Calibration device for a robot tool hand

Abstract

The application provides a calibration device for a robot tool hand, comprising: a 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 installation position for grounding the first calibration tip; a second calibration module having a second calibration installation position installed on the robot tool hand; the second calibration module comprising an installation part, a main body part and a light-emitting detection module, the installation part being made of an insulating material and being used to contact a terminal connecting part of the robot, the main body part being connected with the installation part and having a second calibration tip; the light-emitting detection module comprising a power supply and a light-emitting piece, a first connecting part of the light-emitting piece being connected with the power supply and a second connecting part of the light-emitting piece being connected with the main body part; the light-emitting piece emitting light when the first calibration tip contacts the second calibration tip. Through the technical scheme provided by the application, the technical problem of inaccurate calibration of the tool hand in the prior art can be solved.

Description

Technical Field

[0001] This invention relates to the field of calibration devices for robotic tool hands, and more specifically, to a calibration device for a robotic tool hand. Background Technology

[0002] Currently, with the rapid development of industrial automation in manufacturing, industrial robots are becoming increasingly larger, especially in harsh working environments such as bridge steel structure welding, ship keel welding, automotive sheet metal cutting, and new energy casting grinding and polishing, where the proportion of robots used is growing. In particular, the application of industrial robots in these fields requires the installation of specific pointed or near-pointed tooling objects, such as welding torches, laser heads, and grinding heads, at the robot's end effector. To ensure the robot's working accuracy and the convenience of point-to-point teaching operations, a tooling arm is typically required for project applications.

[0003] However, in existing technologies, manual calibration is generally achieved by staff directly observing and confirming the contact between the tips. This calibration method often results in inaccurate verification and is also slow. Summary of the Invention

[0004] The main objective of this invention is to provide a calibration device for a robotic tool hand, so as to solve the technical problem that the calibration of tool hands in the prior art is not accurate enough.

[0005] To achieve the above objectives, the present invention provides a calibration device for a robotic tool hand, comprising:

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

[0007] The second calibration module has a second calibration mounting position mounted on the end effector of the robot.

[0008] The second calibration module includes a mounting part, a main body, and a light-emitting detection module. The mounting part is made of insulating material and is used to contact the end effector of the robot. The main body is connected to the mounting part and is made of conductive material. The main body has a second calibration tip. The light-emitting detection module includes a power supply and a light-emitting element. The first connection part of the light-emitting element is connected to the power supply, and the second connection part of the light-emitting element is connected to the main body. When the first calibration tip contacts the second calibration tip, the light-emitting element emits light.

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

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

[0011] Furthermore, the main body is provided with a positioning groove; the second calibration module also includes:

[0012] The mounting base is adapted to the shape of the positioning groove and is used to be installed in the positioning groove. The mounting base is made of insulating material and has a mounting groove and a mounting hole communicating with the mounting groove. The power supply is installed in the mounting groove and the light-emitting part of the light-emitting element extends out of the mounting hole.

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

[0014] Furthermore, the second connecting portion of the light-emitting element extends out of the mounting hole and contacts the groove wall of the positioning groove; and / or,

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

[0016] The inlet end of the light guide channel is positioned opposite to the light-emitting part of the light-emitting element; and / or,

[0017] The light guide channel has multiple exit ends, which are spaced apart along the periphery of the light-emitting element.

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

[0019] Furthermore, the mounting base includes:

[0020] A main body, the shape of which is adapted to the main groove body and forms at least a portion of the mounting base;

[0021] A protrusion is connected to the main body and protrudes from the bottom of the main body. The shape of the protrusion matches the shape of the opening of the guide groove. The protrusion is used to seal the opening of the guide groove.

[0022] Furthermore, the light guide channel includes:

[0023] A light guide main channel extends along the axial direction of the main body, and one end of the light guide main channel forms the inlet end of the light guide channel;

[0024] Multiple light-guiding branch channels are provided, each of which is connected to the main light-guiding channel. The multiple light-guiding branch channels are arranged circumferentially around the main light-guiding channel, and the end of each light-guiding branch channel that is furthest from the main light-guiding channel forms the exit end of the light-guiding channel.

