), the first calibration tip (11) being made of a conductive material; the first calibration module (10) having a first calibration installation position for grounding the first calibration tip (11); A second calibration module (20), the second calibration module (20) having a second calibration installation position installed on the end connection part of the robot; The second calibration module (20) comprises a mounting portion (22), a main body (23) and a light detection module (24); the mounting portion (22) is made of insulating material, the mounting portion (22) is used to contact the end connection portion of the robot, the main body (23) is connected to the mounting portion (22), the main body (23) is made of conductive material, and the main body (23) has a second calibration tip (21); the light detection module (24) comprises a power supply (241) and a light emitting element (242); the first connection portion of the light emitting element (242) is connected to the power supply (241), and the second connection portion of the light emitting element (242) is connected to the main body (23); when the first calibration tip (11) contacts the second calibration tip (21), the light emitting element (242) emits light.

2. The calibration device for a robot tool hand according to claim 1, characterized in that: The luminescence detection module (24) is mounted on the main body (23); and / or, The first calibration module (10) comprises a main body (12) and a plug-in part (13); the main body (12) is provided with a mounting through hole (121) passing through both ends of the main body (12); at least a portion of the plug-in part (13) is mounted in the mounting through hole (121); one end of the plug-in part (13) protrudes from the mounting through hole (121) to form the first calibration tip (11); and the plug-in part (13) is made of a conductive material.

3. The calibration device for a robot tool hand according to claim 1, characterized in that: The main body (23) is provided with a positioning groove (231); the second calibration module (20) further comprises: A mounting seat (25), the mounting seat (25) being adapted to the shape of the positioning groove (231), the mounting seat (25) being used to be mounted in the positioning groove (231), the mounting seat (25) being made of insulating material, the mounting seat (25) being provided with a mounting groove (251) and a mounting hole (252) communicating with the mounting groove (251), the power source (241) being mounted in the mounting groove (251), and the light-emitting portion of the light-emitting element (242) being arranged to extend out of the mounting hole (252); The main body (23) is further provided with a light guiding channel (232), an inlet end (2321) of the light guiding channel (232) is connected to the positioning groove (231), and an outlet end (2322) of the light guiding channel (232) is located on the outer wall of the main body (23) so as to guide the light emitted by the light-emitting component (242) out through the light guiding channel (232).

4. The calibration device for a robot tool hand according to claim 3, characterized in that: The second connection portion of the light-emitting member (242) is arranged to extend outside the mounting hole (252) and to contact the groove wall of the positioning groove (231); and / or, The mounting seat (25) is detachably arranged on the main body (23); and / or, The inlet end (2321) of the light-guiding channel (232) is arranged opposite to the light-emitting portion of the light-emitting element (242); and / or, There are multiple outlet ends (2322) of the light-guiding channel (232), and the multiple outlet ends (2322) of the light-guiding channel (232) are arranged at intervals along the periphery of the light-emitting component (242).

5. The calibration device for a robot tool hand according to claim 3, characterized in that: The positioning groove (231) comprises a main groove body (2311) and a guide groove (2312) which are interconnected, and the guide groove (2312) is located at the bottom of the main groove body (2311); at least a portion of the mounting seat (25) is mounted in the main groove body (2311), the light-emitting portion of the light-emitting component (242) is adapted to the shape of the guide groove (2312), and the light-emitting portion of the light-emitting component (242) is mounted in the guide groove (2312).

6. The calibration device for a robot tool hand according to claim 5, characterized in that: The mounting seat (25) comprises: A main seat body (253), the main seat body (253) is adapted to the shape of the main slot body (2311) and forms at least a part of the mounting seat (25); The protrusion (254) is connected to the main seat body (253), and the protrusion (254) is arranged to protrude from the bottom of the main seat body (253). The shape of the protrusion (254) is compatible with the shape of the opening of the guide groove (2312), and the protrusion (254) is used to seal the opening of the guide groove (2312).

7. The calibration device for a robot tool hand according to claim 3, characterized in that: The light guiding channel (232) comprises: a main light-guiding channel (2323), the main light-guiding channel (2323) extending along the axial direction of the main body (23), one end of the main light-guiding channel (2323) forming an inlet end (2321) of the light-guiding channel (232); A plurality of light-guiding branch channels (2324), wherein the plurality of light-guiding branch channels (2324) are all connected to the light-guiding main channel (2323), and the plurality of light-guiding branch channels (2324) are arranged circumferentially around the light-guiding main channel (2323), and an end of each of the light-guiding branch channels (2324) away from the light-guiding main channel (2323) forms an exit end (2322) of the light-guiding channel (232).

8. The calibration device for a robot tool hand according to claim 7, characterized in that: The light-guiding branch channel (2324) extends in the radial direction of the main body (23); and / or, The second calibration module (20) further comprises a plurality of light-transmitting members (26), wherein the plurality of light-transmitting members (26) are arranged in one-to-one correspondence with the plurality of outlet ends (2322), and each light-transmitting member (26) is arranged at a corresponding outlet end (2322) and is adapted to the shape of the corresponding outlet end (2322).

9. The calibration device for a robot tool hand according to any one of claims 1 to 8, characterized in that: The light emitting detection module (24) further comprises a control element, the power source (241) is connected to the control element, the control element is connected to the first connection portion of the light emitting element (242), and the control element is used to control the power supply of the power source (241); and / or, The light-emitting element (242) is a light-emitting diode.

10. The calibration device for a robot tool hand according to any one of claims 1 to 8, characterized in that: The calibration device of the robot tool hand also includes: a first connection base (31) connected to the first calibration module (10), wherein at least a portion of the first connection base (31) is made of a magnetic material; and / or a second connecting seat (32) disposed on a side of the mounting portion (22) away from the main body portion (23), wherein at least a portion of the second connecting seat (32) is made of a magnetic material; and / or A protective sleeve (40), the protective sleeve (40) comprising a first sleeve section (41) and a second sleeve section (42), the first sleeve section (41) being adapted to at least a portion of the first calibration module (10), the second sleeve section (42) being adapted to at least a portion of the second calibration module (20), the first calibration module (10) having a first protection position, and the second calibration module (20) having a second protection position; when the first calibration module (10) is in the first protection position, the first sleeve section (41) is sleeved on a portion of the first calibration module (10), and another portion of the first calibration module (10) abuts against an end portion of the first sleeve section (41); when the second calibration module (20) is in the second protection position, the second sleeve section (42) is sleeved on a portion of the second calibration module (20), and another portion of the second calibration module (20) abuts against an end portion of the second sleeve section (42).

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