Industrial robot coordinate system calibration module

Abstract

The invention discloses an industrial robot coordinate system calibration module, and belongs to the technical field of positioning equipment, the industrial robot coordinate system calibration module comprises a base, four corners of the upper surface of the base are fixedly connected with supporting rods, the upper ends of the four supporting rods are fixedly connected with a same fixing frame, and two sides of the lower surface of the fixing frame are fixedly connected with fixing plates; a first threaded lead screw is rotationally connected between the two fixing plates, the surface of the first threaded lead screw is sleeved with a first movable seat in a threaded mode, and the lower surface of the first movable seat is fixedly connected with a transverse shaft calibration assembly. By arranging the longitudinal axis calibration assembly, accurate calibration of the working height of the industrial robot is ensured, by arranging the transverse axis calibration assembly, all calibration points of the industrial robot are accurately positioned, complexity and errors of manual operation are reduced, calibration efficiency and accuracy are improved, and the calibration precision is improved. And meanwhile, equipment damage caused by errors is effectively avoided, and by arranging the adjusting assembly, the stability of the industrial robot during operation is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning equipment, and in particular to an industrial robot coordinate system calibration module. Background Art

[0002] With the continuous improvement of the degree of automation in the manufacturing industry, industrial robots have become an indispensable and important equipment in modern industrial production. They can perform high-precision and high-efficiency tasks in various complex environments, greatly improving production efficiency and product quality.

[0003] The patent with publication number CN216577864U and name of an industrial robot coordinate system calibration module discloses an industrial robot coordinate system calibration module, which includes a support assembly, a chuck and a coordinate column. The support assembly includes a base plate, a column and a calibration disk. The top of the base plate is provided with a column, and the top of the column is provided with a calibration disk; the top of the base plate is fixedly connected with a chuck, the column is clamped in the inside of the chuck, and the inside of the chuck is provided with a fastening bolt, the bottom of the calibration disk is fixedly connected with a threaded sleeve, the column and the threaded sleeve are threadedly connected; the inside of the calibration disk is plugged with a coordinate column. The industrial robot coordinate system calibration module provided by the present invention solves the problem of fixed structure of the existing industrial robot coordinate system calibration module. This patented technology has shortcomings in its actual application process. The equipment has a low degree of automation and is more dependent on the operator's experience and skills in actual use, which affects the accuracy and consistency of the calibration. At the same time, due to the equipment's insufficient ability to automatically process the flatness of the workbench, manual intervention is often required for adjustment, which not only increases the complexity of the operation, but also prolongs the calibration cycle and reduces overall work efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an industrial robot coordinate system calibration module.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A coordinate system calibration module for an industrial robot comprises a base, wherein the four corners of the upper surface of the base are fixedly connected to support rods, the upper ends of the four support rods are fixedly connected to the same fixing frame, both sides of the lower surface of the fixing frame are fixedly connected to fixing plates, a first threaded screw is rotatably connected between the two fixing plates, a first movable seat is threadedly sleeved on the surface of the first threaded screw, a transverse axis calibration component is fixedly connected to the lower surface of the first movable seat, a support seat is fixedly connected to the middle end of the upper surface of the base, a support shaft is rotatably connected to the inside of the support seat, the upper end of the support shaft is fixedly connected to a workbench, a longitudinal axis calibration component is fixedly connected to one side of the upper surface of the workbench, adjustment components are fixedly connected to both sides of the upper surface of the base, and a transverse axis scale is provided on the upper surface of the workbench.

[0007] As a further improvement of the present invention, the horizontal axis calibration assembly includes a mounting frame fixedly connected to the lower surface of the first movable seat, the mounting frame is rotatably connected to a second threaded screw inside, the surface of the second threaded screw is threadedly sleeved with a second movable seat, the second movable seat is movably connected to the mounting frame, the lower end of the second movable seat is fixedly connected to an electric push rod, the telescopic end of the electric push rod is fixedly connected to a fixed block, one side of the lower surface of the fixed block is fixedly connected to a sleeve rod, the inside of the sleeve rod is fixedly connected to a buffer spring, the lower end of the buffer spring is fixedly connected to a calibration head, the calibration head is movably connected to the sleeve rod, and the other side of the lower surface of the fixed block is fixedly connected to the first infrared rangefinder.