[0025] Furthermore, the light-guiding branch channel extends radially along the main body; and / or,

[0026] The second calibration module also includes multiple light-transmitting elements, which are arranged one-to-one with the multiple outlet ends. Each light-transmitting element is located at the corresponding outlet end and is adapted to the shape of the corresponding outlet end.

[0027] Furthermore, the light emission detection module also includes a control component, the power supply is connected to the control component, the control component is connected to the first connection portion of the light emission element, and the control component is used to control the power supply of the power supply; and / or,

[0028] The light-emitting element is a light-emitting diode (LED).

[0029] Furthermore, the calibration device for the robotic tool hand also includes:

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

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

[0032] A protective sleeve has a first sleeve section and a second sleeve section. The first sleeve section is adapted to at least a portion of the first calibration module, and the second sleeve 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 sleeve section is sleeved on a portion of the first calibration module, and another portion of the first calibration module abuts against the end of the first sleeve section. When the second calibration module is in the second protective position, the second sleeve section is sleeved on a portion of the second calibration module, and another portion of the second calibration module abuts against the end of the second sleeve section.

[0033] Applying the technical solution of this invention, when the first calibration tip contacts the second calibration tip, the light-emitting element emits light. By simply determining whether the light-emitting element emits light, it is possible to accurately determine whether calibration is complete. Compared to direct visual observation by personnel, the calibration accuracy of this application is higher, and its simple structure facilitates installation and operation, thus accelerating calibration speed and improving calibration efficiency. Attached Figure Description

[0034] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

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

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

[0037] Figure 3 It shows Figure 2 CC-direction section view;

[0038] Figure 4 A schematic diagram of the structure of a first calibration module and a second calibration module provided according to an embodiment of the present invention is shown;

[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 the mounting base and light emission detection module provided according to an embodiment of the present invention is shown;

[0041] Figure 7 A schematic diagram of the structure of the first calibration module and the second calibration module provided according to an embodiment of the present invention mounted on a protective sleeve is shown;

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

[0043] Figure 9 It shows Figure 8 Sectional view along direction AA.

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

[0045] 10. First calibration module;

[0046] 11. First calibration tip;

[0047] 12. Body section; 121. Mounting through hole; 122. Tapered connecting section; 123. Cylindrical connecting section;

[0048] 13. Connecting part;

[0049] 20. Second calibration module; 21. 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. Light emission detection module; 241. Power supply; 242. Light emission component;

[0055] 25. Mounting base; 251. Mounting groove; 252. Mounting hole; 253. Main body; 254. Protrusion;

[0056] 26. Light-transmitting components;

[0057] 31. First connecting seat;

[0058] 32. Second connecting seat;

[0059] 40. Protective cover; 41. First set of equipment section; 42. Second set of equipment section. Detailed Implementation

[0060] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

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

[0062] Using the calibration device for the robotic tool hand provided in this embodiment, when the first calibration tip 11 contacts the second calibration tip 21, the light-emitting element 242 emits light. By simply determining whether the light-emitting element 242 is emitting light, the completion of calibration can be accurately determined. Compared to direct visual observation by workers, the calibration accuracy in this application is higher, and the structure is simpler, easier to install and operate, and also speeds up the calibration process and improves calibration efficiency. Furthermore, using the above-mentioned calibration device also improves the convenience of calibration.

[0063] Specifically, the end effector of the robot can be an end flange or a tool arm mounted on the end flange.

[0064] In this embodiment, the light emission detection module 24 is mounted on the main body 23. This improves the compactness of the structure, facilitates the integrity of the structure, and makes installation easier, eliminating the need for additional fixing and limiting of the position of the light emission detection module 24.

[0065] Specifically, the first calibration module 10 includes a body portion 12 and a connector portion 13. The body portion 12 has mounting through holes 121 extending through both ends of the body portion 12. At least a portion of the connector portion 13 is installed within the mounting through holes 121, with one end of the connector portion 13 extending out of the mounting through holes 121 to form a first calibration tip 11. The connector portion 13 is made of a conductive material. This structural arrangement facilitates precise illumination of the light-emitting element 242 only when the first calibration tip 11 contacts the second calibration tip 21, thereby improving the accuracy of detection and judgment.

