TCP calibration device used by robot

Abstract

The invention relates to the field of TCP position calibration by a robot, in particular to a TCP calibration device for a robot, which comprises a base body, a laser component mounted on the base body, a fixing device matched with the laser component, and a laser pressing plate matched with the laser component, the base body is also provided with a cable pressing plate for placing a cable, a control circuit board for realizing overall circuit control, a cable interface for inserting the cable, and an indicating lamp for displaying a normal use state. According to the invention, the laser assembly with fixing and adjusting functions is adopted, the two groups of lasers are respectively adjusted to ensure that the laser rays are mutually parallel, vertical and coplanar, the precision error during installation and use is ensured, and tool parameters can be corrected and calibrated by combining a core algorithm of software.

Description

Technical Field

[0001] The invention relates to the field of robot TCP position calibration, in particular to a TCP calibration device used by a robot. Background Art

[0002] With the continuous development of industrial automation, the demand for flexible production lines is increasing. The robot TCP automatic calibration device is to meet the needs of robot terminal equipment. In practical applications, the operation of the robot is completed by installing different processing tools at the end of the robot, such as fixtures, welding guns, etc. In many application scenarios, cameras, lasers, etc. are also used as end tools. The accurate calibration of the tool coordinate system directly affects the accuracy of the robot trajectory planning. In production enterprises, with the continuous change of task requirements, the workpieces to be processed are different, and tools need to be replaced. After the tool is replaced, the original workpiece coordinate system relationship used in offline programming can no longer be used, and the tool needs to be recalibrated. The accuracy of tool calibration is closely related to the accuracy of the robot's zero point parameters and rod length parameters. For example, after a collision, the robot may lose its zero point, and the accuracy of tool calibration alone may not meet the on-site use. In order to provide a more convenient way to calibrate the tools, zero point and rod length on site, a tool quick correction function is also provided to save the time of tool calibration; the current common solution is to use manual calibration or calibration equipment. Manual calibration has low calibration accuracy, is easily affected by external factors, and has a long calibration time. Equipment calibration has the problems of expensive equipment, requiring professional personnel to operate, long calibration cycle, and high maintenance costs. It is necessary to design a method that combines high-precision laser sensors and software algorithms, which has the characteristics of sensitive response, convenient use, small footprint, and high fitting accuracy. Summary of the invention

[0003] In order to solve the above problems, the present invention proposes a TCP calibration device for a robot.

[0004] A TCP calibration device for a robot comprises a base body, a laser assembly mounted on the base body, a fixing device matched with the laser assembly, and a laser pressing plate matched with the laser assembly. The base body is also provided with a cable pressing plate for placing cables, a control circuit board for realizing overall circuit control, a cable interface for inserting cables, and an indicator light for displaying a normal use status.

[0005] The base body is a boxed structure with a cavity.

[0006] The laser assembly comprises a laser transmitter 1 and a laser transmitter 2 which are installed in pairs on a base body in a symmetrical arrangement, and a laser receiver 1 and a laser receiver 2 which cooperate with the laser transmitter 1 and the laser transmitter 2 respectively.

[0007] The laser receiver 1 and the laser receiver 2 are installed on the laser station and then pressed by a laser pressing plate to ensure the parallelism of the laser emission line.

[0008] The beneficial effects of the present invention are:

[0009] The present invention adopts a laser component with fixing and adjusting functions to adjust two groups of lasers respectively to ensure that the laser rays are parallel, perpendicular and coplanar to each other, and to ensure the accuracy error during installation and use. Combined with the core algorithm of the software, the tool parameters can be corrected and calibrated. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0011] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0012] Figure 2 The three-dimensional structure of the fixing device of the present invention is shown in FIG. Figure 1 ;

[0013] Figure 3 The three-dimensional structure of the fixing device of the present invention is shown in FIG. Figure 2 ;

[0014] Figure numerals: 1. Laser transmitter 1; 2. Base body; 3. Cable pressure plate; 4. Laser pressure plate; 5. Laser receiver 1; 6. Control circuit board; 7. Cable interface; 8. Indicator light; 9. Laser receiver 2; 10. Laser transmitter 2; 12. Left pressure plate; 13. Left adjustment wedge A; 14. Body support; 15. Right adjustment wedge A; 16. Left adjustment gasket; 17. Right adjustment gasket; 18. Right pressure plate; 19. Right adjustment wedge B; 110. Left adjustment wedge B. DETAILED DESCRIPTION

[0015] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below.

[0016] like Figures 1 to 3 As shown, a TCP calibration device for a robot includes a base body 2, a laser assembly mounted on the base body 2, a fixing device matched with the laser assembly, and a laser pressing plate 4 matched with the laser assembly. The base body 2 is also provided with a cable pressing plate 3 for placing cables, a control circuit board 6 for realizing overall circuit control, a cable interface 7 for inserting cables, and an indicator light 8 for displaying a normal use status;

[0017] Specifically, the base body 2 is a box-shaped structure with a cavity, which is used to place all devices in the cavity.

[0018] like Figure 1 As shown, the laser assembly includes a laser emitter 1 and a laser emitter 2 10 installed in pairs on a base body 2 in a symmetrical arrangement, and a laser receiver 1 5 and a laser receiver 2 9 respectively cooperating with the laser emitter 1 and the laser emitter 2 10. The present invention installs the two groups of laser assemblies in pairs in a symmetrical arrangement, and pays attention to adjusting the receiving angles of the laser receiver 1 5 and the laser receiver 2 9 during installation.

