Calibration device, calibration system and calibration method based on calibration device

Abstract

The invention provides a calibration device, a calibration system and a calibration method based on the calibration device. The calibration device comprises a mounting frame, a driving assembly and a sensing assembly, the driving assembly and the sensing assembly are respectively arranged on the mounting frame; the driving assembly comprises a driving piece and a stroke sensor; the sensing assembly is connected to the driving output end of the driving part; the sensing assembly is configured to move towards a to-be-calibrated target piece under the driving of the driving piece so as to sense at least one detection point on the target piece; the stroke sensor is configured to detect the driving stroke of the driving assembly; the driving stroke is used for determining the size of the target piece by combining the initial position of the sensing assembly. According to the device, the driving assembly in the calibration device drives the sensing assembly to sense the to-be-calibrated target piece, measurement is carried out in the mode that the robot is kept static, the measurement precision of the to-be-calibrated target piece is improved, and therefore the calibration precision of the to-be-calibrated target piece is improved.

Description

Technical Field

[0001] The present application relates to the field of calibration technology, and in particular, to a calibration device, a system, and a calibration method based on the calibration device. Background Art

[0002] The calibration device usually calibrates the target part by measuring the target part. For example, as the number of times the tool installed on the robot is used increases, the degree of wear of the tool will increase. At this time, if the robot still runs according to the original automatic control program, the distance between the tool and the target to be cut has changed, which will cause the cutting error of the cutting target to increase. In order to reduce or eliminate this error, it is usually necessary to adjust the installation position of the tool on the robot.

[0003] In most of the current calibration devices, the calibration device itself is mostly stationary, and the robot drives the end tool to wait for the target part to be calibrated to move, so that the calibration device contacts or senses the target part to be calibrated, thereby realizing the measurement of the target part to be calibrated for calibration.

[0004] However, due to poor trajectory accuracy and weak rigidity in space, the calibration device does not measure the target part to be calibrated with high accuracy, which also leads to low calibration accuracy of the target part to be calibrated. Summary of the invention

[0005] The purpose of the present application is to provide a calibration device, a system and a calibration method based on the calibration device, which can improve the measurement accuracy of the target part to be calibrated by driving the sensing component in the calibration device to sense the target part to be calibrated, while the robot remains stationary to perform measurements, thereby improving the calibration accuracy of the target part to be calibrated.

[0006] In the first aspect, the present application provides a calibration device, comprising a mounting frame, a driving component and a sensing component; the driving component and the sensing component are respectively arranged on the mounting frame; the driving component comprises a driving member and a stroke sensor; the sensing component is connected to the driving output end of the driving member; the sensing component is configured to move toward a target member to be calibrated under the drive of the driving member to sense at least one detection point on the target member; the stroke sensor is configured to detect the driving stroke of the driving component; the driving stroke is used to determine the size of the target member in combination with the initial position of the sensing component.

[0007] In the above calibration device, the driving component in the calibration device drives the sensing component to sense the target part to be calibrated, while the robot keeps still to measure the target part, thus avoiding the problem of inaccurate measurement results due to the low accuracy of the robot's motion trajectory, thereby improving the accuracy of measuring the target part to be calibrated, and correspondingly improving the accuracy of calibrating the target part to be calibrated. Finally, the accuracy of processing by robots and other automated equipment using target parts is improved.

[0008] In combination with the first aspect, optionally, the mounting frame includes a bottom plate, a top plate and a side plate; the bottom plate and the top plate are arranged opposite to each other; the side plates are respectively connected to the bottom plate and the top plate, and form a accommodating space; the sensing component is connected to the driving component through a connecting member, and the connecting member is located in the accommodating space; the driving component is located on a side of the bottom plate facing away from the connecting member, and the sensing component is located on a side of the top plate facing away from the connecting member.

[0009] The above-mentioned calibration device, through the box structure formed by the bottom plate, the top plate and the side plates, arranges some components in the accommodating space, which plays a certain role in dust prevention for these components, that is, it plays a role in protecting these components, thereby ensuring the calibration accuracy of the calibration device to a certain extent.

