Industrial robot calibration length measuring device based on dial indicator
Through the industrial robot calibration and measuring device based on the dial meter, the length-constrained calibration of the standard ball is achieved by measuring the coordinates of the spherical center of the standard ball using the carbon fiber main link and the dial meter probe, and the problem of high cost of laser trackers is solved. Provides high-precision, low-cost calibration solutions.
Patent Information
- Application Number
- CN202421124492.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-22
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2034-05-22
AI Technical Summary
Among the existing industrial robot calibration devices, high-precision laser trackers are expensive and difficult to popularize in general enterprises, resulting in high costs and lack of a calibration and measurement device with low cost and high accuracy.
Design an industrial robot calibration length measuring device based on dial meter, connecting two modules with the same structure through the main link, and measuring the spherical center coordinates of the standard ball using the No. 3 connection bracket and dial meter probe to realize the robot length Constrained calibration, the main connecting rod is made of carbon fiber, and the length change is less than or equal to 0.0008%.
It provides a high-precision calibration measurement device with low cost and simple structure, which can maintain a stable length within the ambient temperature range, meet the calibration needs of industrial robots, and reduce equipment costs.
Smart Images
Figure CN222244883U_ABST
Abstract
Description
Technical Field
[0001] This utility model patent relates to an industrial robot calibration and length measuring device based on a micrometer, and relates to the technical field of industrial robot calibration. Background Art
[0002] In order to ensure that industrial robots can perform tasks accurately and reliably, it is particularly important to calibrate industrial robots regularly. During the calibration process of industrial robots, calibrators need to measure the three-dimensional coordinates of the end effector through other measuring devices, and generally the higher the accuracy of the measuring device, the better the calibration effect of the industrial robot. Industrial robot calibration is usually completed using a laser tracker, but laser trackers are expensive and difficult to popularize in general enterprises. Therefore, it is necessary to develop a low-cost, high-precision calibration measurement device, which is a key issue that needs to be urgently solved in the field of industrial robot calibration. Utility Model Content
[0003] The purpose of this utility model is to solve the above problems and provide a calibration measuring device with low cost and simple structure. The technical solution is as follows:
[0004] An industrial robot calibration and length measurement device based on a micrometer, characterized in that: the device includes a main connecting rod connecting two modules with the same structure, a No. 1 connecting bracket, a No. 2 connecting bracket and a No. 3 connecting bracket are fixed on the fixed plate of the module, the No. 1 micrometer passes through the small hole on the No. 1 connecting bracket and is tightened and fixed by the No. 1 bolt on the outside, the No. 2 micrometer passes through the small hole on the No. 2 connecting bracket and is tightened and fixed by the No. 2 bolt on the outside, the No. 3 micrometer passes through the small hole on the No. 3 connecting bracket and is tightened and fixed by the No. 3 bolt on the outside, the connecting bottom plate has at least one small hole, a connecting column is fixed below the connecting bottom plate, and a standard ball is fixed below the connecting column. The standard ball is placed close to the top of one module and is in contact with the three micrometer probes of the module at the same time, and the spherical center coordinates of the standard ball can be converted through the measurement data of the three micrometer probes on one side, and then the standard ball is placed close to the top of the other module and is in contact with the three micrometer probes of the module at the same time, and the spherical center coordinates of the standard ball can also be converted through the measurement data of the three micrometer probes on the other side, so that the robot can be calibrated through length constraints.
[0005] The above-mentioned industrial robot calibration and length measurement device based on a micrometer is characterized in that the length change of the main connecting rod is less than or equal to 0.0008% for every 1 degree change in ambient temperature within the range of 0°C to 30°C.