[0008] As a further improvement of the present invention, the longitudinal axis calibration assembly includes a fixed rod fixedly connected to one side of the upper surface of the workbench, the surface of the fixed rod is sleeved with a lifting block, one side of the surface of the lifting block is fixedly connected to a second infrared rangefinder, one of the support rods is internally rotatably connected to a third threaded screw, the surface of the third threaded screw is threadedly sleeved with a connecting block, one side of the connecting block is fixedly connected to the lifting block, and the other side of the upper surface of the workbench is fixedly connected to a longitudinal axis rod.

[0009] As a further improvement of the present invention, the adjustment assembly includes two first rotating seats fixedly connected to both sides of the upper surface of the base, the upper end of the first rotating seat is fixedly connected to a hydraulic cylinder, the upper end of the hydraulic cylinder is fixedly connected to a second rotating seat, and the upper end of the second rotating seat is fixedly connected to the workbench.

[0010] As a further improvement of the present invention, two limiting rods are fixedly connected between the two fixing plates, and limiting grooves matching the limiting rods are provided on both sides of the first movable seat.

[0011] As a further improvement of the present invention, a first servo motor is fixedly connected to one side of one of the fixed plates, and a power end of the first servo motor is fixedly connected to the first threaded screw. A second servo motor is fixedly connected to one end of the mounting frame, and a power end of the second servo motor is fixedly connected to the second threaded screw.

[0012] As a further improvement of the present invention, a third servo motor is fixedly connected to one side of the upper surface of the fixing frame, and a power end of the third servo motor is fixedly connected to the third threaded screw.

[0013] As a further improvement of the present invention, a control panel is fixedly connected to one side of the support rod.

[0014] Beneficial effects of the present invention:

[0015] By setting up the longitudinal axis calibration component, when in use, the third servo motor is started to drive the third threaded screw to achieve precise movement of the lifting block and the second infrared rangefinder on the fixed rod, which cooperates with the longitudinal axis rod to ensure accurate calibration of the working height of the industrial robot.

[0016] By setting up a horizontal axis calibration component, when in use, the first servo motor and the second servo motor are started to drive the first threaded screw and the second threaded screw respectively, thereby achieving precise movement of the calibration head in the X-axis and Y-axis directions, thereby being able to accurately locate each calibration point of the industrial robot, reducing the complexity and errors of manual operation, and improving calibration efficiency and accuracy.

[0017] By setting up a calibration head, when in use, the calibration head is pushed to move by an electric push rod. When the calibration head contacts the industrial robot, it will compress the buffer spring and move inside the sleeve rod, effectively avoiding equipment damage caused by errors. This device not only extends the service life of the equipment, but also improves the safety of operation.

[0018] By setting up the adjustment component, when in use, the first infrared rangefinder can collect the height data of the workbench during the calibration process, and then calculate the flatness of the workbench, providing accurate data support for the adjustment of the workbench. At the same time, the hydraulic cylinder is started to push the workbench and the support shaft to change the angle in the support seat, thereby automatically adjusting the workbench to a completely horizontal position, ensuring the stability and accuracy of the industrial robot during operation.

[0019] In summary, the present invention has the beneficial effects of high-precision calibration, automation and intelligence, workbench flatness detection and adjustment, improved production efficiency and product quality, and strong adaptability, which significantly improves the accuracy and stability of industrial robots in the production process, thereby improving product quality and consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1This is a structural schematic diagram of an industrial robot coordinate system calibration module proposed by the present invention.

[0021] Figure 2 The present invention is a schematic diagram of the structure of a transverse axis calibration component of an industrial robot coordinate system calibration module.

[0022] Figure 3 This is a structural schematic diagram of a calibration head of an industrial robot coordinate system calibration module proposed by the present invention.

[0023] Figure 4 This is a structural schematic diagram of a second movable seat of an industrial robot coordinate system calibration module proposed by the present invention.

[0024] Figure 5 This is a structural schematic diagram of a longitudinal axis calibration component of an industrial robot coordinate system calibration module proposed by the present invention.