[0066] Specifically, the body 12 is made of insulating material, so that even if the first calibration tip 11 comes into contact with the body 12, the light-emitting element 242 will not emit light, thereby improving the accuracy of calibration judgment.

[0067] Specifically, the first calibration tip 11 extends out of the body portion 12 in a small size, thus effectively ensuring that the tip-to-tip contact between the first calibration tip 11 and the second calibration tip 21 is necessary to achieve electrical conductivity so that the light-emitting element 242 emits light, thereby facilitating the accurate calibration judgment.

[0068] Preferably, the first calibration tip 11 has a tapered structure, and the diameter corresponding to the maximum cross-section of the first calibration tip 11 is d. The end of the body portion 12 near the first calibration tip 11 has a tapered connecting section 122. The body portion 12 also includes a cylindrical connecting section 123, which is located on the side of the tapered connecting section 122 away from the first calibration tip 11. The diameter corresponding to the maximum cross-section of the tapered connecting section is D, the cone apex angle of the tapered connecting section is greater than or equal to the cone apex 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 tapered connecting section is L. Wherein, 0.01≤d / D≤0.1, 0.01≤l / L≤0.1, to ensure that the protruding size of the first calibration tip 11 is small, thereby facilitating the effective contact between the tip of the first calibration tip 11 and the tip of the second calibration tip 21, thus effectively ensuring the accuracy of the calibration judgment.

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

[0070] Specifically, in this embodiment, the body portion 12 is made of insulating material to prevent the second calibration tip 21 from becoming conductive when it contacts the body portion 12, which would cause the light-emitting element 242 to emit light.

[0071] Specifically, "the first calibration module 10 has a first calibration mounting position for grounding the first calibration tip 11" can be understood as the first calibration tip 11 being grounded via the end of the plug portion 13 away from the first calibration tip 11, so as to facilitate grounding contact.

[0072] Specifically, the main body 23 is provided with a positioning groove 231; the second calibration module 20 also includes a mounting base 25, the shape of which is adapted to the positioning groove 231. The mounting base 25 is used to be installed in the positioning groove 231. The mounting base 25 is made of insulating material and is provided with a mounting groove 251 and a mounting hole 252 communicating 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 element 242 extends out of the mounting hole 252. The main body 23 is also provided with a light guide channel 232. The inlet end 2321 of the light guide channel 232 communicates with the positioning groove 231, and the outlet end 2322 of the light guide channel 232 is located on the outer wall of the main body 23, so as to guide the light emitted by the light-emitting element 242 through the light guide channel 232. This structural design effectively ensures the compactness of the light emission detection module 24, facilitates structural layout optimization, and enables the integration and modularization of the entire component. It facilitates modular installation during operation and disassembly and assembly during maintenance.

[0073] In addition, the mounting base 25 is made of insulating material to prevent grounding through the robot tool hand when in contact with it, thus avoiding detection errors.

[0074] Specifically, the second connecting portion of the light-emitting element 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 base 25 is detachably mounted on the main body 23 to facilitate repair and maintenance.

[0076] Specifically, the inlet end 2321 of the light guide channel 232 is positioned opposite to the light-emitting part of the light-emitting element 242 to facilitate better light guiding.

[0077] Specifically, there are multiple exit ends 2322 of the light guide channel 232, and the exit ends 2322 of the multiple light guide channels 232 are arranged at intervals along the periphery of the light-emitting element 242. This allows the staff to observe from different angles, improves the convenience of operation, and facilitates accurate judgment of whether the calibration has been completed.

[0078] In this embodiment, the positioning groove 231 includes a main groove body 2311 and a guide groove 2312 that are interconnected. The guide groove 2312 is located at the bottom of the main groove body 2311. At least a portion of the mounting base 25 is installed in the main groove body 2311. The light-emitting part of the light-emitting element 242 is adapted to the shape of the guide groove 2312, and the light-emitting part of the light-emitting element 242 is installed in the guide groove 2312. This facilitates the optimization of the installation of the light-emitting part of the light-emitting element 242, improves the compactness of the installation, and also facilitates the protection of the light-emitting part.