[0006] When the utility model is working, it should always be fixed within the working range of the industrial robot, so that the length constraint required for calibration of the industrial robot can be measured by using the utility model. BRIEF DESCRIPTION OF THE DRAWINGS
[0007] Figure 1 It is a schematic diagram of the structure of the utility model;
[0008] Attached Figure 1 Among them, 1 is a connecting base plate, 2 is a connecting column, 3 is a standard ball, 6 is a No. 1 micrometer, 5 is a No. 2 micrometer, 4 is a No. 3 micrometer, 7 is a fixing plate, 8 is a No. 1 connecting bracket, 9 is a No. 2 connecting bracket, 10 is a No. 3 connecting bracket, 11 is a No. 1 bolt, 12 is a No. 2 bolt, 13 is a No. 3 bolt, and 14 is a main connecting rod. DETAILED DESCRIPTION
[0009] like Figure 1 As shown, the specific implementation of the utility model adopts the following technical solutions:
[0010] A micrometer-based industrial robot calibration and length measurement device, characterized in that: the device includes a main connecting rod 14 connecting two modules with the same structure, a No. 1 connecting bracket 8, a No. 2 connecting bracket 9 and a No. 3 connecting bracket 10 are fixed on the fixed plate 7 of the module, a No. 1 micrometer 6 passes through a small hole on the No. 1 connecting bracket 8 and is tightened and fixed by a No. 1 bolt 11 on the outside, a No. 2 micrometer 5 passes through a small hole on the No. 2 connecting bracket 9 and is tightened and fixed by a No. 2 bolt 12 on the outside, a No. 3 micrometer 4 passes through a small hole on the No. 3 connecting bracket 10 and is tightened and fixed by a No. 3 bolt 13 on the outside, a connecting base plate 1 has at least one small hole, a connecting column 2 is fixed below the connecting base plate 1, and a standard ball 3 is fixed below the connecting column 2. The standard ball 3 is placed close to the top of one module and is in contact with the three micrometer probes of the module at the same time. The coordinates of the center of the standard ball can be converted through the measurement data of the three micrometers on one side. The standard ball 3 is then placed close to the top of the other module and is in contact with the three micrometer probes of the module at the same time. The coordinates of the center of the standard ball can also be converted through the measurement data of the three micrometers on the other side. The robot can be calibrated through length constraints.
[0011] The standard ball 3 in the specific implementation example of the utility model is a ceramic ball with a diameter of 2.54 cm. The connecting column 2 installed at the end of the measuring device is connected to the standard ball 3 by welding.
[0012] The main connecting rod of the utility model is made of carbon fiber, and its length changes by less than or equal to 0.0003% when the ambient temperature changes by 1 degree within the range of 0° C. to 30° C.
[0013] Specifically: When in use, first fix the industrial robot that needs to be calibrated on the workbench, fix the connecting base plate 1 to the robot end effector, and then fix the utility model on the workbench, and ensure that the two modules of the utility model are within the working range of the industrial robot. Move the standard ball 3 close to the top of the module on one side of the utility model and contact the three micrometer probes of the module at the same time. The coordinates of the center of the standard ball can be converted through the measurement data of the three micrometers on one side. Then, place the standard ball 3 close to the top of the module on the other side and contact the three micrometer probes of the module at the same time. The coordinates of the center of the standard ball can also be converted through the measurement data of the three micrometers on the other side, so that the robot can be calibrated through length constraints.
[0014] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above examples. The above examples and the description in the specification are only to illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.
Claims
1. An industrial robot calibration and length measurement device based on a micrometer, characterized in that: The device comprises a main connecting rod (14) connecting two modules with the same structure, a No. 1 connecting bracket (8), a No. 2 connecting bracket (9) and a No. 3 connecting bracket (10) are fixed on a fixing plate (7) of the module, a No. 1 micrometer (6) passes through a small hole on the No. 1 connecting bracket (8) and is tightened and fixed by an outer No. 1 bolt (11), a No. 2 micrometer (5) passes through a small hole on the No. 2 connecting bracket (9) and is tightened and fixed by an outer No. 2 bolt (12), a No. 3 micrometer (4) passes through a small hole on the No. 3 connecting bracket (10) and is tightened and fixed by an outer No. 3 bolt (13), a connecting bottom plate (1) has at least one small hole, a connecting column (2) is fixed below the connecting bottom plate (1), and a standard ball (3) is fixed below the connecting column (2).
2. The industrial robot calibration and length measurement device based on a micrometer according to claim 1, characterized in that: The length of the main connecting rod (14) changes by less than or equal to 0.0008% for every 1 degree change in the ambient temperature within the range of 0°C to 30°C.