[0025] Figure 6 The present invention is a schematic diagram of the structure of an adjustment component of an industrial robot coordinate system calibration module.

[0026] In the figure: 1 base, 2 support rod, 3 fixed frame, 4 fixed plate, 5 first threaded screw, 6 first movable seat, 7 support seat, 8 support shaft, 9 workbench, 10 horizontal axis scale, 11 mounting frame, 12 second threaded screw, 13 second movable seat, 14 electric push rod, 15 fixed block, 16 sleeve rod, 17 buffer spring, 18 calibration head, 19 first infrared rangefinder, 20 fixed rod, 21 lifting block, 22 second infrared rangefinder, 23 third threaded screw, 24 connecting block, 25 longitudinal axis rod, 26 first rotating seat, 27 hydraulic cylinder, 28 second rotating seat, 29 limit rod, 30 limit slot, 31 first servo motor, 32 second servo motor, 33 third servo motor, 34 control panel. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0028] Reference Figure 1-Figure 6A coordinate system calibration module for an industrial robot comprises a base 1, wherein four corners of the upper surface of the base 1 are fixedly connected with support rods 2, the upper ends of the four support rods 2 are fixedly connected with the same fixing frame 3, both sides of the lower surface of the fixing frame 3 are fixedly connected with fixing plates 4, a first threaded screw 5 is rotatably connected between the two fixing plates 4, a first movable seat 6 is threadedly sleeved on the surface of the first threaded screw 5, a horizontal axis calibration component is fixedly connected to the lower surface of the first movable seat 6, a support seat 7 is fixedly connected to the middle end of the upper surface of the base 1, a support shaft 8 is rotatably connected inside the support seat 7, a workbench 9 is fixedly connected to the upper end of the support shaft 8, a longitudinal axis calibration component is fixedly connected to one side of the upper surface of the workbench 9, adjustment components are fixedly connected to both sides of the upper surface of the base 1, and a horizontal axis scale 10 is arranged on the upper surface of the workbench 9.

[0029] In the present invention, the horizontal axis calibration assembly includes a mounting frame 11 fixedly connected to the lower surface of the first movable seat 6. The mounting frame 11 is a solid metal structure, which ensures the stable rotation of the second threaded screw 12. The internal rotation of the mounting frame 11 is connected to the second threaded screw 12. The precision machining of the second threaded screw 12 ensures the smoothness and accuracy of the thread, thereby realizing the smooth movement of the second movable seat 13. The surface of the second threaded screw 12 is threadedly sleeved with the second movable seat 13. The second movable seat 13 can accurately move along the second threaded screw 12 through precise thread matching. The second movable seat 13 is movably connected to the mounting frame 11, and the lower end of the second movable seat 13 is fixedly connected to an electric push rod 14. The electric push rod 14 can quickly move The responsiveness and precise control make the height adjustment of the calibration head 18 more convenient. The telescopic end of the electric push rod 14 is fixedly connected to a fixed block 15, and a sleeve rod 16 is fixedly connected to one side of the lower surface of the fixed block 15. The sleeve rod 16 provides stable support and guidance for the calibration head 18. A buffer spring 17 is fixedly connected inside the sleeve rod 16. The buffer spring 17 effectively absorbs the impact force during the calibration process and protects the calibration head 18 and the workbench 9 from damage. The lower end of the buffer spring 17 is fixedly connected to the calibration head 18, and the calibration head 18 is movably connected to the sleeve rod 16. The other side of the lower surface of the fixed block 15 is fixedly connected to a first infrared rangefinder 19. The high-precision measurement of the first infrared rangefinder 19 provides key data support for the calibration process.

[0030] The longitudinal axis calibration assembly includes a fixed rod 20 fixedly connected to one side of the upper surface of the workbench 9. The stable installation of the fixed rod 20 provides reliable support for the lifting block 21. The lifting block 21 is sleeved on the surface of the fixed rod 20. The lifting block 21 slides smoothly along the fixed rod 20 to achieve precise adjustment in the Z-axis direction. A second infrared rangefinder 22 is fixedly connected to one side of the surface of the lifting block 21. A third threaded screw 23 is rotatably connected to the inside of one of the support rods 2. The surface of the third threaded screw 23 is threadedly sleeved with a connecting block 24. The threaded cooperation between the connecting block 24 and the third threaded screw 23 ensures the precise movement of the lifting block 21. One side of the connecting block 24 is fixedly connected to the lifting block 21. The other side of the upper surface of the workbench 9 is fixedly connected with a longitudinal axis rod 25. The longitudinal axis rod 25 serves as a reference point in the Z-axis direction and provides a measurement target for the second infrared rangefinder 22.