[0010] In combination with the first aspect, optionally, a zero-point sensor is further provided in the accommodating space; the zero-point sensor is connected to the side plate and is configured to detect and calibrate the initial position of the connecting member.

[0011] The calibration device is configured with a zero point sensor to calibrate the initial position of the connecting member, so that the initial positions of the driving member and the sensing component are also calibrated respectively, so that the result of calculating the size of the target member using the initial position is more accurate. That is, the accuracy of measuring the target member is further improved.

[0012] In combination with the first aspect, optionally, the drive assembly also includes a motion conversion assembly, and the drive member includes a rotating drive member; the input end of the motion conversion assembly is connected to the power output end of the rotating drive member, and the output end of the motion conversion assembly is connected to the connecting member; a guide rail is provided on the side panel, and the connecting member has a sliding portion adapted to the guide rail, and the sliding portion is slidably connected to the guide rail.

[0013] The above calibration device drives the sensing component by combining the rotating drive component and the motion conversion component, and sets a corresponding guide rail to cooperate with the sliding part on the connecting component, further constraining the movement of the connecting component in a linear direction, that is, limiting the movement of the connecting component in other directions, thereby better ensuring that the movement direction of the sensing component is linear motion. The accuracy of the motion trajectory of the sensing component is improved, and finally the accuracy of the calibration of the target part to be calibrated is further improved.

[0014] In combination with the first aspect, optionally, the sensing component includes a sensing part and an injection part; the injection part is arranged on the sensing part; the sensing part is configured to sense at least one detection point on the target part to be calibrated; the injection part is configured to clean the target part by spraying a medium onto the target part when the sensing component approaches the target part.

[0015] The calibration device is configured with a spraying member capable of spraying a medium in the sensing component, and when the sensing component is close to the target part, the spraying member is used to spray the medium to the target part to clean the target part. After the target part is cleaned, it is measured, which further improves the accuracy of measuring the target part, thereby further improving the accuracy of calibrating the target part to be calibrated.

[0016] In combination with the first aspect, optionally, the sensing element includes a contact sensor and / or a non-contact sensor.

[0017] The calibration device uses a contact sensor and / or a non-contact sensor as the sensing element in the sensing assembly to achieve contact measurement and / or non-contact measurement of the target element. The contact measurement method can further improve the measurement accuracy, and the non-contact measurement method can avoid damage and contamination to the surface of the target element and the sensing element due to direct contact.

[0018] In a second aspect, the present application provides a calibration system, comprising a processor and the calibration device described in the first aspect; the processor is electrically connected to the sensing component and the stroke sensor, respectively; the processor is configured to determine the size of the target part based on the driving stroke and the initial position of the sensing component.

[0019] The above-mentioned calibration system has the same beneficial effects as the first aspect or any optional implementation of the first aspect, which will not be repeated here.

[0020] In the second aspect, the present application provides a calibration method based on a calibration device, which is applied to the calibration device; wherein the calibration device includes a driving component and a sensing component, and the driving component includes a driving part and a stroke sensor; the method includes: determining the initial position of the sensing component; controlling the sensing component to move toward a target part to be calibrated, and sensing at least one detection point on the target part; obtaining the driving stroke of the driving component corresponding to the detection point detected by the stroke sensor; and determining the size of the target part based on the initial position and the driving stroke.

[0021] The above-mentioned calibration method based on the calibration device has the same beneficial effects as the first aspect or any optional implementation of the first aspect, and will not be described in detail here.

[0022] In combination with the second aspect, optionally, determining the size of the target part according to the initial position and the driving stroke includes: determining the position of the detection point according to the initial position and the driving stroke; and calculating the size of the target part according to the position of the detection point.

[0023] The calibration method based on the calibration device calculates the position of the detection point on the target part by using the initial position and the driving stroke of the driving part, so that the size of the target part can be calculated according to the position of the detection point.