[0019] The laser receiver 1 5 and the laser receiver 2 9 are installed on the laser station and then pressed by the laser pressing plate 4 to ensure the parallelism of the laser emission line.

[0020] The present invention adopts a laser component with fixing and adjusting functions to adjust two groups of lasers respectively to ensure that the laser rays are parallel, perpendicular and coplanar to each other, and to ensure the accuracy error during installation and use. Combined with the core algorithm of the software, the tool parameters can be corrected and calibrated.

[0021] First, install the laser receiver 5 on the laser station, and then press it with the laser pressing plate 4 to ensure the parallelism of the laser emission line;

[0022] Then install the laser receiver 5 to the laser receiver fixed position, and then press it with the laser pressing plate 4 to ensure that the laser can be received normally;

[0023] Install the laser assembly and press it with the laser pressing plate 4 until the screw pre-tightening is 80% complete;

[0024] The angles of the laser transmitter 1 1 and the laser transmitter 2 10, the laser receiver 1 5 and the laser receiver 2 9 that need to be adjusted after power is turned on;

[0025] Install and coil the laser sensor cable into the calibration housing cavity, and install corresponding sets of laser pressure plates 4;

[0026] Power on to test whether the opposing laser works normally and whether the signal is stable. Move the laser transmitter 1 and the laser transmitter 2 10 by hand to let the laser beam shoot into the receiving spot of the receiving end and perform spot fixation to check whether the other laser sensor is normal.

[0027] After the adjustment is completed, press the combined glue to encapsulate the back cavity, and the encapsulation height should not exceed the chamfer.

[0028] The fixing device includes a main body support 14 for placing the laser emitter 1 or the laser emitter 2 10, a left pressure plate 12 and a right pressure plate 18 arranged on the main body support 14, a left adjustment wedge B110 and a right adjustment wedge B19 respectively arranged on both sides of the left pressure plate 12 and the right pressure plate 18, and a left adjustment wedge A13 and a right adjustment wedge A15.

[0029] The lower ends of the left pressure plate 12 and the right pressure plate 18 are respectively provided with a left adjustment gasket 16 and a right adjustment gasket 17 for adjusting the position in the YZ plane direction. The left adjustment gasket 16 is arranged below the left pressure plate 12, and the right adjustment gasket 17 is arranged below the right pressure plate 18.

[0030] The left pressure plate 12 and the right pressure plate 18 both have an arched cavity that cooperates with the laser emitter 1 or the laser emitter 2 10.

[0031] When installing, first move the laser transmitter 1, press the workpiece with the left pressure plate 12 and the left adjusting wedge A13, check the straightness of the laser beam, and adjust the position in the YZ plane direction with the left adjusting shim 16 and the right adjusting shim 17;

[0032] The position in the XY plane direction is adjusted by the left adjusting wedge A13 and the right adjusting wedge A15, the right adjusting wedge B19 and the left adjusting wedge B110. When adjusting, the adjustment amount of the same side needs to be adjusted separately according to the actual situation. When adjusting, the left adjusting wedge A13 and the left adjusting wedge B110 are a group, and the right adjusting wedge A15 and the right adjusting wedge B19 are a group. The adjustment amount between each unit is slightly different;

[0033] The position in the ZX plane direction is adjusted by the left adjusting wedge A13 and the right adjusting wedge A15, the right adjusting wedge B19 and the left adjusting wedge B110. During adjustment, the adjustment amount of the same side needs to be adjusted separately according to the actual situation. During adjustment, the adjustment amount of the right adjusting wedge B19 and the left adjusting wedge B110, the left adjusting wedge A13 and the right adjusting wedge A15 are the same.

[0034] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A TCP calibration device for a robot, comprising a base body (2), characterized in that: It also includes a laser assembly mounted on a base body (2), a fixing device matched with the laser assembly, and a laser pressing plate (4) matched with the laser assembly. The base body (2) is also provided with a cable pressing plate (3) for placing cables, a control circuit board (6) for realizing overall circuit control, a cable interface (7) for inserting cables, and an indicator light (8) for displaying a normal use status; The base body (2) is a boxed structure with a cavity.

2. The TCP calibration device for a robot according to claim 1, characterized in that: The laser assembly comprises a laser transmitter 1 (1) and a laser transmitter 2 (10) which are mounted in pairs on a base body (2) in a symmetrical arrangement, and a laser receiver 1 (5) and a laser receiver 2 (9) which cooperate with the laser transmitter 1 (1) and the laser transmitter 2 (10) respectively.

3. The TCP calibration device for a robot according to claim 2, characterized in that: The laser receiver 1 (5) and the laser receiver 2 (9) are installed on the laser workstation and then pressed by the laser pressing plate (4).

4. The TCP calibration device for a robot according to claim 2, characterized in that: The fixing device comprises a main body support (14) for placing laser emitter one (1) or laser emitter two (10), a left pressure plate (12) and a right pressure plate (18) arranged on the main body support (14), a left adjustment wedge block B (110) and a right adjustment wedge block B (19) respectively arranged on both sides of the left pressure plate (12) and the right pressure plate (18), and a left adjustment wedge block A (13) and a right adjustment wedge block A (15).

5. The TCP calibration device for a robot according to claim 4, characterized in that: The lower ends of the left pressure plate (12) and the right pressure plate (18) are respectively provided with a left adjustment gasket (16) and a right adjustment gasket (17) for adjusting the position in the YZ plane direction.

6. The TCP calibration device for a robot according to claim 4, characterized in that: The left pressure plate (12) and the right pressure plate (18) are both provided with an arched cavity which cooperates with the laser emitter 1 (1) or the laser emitter 2 (10).

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