[0079] Specifically, the mounting base 25 includes a main body 253 and a protrusion 254. The main body 253 is adapted to the shape of the main groove 2311 and forms at least a portion of the mounting base 25. The protrusion 254 is connected to the main body 253 and protrudes from the bottom of the main body 253. The shape of the protrusion 254 is adapted to 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. With this structure, the protrusion 254 can easily protect the light-emitting part in the guide groove 2312, preventing external substances from entering the guide groove 2312.

[0080] In this embodiment, the light guide channel 232 includes a main light guide channel 2323 and multiple branch light guide channels 2324. The main light guide channel 2323 extends axially along the main body 23, and one end of the main light guide channel 2323 forms the inlet end 2321 of the light guide channel 232. The multiple branch light guide channels 2324 are all connected to the main light guide channel 2323 and are arranged circumferentially around the main light guide channel 2323. The end of each branch light guide channel 2324 furthest from the main light guide channel 2323 forms the outlet end 2322 of the light guide channel 232. This facilitates multi-directional light output and makes it easier for staff to observe whether calibration is complete.

[0081] Specifically, the light guide branch channel 2324 extends radially along the main body 23 to optimize the direction of the light guide branch channel 2324 and make it easier for staff to observe from different angles.

[0082] In this embodiment, the second calibration module 20 further includes multiple light-transmitting elements 26, each corresponding to a plurality of outlet ends 2322. Each light-transmitting element 26 is positioned at its corresponding outlet end 2322 and its shape is adapted to that of the outlet end 2322. This allows for both sealing of each outlet end 2322 through the light-transmitting elements 26 and effective light transmission, ensuring timely transmission of calibration results. Specifically, the light-transmitting elements 26 are made of a light-transmitting material.

[0083] Specifically, the light emission detection module 24 also includes a control unit. The power supply 241 is connected to the control unit, and the control unit is connected to the first connection portion of the light emission element 242. The control unit is used to control the power supply 241. Specifically, the control unit is used to control the voltage of the power supply 241 so as to better match the voltage of the power supply 241 with that of the light emission element 242.

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

[0085] Specifically, power supply 241 can be a battery, specifically a CR2032 button cell battery. The control board of power supply 241 is a boost converter, which can boost the 3V voltage of the CR2032 button cell battery to 5V while controlling the current at 0.01mA. The LED only needs to be able to light up at 5V and 0.01mA.

[0086] Specifically, the calibration device for the robotic tool hand also includes a first connector 31, which is connected to the first calibration module 10. The first connector 31 is made of magnetic material. This allows the first calibration module 10 to be easily installed through the magnetic attraction of the first connector 31.

[0087] Specifically, the calibration device for the robotic tool hand also includes a second connector 32, which is located on the side of the mounting portion 22 away from the main body 23, and is made of a magnetic material. This allows for convenient installation of the second calibration module 20 via the magnetic attraction of the second connector 32.

[0088] Specifically, the calibration device for the robotic tool hand also includes a protective sleeve 40. The protective sleeve 40 has a first fitting section 41 and a second fitting section 42. The first fitting section 41 is adapted to at least a portion of the first calibration module 10, and the second fitting section 42 is adapted to at least a portion of the second calibration module 20. The first calibration module 10 has a first protective position, and the second calibration module 20 has a second protective position. When the first calibration module 10 is in the first protective position, the first fitting section 41 is fitted onto a portion of the first calibration module 10, and the other portion of the first calibration module 10 abuts against the end of the first fitting section 41. When the second calibration module 20 is in the second protective position, the second fitting section 42 is fitted onto a portion of the second calibration module 20, and the other portion of the second calibration module 20 abuts against the end of the second fitting section 42. This structural arrangement facilitates daily protection of the first calibration module 10 and the second calibration module 20 when calibration is not being performed, and also facilitates portability. Furthermore, the above structure facilitates the connection between the first calibration module 10 and the second calibration module 20 and the protective sleeve 40.