[0024] In combination with the second aspect, optionally, the calibration device also includes a zero point sensor; determining the initial position of the sensing component includes: detecting the actual position of the sensing component; judging whether the distance between the actual position and a preset starting position is less than a threshold; if it is determined that the distance is less than the threshold, taking the actual position or the preset starting position as the initial position.

[0025] The calibration method based on the calibration device detects the current position of the connecting part by the zero point sensor, and only when the deviation between the current position and the preset starting position is small, either of the two is used as the initial position required for subsequent calculation. The result of calculating the size of the target part using the initial position is more accurate. That is, the accuracy of measuring the target part is further improved.

[0026] In summary, the present application provides a calibration device, a system and a calibration method based on the calibration device. The driving component in the calibration device drives the sensing component to sense the target part to be calibrated, and the robot keeps the measurement in a static manner, thereby improving the accuracy of measuring the target part to be calibrated, thereby improving the accuracy of calibrating the target part to be calibrated. The box structure formed by the bottom plate, the top plate and the side plate, and the arrangement of some parts in the accommodating space, play a protective role for these parts, thereby ensuring the calibration accuracy of the calibration device to a certain extent. By configuring a zero point sensor for the calibration device to calibrate the initial position of the connecting part, the accuracy of measuring the target part is also further improved. By arranging a corresponding guide rail on the side plate to cooperate with the sliding part on the connecting part, the movement of the connecting part in other directions is limited, thereby better ensuring that the movement direction of the sensing component is a linear motion, and by using the spraying part to spray the medium to the target part to clean the target part, the accuracy of calibrating the target part to be calibrated is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A three-dimensional diagram of a calibration device capable of one-dimensional motion provided in an embodiment of the present application;

[0029] Figure 2 A three-dimensional diagram of a calibration device capable of two-dimensional motion provided in an embodiment of the present application;

[0030] Figure 3 A three-dimensional diagram of the calibration device provided in an embodiment of the present application and the target part in cooperation;

[0031] Figure 4 A side view of a calibration device provided in an embodiment of the present application;

[0032] Figure 5 A front view of a calibration device provided in an embodiment of the present application;

[0033] Figure 6 A flow chart of a calibration method based on a calibration device provided in an embodiment of the present application;

[0034] Figure 7 A specific flow chart of step S170 in the calibration method based on the calibration device provided in an embodiment of the present application;

[0035] Figure 8 This is a specific flow chart of step S110 in the calibration method based on the calibration device provided in an embodiment of the present application.

[0036] Icons: 100, calibration device; 110, mounting frame; 111, bottom plate; 112, top plate; 113, side plate; 120, driving assembly; 121, driving member; 122, motion conversion assembly; 130, sensing assembly; 131, sensing member; 132, injection member; 140, connecting member; 141, sliding part; 150, zero point sensor; 160, guide rail; 200, target member. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0042] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] As the application scenarios of automation equipment such as robots gradually increase, most robots have poor trajectory accuracy and weak rigidity in space. Taking the KUKA KR210 R2700-2 robot as an example, the robot's position repeatability accuracy can reach ±0.05mm, while the linear trajectory repeatability accuracy is only ±0.2mm. The current common method is for the robot to drive the end tool to the calibration device, and the tool is measured by moving the robot and the measuring device is stationary. This method is affected by factors such as the poor accuracy of the robot's motion trajectory, and it is difficult to achieve high-precision tool calibration and correction. As a result, the processing accuracy of subsequent processing will also be affected.

[0044] In view of this, the present application provides a calibration device 100, a system and a calibration method based on the calibration device 100 to solve the above problems. Specifically, please refer to the embodiments and drawings provided in the present application.