[0031] The adjustment component includes two first rotating seats 26 fixedly connected to both sides of the upper surface of the base 1. The first rotating seat 26 allows the hydraulic cylinder 27 to rotate within a certain range to adapt to the adjustment requirements of the workbench 9. The upper end of the first rotating seat 26 is fixedly connected to the hydraulic cylinder 27. The strong thrust of the hydraulic cylinder 27 enables the workbench 9 to smoothly adjust the angle. The upper end of the hydraulic cylinder 27 is fixedly connected to the second rotating seat 28. The upper end of the second rotating seat 28 is fixedly connected to the workbench 9. This connection method enables the workbench 9 to smoothly adjust the angle as the hydraulic cylinder 27 is extended or retracted.

[0032] Two limit rods 29 are fixedly connected between the two fixed plates 4. Limit grooves 30 adapted to the limit rods 29 are provided on both sides of the first movable seat 6. The limit rods 29 limit the movement range of the first movable seat 6 to ensure its stable movement in the X-axis direction. A first servo motor 31 is fixedly connected to one side of one of the fixed plates 4. The power end of the first servo motor 31 is fixedly connected to the first threaded screw 5. The first servo motor 31 is precisely controlled to drive the first threaded screw 5 to rotate. A second servo motor 32 is fixedly connected to one end of the mounting frame 11. The second servo motor 32 is fixedly connected to one end of the mounting frame 11. The power end of the motor 32 is fixedly connected to the second threaded screw 12, and the second servo motor 32 is precisely controlled to drive the second threaded screw 12 to rotate. A third servo motor 33 is fixedly connected to one side of the upper surface of the fixed frame 3, and the power end of the third servo motor 33 is fixedly connected to the third threaded screw 23, and the third servo motor 33 is precisely controlled to drive the third threaded screw 23 to rotate. A control panel 34 is fixedly connected to one side of the support rod 2, and the control panel 34 integrates all operation buttons and display screens, so that the operator can easily control and monitor the entire calibration process.

[0033] When the present invention is used, firstly, the third servo motor 33 is started to drive the third threaded screw 23 to rotate and drive the connecting block 24 to move in the support rod 2, and the connecting block 24 drives the lifting block 21 and the second infrared rangefinder 22 to move on the surface of the fixed rod 20 until it moves to the working height of the industrial robot on the workbench 9, and the second infrared rangefinder 22 is started to illuminate the corresponding longitudinal axis rod 25 to calibrate the coordinates of the Z axis, and then the first servo motor 31 is started to drive the first threaded screw 5 to rotate and drive the first movable seat 6 to move along the X axis on the two limit rods 29, and at the same time, the second servo motor 32 is started to drive the second threaded screw 12 to rotate. Drive the second movable seat 13 to move along the Y axis, thereby changing the position of the calibration head 18 by moving the first movable seat 6 and the second movable seat 13, start the electric push rod 14 to drive the fixed block 15 and the calibration head 18 to move downward, start the first infrared rangefinder 19 under the fixed block 15 to measure the height of the calibration head 18 until the calibration head 18 reaches a suitable height. The position at this time is the first calibration point. When the calibration head 18 contacts the industrial robot, it will compress the buffer spring 17 and move inside the sleeve rod 16 to avoid damage. Repeat the above steps to locate other calibration points until the calibration of the industrial robot coordinate system is completed.

[0034] During the calibration process, the first infrared rangefinder 19 can collect the height data of the workbench 9, and then calculate the flatness of the workbench 9, and start several hydraulic cylinders 27 to push the workbench 9 and the support shaft 8 to change the angle in the support seat 7 until the workbench 9 is adjusted to a completely horizontal position.