[0089] Specifically, at least a portion of the first connecting seat 31 and at least a portion of the second connecting seat 32 can have a magnetic base internal structure. Magnetization / demagnetization is achieved by turning a switch. Turning the switch alters the physical structure, changing the magnetic path and resulting in either magnetic attraction or no magnetic attraction at the bottom of the magnetic base. When used on non-magnetic material surfaces, the first connecting seat 31 can be separated from the first calibration module 10, and the studs on the first calibration module 10 can be directly fastened into the threaded holes on the other surface.

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

[0091] Specifically, the connector 13 is a pure aluminum machined part, and the main body 23 of the second calibration module 20 is an aluminum machined shell. The conical shape is designed so that the accuracy of the tool arm during teaching and configuration must be ensured by aligning the conical parts together. 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 LED is short-circuited to ground, forming a current loop and thus lighting the LED.

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

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

[0094] Specifically, the calibration device for the robot tool arm in this application is used when an industrial robot needs to be equipped with a tool arm. The first calibration module 10 is installed on the magnetic mounting base (i.e., the first connecting base 31). The magnetic mounting base is fixed to any position in the working space of the industrial robot and the position is reliably grounded. The second calibration module 20 is combined with the adapter flange (i.e., the mounting part 22) and the magnetic mounting flange (i.e., the second connecting base 32) and then installed on the end position of the industrial robot. It should be noted that the adapter flange must be made of insulating material with certain mechanical performance requirements. The photoelectric signal control module consists of a battery, a micro power supply 241 control board (corresponding to the control component), and a light-emitting diode. The positive terminal of the battery is connected to the positive terminal of the light-emitting diode through the micro power supply 241 control board, and the negative terminal of the light-emitting diode is connected to the second calibration module 20. During the calibration of the industrial robot tool arm, once the tip of the second calibration module 20 contacts the tip of the first calibration module 10, the negative terminal of the light-emitting diode is connected to the ground, thereby causing the battery to "leak" and form a micro-voltage circuit to drive the light-emitting diode to emit light. The light signal is transmitted through the photoelectric signal transmission link, so that the operator can clearly know the accuracy of the operation.

[0095] Specifically, the first calibration module 10 can be directly fixed to any position in the working space of the industrial robot using its own threaded post, and this position is reliably grounded, depending on the site conditions. The second calibration module 20 is combined with the adapter flange and then fixed to the end position of the industrial robot using its own threaded post. That is, the first calibration module 10 and the second calibration module 20 can be fixed by magnetic force or by their own threaded posts, which is flexible, convenient and quick to use.

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

[0097] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0098] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0099] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

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

[0101] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A calibration device for a robotic tool hand, characterized in that, include: A first calibration module (10) has a first calibration tip (11) made of a conductive material; the first calibration module (10) has a first calibration mounting position for grounding the first calibration tip (11); The second calibration module (20) has a second calibration mounting position installed on the end connector of the robot; The second calibration module (20) includes a mounting part (22), a main body (23), and a light emission detection module (24). The mounting part (22) is made of insulating material and is used to contact the end connection part of the robot. The main body (23) is connected to the mounting part (22) and is made of conductive material. The main body (23) has a second calibration tip (21). The light emission detection module (24) includes a power supply (241) and a light-emitting element (242). The first connection part of the light-emitting element (242) is connected to the power supply (241), and the second connection part 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. The main body (23) is also provided with a light guide channel (232), which 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 the inlet end (2321) of the light guide channel (2322). 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). The end of each branch light guide channel (2324) away from the main light guide channel (2323) forms the outlet end (2322) of the light guide channel (2322). The second calibration module (20) also includes a plurality of light-transmitting elements (26), which are arranged one-to-one with a plurality of outlet ends (2322). Each light-transmitting element (26) is located at the corresponding outlet end (2322) and is adapted to the shape of the corresponding outlet end (2322).