[0045] Please refer to Figures 1 to 3 , Figure 1 is a stereogram of a calibration device 100 capable of one-dimensional motion provided in an embodiment of the present application; Figure 2 is a stereoscopic diagram of a calibration device 100 capable of two-dimensional motion provided in an embodiment of the present application; Figure 3: is a stereoscopic diagram of the calibration device 100 provided in the embodiment of the present application and the target part 200 in cooperation. The calibration device 100 provided in the embodiment of the present application may include a mounting frame 110, a driving component 120 and a sensing component 130. The driving component 120 and the sensing component 130 may be respectively arranged on the mounting frame 110. The driving component 120 may include a driving member 121 and a stroke sensor. The sensing component 130 may be connected to the driving output end of the driving member 121. The sensing component 130 may be configured to move toward the target part 200 to be calibrated under the drive of the driving member 121 to sense at least one detection point on the target part 200. The stroke sensor may be configured to detect the driving stroke of the driving component 120. The driving stroke may be used to determine the size of the target part 200 in combination with the initial position of the sensing component 130.

[0046] The mounting frame 110 can be a frame known to those skilled in the art, which is composed of parts such as plates and rods and can integrate the driving component 120 and the sensing component 130.

[0047] The driving member 121 may be pneumatic or electric, and preferably an electrically driven driving member 121 such as a servo motor, a linear motor, a stepper motor, etc. A travel sensor may be built into the driving member 121, and the travel sensor may be an absolute encoder or a travel sensor, etc.

[0048] The sensing component 130 may include sensors and other components. It can detect the position of the detection point on the target part 200 to be calibrated in a contact or non-contact manner. The sensing component 130 can be directly connected to the driving output end of the driving member 121, or it can be connected to the output end of the driving member 121 through a transmission component, etc. Driven by the driving member 121, the sensing component 130 can perform one-dimensional or multi-dimensional motion. Taking one-dimensional motion as an example, the driving member 121 can be a rotating motor, and its torque output end can be connected to the sensing component 130 through a screw nut assembly. When the rotating motor is running, the sensing component 130 can move in a straight line, that is, one-dimensional motion. Taking two-dimensional motion as an example, on the basis of one-dimensional motion, a set of driving components 120 can be configured for the calibration device 100. The driving component 120 can have a structure similar to the driving component 120 in the one-dimensional motion, and through a connection method known to those skilled in the art, the driving component 120 is used to drive all components except itself to make them move in a direction perpendicular to the movement direction of the sensing component 130 in the one-dimensional motion, so that two-dimensional motion can be achieved.

[0049] Regarding the calibration process and principle of the target part 200, taking the measurement of the width from the blade to the back of a rectangular tool as an example, it is usually only necessary to detect the positions of the two vertices distributed along the width direction of the tool. Then, by controlling the driving member 121 to drive the sensing component 130 to move to one of the vertices, after the sensing component 130 contacts the vertex, the proximity sensor in the sensing component 130 senses that the two have contacted, and the driving stroke of the driving member 121 (for example: the rotation angle of the motor) can be known through the stroke sensor in the driving component 120. Then, using an external processor or a processor configured in the calibration device 100, combined with the connection relationship and transmission relationship between the driving member 121 and the sensing component 130, the moving distance and direction of the sensing component 130 can be calculated. Combined with the initial position of the sensing component 130, the position of the vertex can be obtained. The position can be expressed in a rectangular coordinate system. Correspondingly, the position of another vertex can be obtained in the same way. Finally, the width of the tool can be calculated based on the positions of the two vertices. If the width of the tool is too small, it is necessary to adjust the installation position of the tool on the robot and other automated equipment to ensure the processing accuracy of the robot and other automated equipment.

[0050] In the above implementation process, the driving component 120 in the calibration device 100 drives the sensing component 130 to sense the target part 200 to be calibrated, and the robot keeps still to measure the target part 200, thereby avoiding the problem of inaccurate measurement results due to the low accuracy of the robot's motion trajectory, thereby improving the accuracy of measuring the target part 200 to be calibrated, and correspondingly improving the accuracy of calibrating the target part 200 to be calibrated. Finally, the accuracy of processing by robots and other automation equipment using the target part 200 is improved.