[0035] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An industrial robot coordinate system calibration module, comprising a base (1), characterized in that: The four corners of the upper surface of the base (1) are fixedly connected with support rods (2), the upper ends of the four support rods (2) are fixedly connected with the same fixing frame (3), the two sides of the lower surface of the fixing frame (3) are fixedly connected with fixing plates (4), a first threaded screw (5) is rotatably connected between the two fixing plates (4), the surface of the first threaded screw (5) is threadedly sleeved with a first movable seat (6), the lower surface of the first movable seat (6) is fixedly connected with a horizontal axis calibration component, the middle end of the upper surface of the base (1) is fixedly connected with a support seat (7), the interior of the support seat (7) is rotatably connected with a support shaft (8), the upper end of the support shaft (8) is fixedly connected with a workbench (9), one side of the upper surface of the workbench (9) is fixedly connected with a longitudinal axis calibration component, both sides of the upper surface of the base (1) are fixedly connected with adjustment components, and the upper surface of the workbench (9) is provided with a horizontal axis scale (10).

2. An industrial robot coordinate system calibration module according to claim 1, characterized in that: The transverse axis calibration component comprises a mounting frame (11) fixedly connected to the lower surface of the first movable seat (6); a second threaded screw (12) is rotatably connected inside the mounting frame (11); a second movable seat (13) is threadedly sleeved on the surface of the second threaded screw (12); the second movable seat (13) is movably connected to the mounting frame (11); an electric push rod (14) is fixedly connected to the lower end of the second movable seat (13); a fixed block (15) is fixedly connected to the telescopic end of the electric push rod (14); a sleeve rod (16) is fixedly connected to one side of the lower surface of the fixed block (15); a buffer spring (17) is fixedly connected to the inside of the sleeve rod (16); a calibration head (18) is fixedly connected to the lower end of the buffer spring (17); the calibration head (18) is movably connected to the sleeve rod (16); and a first infrared rangefinder (19) is fixedly connected to the other side of the lower surface of the fixed block (15).

3. The industrial robot coordinate system calibration module according to claim 1, characterized in that: The longitudinal axis calibration assembly comprises a fixed rod (20) fixedly connected to one side of the upper surface of the workbench (9); a lifting block (21) is sleeved on the surface of the fixed rod (20); a second infrared rangefinder (22) is fixedly connected to one side of the surface of the lifting block (21); a third threaded screw (23) is rotatably connected to the inside of one of the support rods (2); a connecting block (24) is threadedly sleeved on the surface of the third threaded screw (23); one side of the connecting block (24) is fixedly connected to the lifting block (21); and the other side of the upper surface of the workbench (9) is fixedly connected to a longitudinal axis rod (25).

4. The industrial robot coordinate system calibration module according to claim 1, characterized in that: The adjustment assembly comprises two first rotating seats (26) fixedly connected to both sides of the upper surface of the base (1); the upper end of the first rotating seat (26) is fixedly connected to a hydraulic cylinder (27); the upper end of the hydraulic cylinder (27) is fixedly connected to a second rotating seat (28); and the upper end of the second rotating seat (28) is fixedly connected to the workbench (9).

5. The industrial robot coordinate system calibration module according to claim 1, characterized in that: Two limiting rods (29) are fixedly connected between the two fixed plates (4), and limiting grooves (30) matching the limiting rods (29) are provided on both sides of the first movable seat (6).

6. The industrial robot coordinate system calibration module according to claim 2, characterized in that: A first servo motor (31) is fixedly connected to one side of one of the fixing plates (4), and a power end of the first servo motor (31) is fixedly connected to a first threaded screw (5); a second servo motor (32) is fixedly connected to one end of the mounting frame (11), and a power end of the second servo motor (32) is fixedly connected to a second threaded screw (12).

7. The industrial robot coordinate system calibration module according to claim 3, characterized in that: A third servo motor (33) is fixedly connected to one side of the upper surface of the fixing frame (3), and a power end of the third servo motor (33) is fixedly connected to the third threaded screw (23).

8. The industrial robot coordinate system calibration module according to claim 1, characterized in that: A control panel (34) is fixedly connected to one side of the support rod (2).

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