2. The calibration device for the robot tool hand according to claim 1, characterized in that, The light emission detection module (24) is mounted on the main body (23); and / or, The first calibration module (10) includes a body part (12) and a plug part (13). The body part (12) is provided with a mounting through hole (121) that passes through both ends of the body part (12). At least a portion of the plug part (13) is installed in the mounting through hole (121). One end of the plug part (13) extends out of the mounting through hole (121) to form the first calibration tip (11). The plug part (13) is made of conductive material.

3. The calibration device for the robotic 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 includes: Mounting base (25), the mounting base (25) is adapted to the shape of the positioning groove (231), the mounting base (25) is used to be installed in the positioning groove (231), the mounting base (25) is made of insulating material, the mounting base (25) is provided with mounting groove (251) and mounting hole (252) communicating 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 element (242) extends out of the mounting hole (252); The inlet end (2321) of the light guide channel (232) is connected to the positioning groove (231), and the outlet end (2322) of the light guide channel (232) is located on the outer wall of the main body (23) so as to guide the light emitted by the light-emitting element (242) through the light guide channel (232).

4. The calibration device for the robotic tool hand according to claim 3, characterized in that, The second connecting portion of the light-emitting element (242) extends out of the mounting hole (252) and contacts the groove wall of the positioning groove (231); and / or, The mounting base (25) is detachably mounted on the main body (23); and / or, The inlet end (2321) of the light guide channel (232) is disposed opposite to the light-emitting part of the light-emitting element (242); and / or, The light guide channel (232) has multiple exit ends (2322), and the multiple exit ends (2322) of the light guide channel (232) are arranged at intervals along the periphery of the light-emitting element (242).

5. The calibration device for the robotic tool hand according to claim 3, characterized in that, The positioning groove (231) includes a main groove body (2311) and a guide groove (2312) that are interconnected. The guide groove (2312) is located at the bottom of the main groove body (2311). At least a portion of the mounting base (25) is installed in the main groove body (2311). The light-emitting part of the light-emitting element (242) is adapted to the shape of the guide groove (2312). The light-emitting part of the light-emitting element (242) is installed in the guide groove (2312).

6. The calibration device for the robotic tool hand according to claim 5, characterized in that, The mounting base (25) includes: The main body (253) is adapted to the shape of the main groove (2311) and forms at least a portion of the mounting base (25); A protrusion (254) is connected to the main body (253). The protrusion (254) protrudes from the bottom of the main body (253). The shape of the protrusion (254) is adapted to the shape of the opening of the guide groove (2312). The protrusion (254) is used to block the opening of the guide groove (2312).

7. The calibration device for the robotic tool hand according to claim 1, characterized in that, The light guide branch channel (2324) extends radially along the main body (23).

8. The calibration device for the robotic tool hand according to any one of claims 1 to 7, characterized in that, The light emission detection module (24) further includes a control component, the power supply (241) is connected to the control component, the control component is connected to the first connection portion of the light emission element (242), and the control component is used to control the power supply of the power supply (241); and / or, The light-emitting element (242) is a light-emitting diode.

9. The calibration device for a robotic tool hand according to any one of claims 1 to 7, characterized in that, The calibration device for the robotic tool hand also includes: A first connector (31) is connected to the first calibration module (10), and at least a portion of the first connector (31) is made of a magnetic material; and / or, A second connector (32) is disposed on the side of the mounting portion (22) away from the main body portion (23), and at least a portion of the second connector (32) is made of a magnetic material; and / or, A protective sleeve (40) has a first sleeve section (41) and a second sleeve section (42). The first sleeve section (41) is adapted to at least a portion of the first calibration module (10), and the second sleeve section (42) is adapted to at least a portion of the second calibration module (20). The first calibration module (10) has a first protective position, and the second calibration module (20) has a second protective position. When the first calibration module (10) is in the first protective position, the first sleeve section (41) is sleeved on a portion of the first calibration module (10), and the other portion of the first calibration module (10) abuts against the end of the first sleeve section (41). When the second calibration module (20) is in the second protective position, the second sleeve section (42) is sleeved on a portion of the second calibration module (20), and the other portion of the second calibration module (20) abuts against the end of the second sleeve section (42).

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