[0051] Please refer to Figure 4 , Figure 4 It is a side view of the calibration device 100 provided in an embodiment of the present application. In some optional embodiments, the mounting frame 110 may include a bottom plate 111, a top plate 112, and a side plate 113. The bottom plate 111 may be arranged opposite to the top plate 112. The side plate 113 may be connected to the bottom plate 111 and the top plate 112, respectively, and may form a accommodating space. The sensing component 130 may be connected to the driving component 121 through a connecting member 140, and the connecting member 140 is located in the accommodating space. The driving component 120 is located on the side of the bottom plate 111 facing away from the connecting member 140, and the sensing component 130 is located on the side of the top plate 112 facing away from the connecting member 140.

[0052] That is to say, the bottom plate 111, the top plate 112 and the side plate 113 can form a box structure in the shape of a rectangular parallelepiped, and the box can have a storage space inside. The connecting member 140 is located in the storage space, and its two ends are respectively connected to the driving member 121 and the sensing component 130. Since the driving member 121 and the sensing component 130 are respectively located outside the storage space, hollow parts or through holes can be opened on the bottom plate 111 and the top plate 112 respectively to connect with the connecting member 140. The box structure formed by the bottom plate 111, the top plate 112 and the side plate 113 is usually a closed structure to a certain extent, so it can protect the components inside the storage space.

[0053] The connection between the connecting member 140 and the driving member 121 may also be that the connecting member 140 is directly connected to the driving member 121, or may be connected through a transmission assembly.

[0054] In the above implementation process, the box structure is formed by the bottom plate 111, the top plate 112 and the side plate 113, and some components are arranged in the accommodating space, which plays a certain role in dust prevention for these components, that is, it plays a role in protecting these components, thereby ensuring the calibration accuracy of the calibration device 100 to a certain extent.

[0055] Please refer to Figure 5 , Figure 5 1 is a front view of the calibration device 100 provided in the embodiment of the present application. In some optional embodiments, a zero point sensor 150 may be provided in the accommodation space. The zero point sensor 150 may be connected to the side plate 113 and may be configured to detect and calibrate the initial position of the connector 140.

[0056] The zero point sensor 150 can detect the current position of the connector 140 by physical contact or electromagnetic induction, and send the detection result to the external sensor or the processor configured in the calibration device 100. After receiving the detection result, the processor compares it with the preset origin position. If the distance between the two is too large, it means that the error between the detected current position and the preset origin position is large. In this case, the processor can calibrate the origin position by itself according to the set program, or send an alarm signal to the user so that the user can manually calibrate the initial position of the connector 140.

[0057] Since the connecting member 140 has a certain connection relationship with the driving member 121 and the sensing component 130, the initial positions of the sensing component 130 and the driving member 121 can be determined by the initial position of the connecting member 140. After the initial position of the connecting member 140 is calibrated, the initial positions of the driving member 121 and the sensing component 130 are also calibrated respectively.

[0058] Of course, grating encoders and magnetic grating encoders can also be used to detect, record and calibrate the initial position.

[0059] In the above implementation process, the calibration device 100 is configured with a zero point sensor 150 to calibrate the initial position of the connecting member 140, so that the initial positions of the driving member 121 and the sensing component 130 are also calibrated respectively, so that the result of calculating the size of the target member 200 using the initial position is more accurate. That is, the accuracy of measuring the target member 200 is further improved.

[0060] Please combine Figure 4 Reference Figure 5 , Figure 5 1 is a front view of the calibration device 100 provided in an embodiment of the present application. In some optional embodiments, the drive assembly 120 may further include a motion conversion assembly 122, and the drive member 121 may include a rotary drive member. The input end of the motion conversion assembly 122 may be connected to the power output end of the rotary drive member, and the output end of the motion conversion assembly 122 may be connected to the connector 140. A guide rail 160 may be provided on the side panel 113, and the connector 140 may have a sliding portion 141 adapted to the guide rail 160, and the sliding portion 141 may be slidably connected to the guide rail 160.

[0061] The rotary drive member may be a drive member 121 capable of outputting torque, such as a rotary motor. Accordingly, the motion conversion assembly 122 may be an assembly capable of converting the torque outputted by the rotary drive member into other forms of motion. For example, a screw nut assembly may convert the torque outputted by the rotary drive member into linear motion. On this basis, a guide rail 160 may be provided on the side plate 113, and the guide direction of the guide rail 160 is consistent with the direction of the linear motion converted by the screw nut.

[0062] In the above implementation process, the sensing component 130 is driven by the combination of the rotating driving member and the motion conversion component 122, and the corresponding guide rail 160 is provided to cooperate with the sliding part 141 on the connecting member 140, so that the movement of the connecting member 140 is further constrained in the linear direction, that is, the movement of the connecting member 140 in other directions is limited, thereby better ensuring that the movement direction of the sensing component 130 is linear motion. The accuracy of the motion trajectory of the sensing component 130 is improved, and finally the accuracy of the calibration of the target part 200 to be calibrated is further improved.

[0063] Please refer to Figures 3 to 5In some optional embodiments, the sensing component 130 may include a sensing member 131 and a spray member 132. The spray member 132 may be disposed on the sensing member 131. The sensing member 131 may be configured to sense at least one detection point on the target part 200 to be calibrated. The spray member may be configured to clean the target part 200 by spraying a medium onto the target part 200 when the sensing component 130 approaches the target part 200.

[0064] The spray member 132 may be a spray head connected to a medium container, and the medium may be gas or liquid. When the sensing component 130 is close to the target part 200, the spray port of the spray member 132 may be directed toward the target part 200. When the sensing component 130 is close to the target part 200, the spray member 132 may spray gas or liquid toward the target part 200 to clean the surface of the target part 200 facing the sensing component 130.

[0065] In the above implementation process, the injection member 132 capable of spraying a medium is arranged in the sensing component 130, and when the sensing component 130 is close to the target part 200, the injection member 132 is used to spray the medium toward the target part 200, so as to clean the target part 200. After the target part 200 is cleaned, it is measured, which further improves the accuracy of measuring the target part 200, thereby further improving the accuracy of calibrating the target part 200 to be calibrated.

[0066] In some optional embodiments, the sensing element 131 may include a contact sensor and / or a non-contact sensor.

[0067] Contact sensors can be touch-type micro-motion precision sensors and displacement sensors. Non-contact sensors can be inductive sensors, eddy current sensors, infrared rangefinders, laser displacement sensors or laser rangefinders, etc.

[0068] In the above implementation process, by using a contact sensor and / or a non-contact sensor as the sensing element 131 in the sensing assembly 130, contact measurement and / or non-contact measurement of the target part 200 is achieved. The contact measurement method can further improve the measurement accuracy, and the non-contact measurement method can avoid damage and contamination to the surface of the target part 200 and the sensing element 131 due to direct contact.

[0069] Based on the same concept, an embodiment of the present application provides a calibration system, which may include a processor and the described calibration device 100. The processor may be electrically connected to the sensing component 130 and the stroke sensor, respectively. The processor may be configured to determine the size of the target part 200 according to the driving stroke and the initial position of the sensing component 130.

[0070] The above implementation process may be the same as that described above with respect to the embodiment of the calibration device 100 , and will not be described in detail here.

[0071] Please refer to Figure 6 , Figure 6 is a flow chart of a calibration method based on a calibration device provided in an embodiment of the present application. Based on the same concept, an embodiment of the present application provides a calibration method based on a calibration device, which can be used for a calibration device. The calibration device may include a drive component and a sensing component, and the drive component may include a drive member and a travel sensor. The method may be executed by an external sensor or a processor configured in the calibration device, and may include:

[0072] Step S110: Determine the initial position of the sensing component.

[0073] In the above step S110, taking the calibration device of one-dimensional motion as an example, the initial position of the sensing component can be the final position reached by the sensing component moving in the direction away from the target part, or it can be a certain position of the sensing component in its linear motion stroke, that is, the position of the sensing component before it is driven by the driving component to move toward the target part. The specific method of confirming the initial position can be to establish a rectangular coordinate system with the position of the sensing component as the origin before the sensing component is driven by the driving component to move toward the target part.

[0074] Step S130: Control the sensing component to move toward the target part to be calibrated, and sense at least one detection point on the target part.

[0075] In the above step S130, driven by the driving member, the sensing component can perform one-dimensional or multi-dimensional motion. The specific sensing method can be the same as that described in the above embodiment of the calibration device, and will not be repeated here.

[0076] Step S150: Acquire the driving stroke of the driving component corresponding to the detection point detected by the stroke sensor.

[0077] In the above step S150, the driving stroke of the driving component can be the rotation angle of the servo motor, stepper motor, etc., or the linear motion length of the linear motor, etc. The specific implementation can be the same as that described above with respect to the embodiment of the calibration device, and will not be repeated here.

[0078] Step S170: Determine the size of the target part according to the initial position and the driving stroke.

[0079] In the above step S170, the moving distance and direction of the sensing component can be calculated according to the connection relationship and transmission relationship between the driving component and the sensing component. The distance and direction can be converted into a vector of the coordinate system established in the above step S110, and the position coordinates of the detection point in the coordinate system are finally determined. The size of the target part is calculated according to the position coordinates.

[0080] The above implementation process may be the same as that described above in relation to the embodiment of the calibration device, and will not be described in detail here.

[0081] Please refer to Figure 7 , Figure 7 is a specific flow chart of step S170 in the calibration method based on the calibration device provided in an embodiment of the present application. In some optional implementations, step S170 may include:

[0082] Step S171: Determine the position of the detection point according to the initial position and the driving stroke.

[0083] Step S172: Calculate the size of the target part according to the position of the detection point.

[0084] In the above steps S171 and S172, that is, the rectangular coordinate system established according to the initial position can be used to determine the position coordinates of the detection point on the target part in combination with the movement distance and direction of the sensing component. Similarly, taking a rectangular tool as an example, the two vertices distributed along the width direction are used as detection points to calculate the width from the blade to the back of the blade.

[0085] In the above implementation process, the position of the detection point on the target part is calculated by using the initial position and the driving stroke of the driving member, so that the size of the target part can be calculated according to the position of the detection point.

[0086] Please refer to Figure 8 , Figure 8 This is a specific flow chart of step S110 in the calibration method based on the calibration device provided in the embodiment of the present application. In some optional implementations, the calibration device may further include a zero point sensor.

[0087] Accordingly, step S110 may include:

[0088] Step S111: Detecting the actual position of the sensing component.

[0089] In the above step S111, the actual position of the sensing component may be the position of the sensing component before being driven by the driving component to sense the target component.

[0090] Step S112: Determine whether the distance between the actual location and the preset starting point is less than a threshold.

[0091] If the distance is determined to be less than the threshold, step S113 is executed: the actual position or the preset starting position is used as the initial position.

[0092] In the above steps S112 and S113, when the distance between the actual position and the preset starting position is not less than the threshold, it means that the actual position has a large deviation from the preset starting position. When the distance between the actual position and the preset starting position is less than the threshold, it means that the actual position has a small deviation from the preset starting position. When the deviation is small, either the actual position or the preset starting position can be used as the initial position required for subsequent calculations.

[0093] Of course, as another implementation, the midpoint of the actual position or the preset starting position, that is, the average value of its position coordinates, may be used as the initial position required for subsequent calculations.

[0094] In the above implementation process, the current position of the connecting part is detected by the zero point sensor, and only when the deviation between the current position and the preset starting position is small, either of the two is used as the initial position required for subsequent calculation. The result of calculating the size of the target part using the initial position is more accurate. In other words, the accuracy of measuring the target part is further improved.

[0095] In summary, the calibration device 100, system and calibration method based on the calibration device 100 provided by each embodiment of the present application, by driving the sensing component 130 in the calibration device 100 to sense the target part 200 to be calibrated, while the robot remains stationary to perform measurements, thereby improving the accuracy of measuring the target part 200 to be calibrated, thereby improving the accuracy of calibrating the target part 200 to be calibrated. The box structure formed by the bottom plate 111, the top plate 112 and the side plate 113, and arranging some parts in the accommodating space, play a role in protecting these parts, thereby ensuring the calibration accuracy of the calibration device 100 to a certain extent. By configuring the calibration device 100 with a zero point sensor 150 to calibrate the initial position of the connecting member 140, the accuracy of measuring the target part 200 is also further improved. By providing a corresponding guide rail 160 on the side panel 113 to cooperate with the sliding part 141 on the connecting member 140, the movement of the connecting member 140 in other directions is limited, thereby better ensuring that the movement direction of the sensing component 130 is linear motion. By using the injection member 132 to spray the medium to the target part 200 to clean the target part 200, the calibration accuracy of the target part 200 to be calibrated is further improved.

[0096] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A calibration device, characterized in that: It includes a mounting frame, a driving assembly, and a sensing assembly; The driving component and the sensing component are respectively arranged on the mounting frame; The driving assembly includes a driving member and a travel sensor; The sensing component is connected to the driving output end of the driving member; The sensing component is configured to move toward the target part to be calibrated under the drive of the driving member to sense at least one detection point on the target part; The stroke sensor is configured to detect the driving stroke of the driving assembly; The driving stroke is used to determine the size of the target part in combination with the initial position of the sensing component.

2. The calibration device according to claim 1, characterized in that: The mounting frame includes a bottom plate, a top plate and side plates; The bottom plate is arranged opposite to the top plate; The side plates are respectively connected to the bottom plate and the top plate, and form a receiving space; The sensing component is connected to the driving member via a connecting member, and the connecting member is located in the accommodating space; The driving component is located on a side of the bottom plate facing away from the connecting member, and the sensing component is located on a side of the top plate facing away from the connecting member.

3. The calibration device according to claim 2, characterized in that: A zero point sensor is also provided in the accommodating space; The zero point sensor is connected to the side plate and is configured to detect and calibrate the initial position of the connecting member.

4. The calibration device according to claim 2, characterized in that: The drive assembly further includes a motion conversion assembly, and the drive member includes a rotational drive member; The input end of the motion conversion component is connected to the power output end of the rotary drive member, and the output end of the motion conversion component is connected to the connecting member; The side plate is provided with a guide rail, and the connecting member has a sliding portion adapted to the guide rail, and the sliding portion is slidably connected to the guide rail.

5. The calibration device according to any one of claims 1 to 4, characterized in that: The induction component includes an induction component and an injection component; The injection component is arranged on the induction component; The sensing element is configured to sense at least one detection point on the target element to be calibrated; The spraying member is configured to clean the target part by spraying a medium toward the target part when the sensing component approaches the target part.

6. The calibration device according to claim 5, characterized in that: The sensing element includes a contact sensor and / or a non-contact sensor.

7. A calibration system, characterized in that: comprising a processor and a calibration device according to any one of claims 1 to 6; The processor is electrically connected to the sensing component and the travel sensor respectively; The processor is configured to determine a size of the target part according to the driving stroke and an initial position of the sensing component.

8. A calibration method based on a calibration device, characterized in that: Applied to a calibration device; wherein the calibration device comprises a driving component and a sensing component, and the driving component comprises a driving member and a travel sensor; The method comprises: determining an initial position of the sensing component; Controlling the sensing component to move toward the target part to be calibrated, and sensing at least one detection point on the target part; acquiring a driving stroke of the driving component corresponding to the detection point detected by the stroke sensor; and The size of the target part is determined according to the initial position and the driving stroke.

9. The method according to claim 8, characterized in that Determining the size of the target part according to the initial position and the driving stroke includes: Determine the position of the detection point according to the initial position and the driving stroke; and The size of the target part is calculated according to the position of the detection point.

10. The method according to claim 8, characterized in that in, The calibration device also includes a zero point sensor; Determining the initial position of the sensing component includes: Detecting the actual position of the sensing component; Determine whether the distance between the actual position and the preset starting position is less than a threshold; If it is determined that the distance is less than the threshold, the actual position or the preset starting position is used as the initial position.

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