Tool for measuring TCP point by robot

Abstract

The utility model provides a tool for a robot to measure a TCP point, which relates to the field of the robot to measure the TCP point, and adopts the scheme that the tool comprises a bottom plate and a measuring rod, the measuring rod is vertically arranged on the bottom plate, the measuring rod is detachably connected with the bottom plate, the upper part of the measuring rod is provided with a measuring piece, and the measuring piece is detachably connected with the bottom plate. The measuring piece is of a conical structure, a protective cap is detachably arranged on the upper portion of the measuring rod, and the protective cap can cover the measuring piece. According to the utility model, the external reference point can be prevented from moving during TCP measurement of the robot, so that the accuracy of TCP point measurement is ensured.

Description

Technical Field

[0001] The utility model relates to the field of robot measuring TCP points, in particular to a tooling used for the robot to measure TCP points. Background Art

[0002] With the continuous development of robot technology, robots are increasingly used in industrial production, service, medical and other fields. The movement and control of robots mainly rely on the TCP point. The full name of the TCP point is "Tool Center Point", also known as the tool center point or end effector point. It usually refers to the center point of the gripper, tool or sensor at the end of the robot. Through the setting of the TCP point, the robot can achieve more complex path planning and complete more complex tasks. The robot needs to calculate and control through the TCP point when performing various actions. The setting of the TCP point will affect the movement and control of the robot.

[0003] In the prior art, robot TCP point measurement includes the following steps: the first step is to recommend an external reference point, generally by placing a nail upside down on a flat plate, with the nail tip as the external reference point; the second step is to measure the TCP point using the XYZ four-point method, that is, the TCP of the tool to be measured is moved from four different directions to the reference point recommended in the first step, and the robot control system calculates the TCP from different flange position values, and the four flange positions moved to the reference point must be sufficiently far apart from each other and must not be located in the same plane.

[0004] When the above technical solution is used to determine the TCP point of the robot, when establishing the external reference point, a nail is placed upside down on a flat plate, which has the following problems: the lower end of the nail is not fixed, and it is very likely that when the XYZ four-point method is used to measure the TCP point, it will collide with the measurement point of the robot and cause it to fall over. When it is erected again, its position may deviate, resulting in inaccurate measurement of the TCP point. Utility Model Content

[0005] In order to solve the technical problem in the above-mentioned prior art that inaccurate measurement occurs due to the movement of an external reference point when the robot measures the TCP point, the utility model provides a tooling for the robot to measure the TCP point, which can avoid the movement of the external reference point when the robot measures the TCP, thereby ensuring the accuracy of measuring the TCP point.

[0006] The technical solution adopted by the utility model to solve the above technical problems is: a tooling for robot to measure TCP points, including a base plate and a measuring rod, the measuring rod is vertically arranged on the base plate, the measuring rod is detachably connected to the base plate, a measuring piece is arranged on the upper part of the measuring rod, the measuring piece is a conical structure, and a protective cap is detachably arranged on the upper part of the measuring rod, and the protective cap can cover the measuring piece. By detachably connecting the measuring rod with the base plate, it is ensured that the measuring rod is not easy to fall over during use, the consistency of the position of the measuring piece is ensured, and the accuracy of the robot to measure the TCP point is ensured.

[0007] Furthermore, the measuring rod is provided with an external thread at a position close to the measuring piece, and the inner wall of the protective cap is provided with an internal thread, so that the protective cap can be connected by threads to prevent it from being lost.

[0008] Furthermore, the measuring rod is threadedly connected to the base plate.

[0009] Furthermore, a magnetic block or an electromagnet assembly is provided at the bottom of the measuring rod, and the bottom plate is made of ferromagnetic material. The measuring rod and the bottom plate can be quickly disassembled and assembled through magnetic connection, thereby improving work efficiency.

[0010] Furthermore, a positioning groove is provided on the bottom plate, and the lower end of the measuring rod is loosely matched with the positioning groove.

[0011] Furthermore, the measuring rod includes a mounting rod and an adjusting rod, the lower end of the mounting rod is connected to the bottom plate, the upper end of the adjusting rod is provided with the measuring piece, the adjusting rod is provided on the upper end of the mounting rod so as to be movable up and down, and the adjusting rod can be locked with the mounting rod. The height of the measuring piece can be adjusted by the cooperation of the adjusting rod and the mounting rod, so that the use requirement of measuring the TCP point can be met even when the robot travel is insufficient.

[0012] Furthermore, the upper end of the mounting rod is threadedly connected to the lower end of the adjusting rod.

[0013] Furthermore, the mounting rod is a hollow structure, the mounting rod and the adjustment rod are clearance-matched, the adjustment rod is provided with at least three adjustment holes and arranged along the axial direction of the adjustment rod, a locking piece is hinged on the outer circumferential surface of the upper end of the mounting rod, the locking piece is an L-shaped structure, the locking piece includes a force-applying part and a locking part, and the locking part can extend into the adjustment hole. By providing multiple adjustment holes and locking pieces, the height measurement range of the measuring rod is increased.

[0014] Furthermore, the force-applying part is rotatably connected to the support on the mounting rod through a pin shaft, and a return spring is arranged on the force-applying part and between the lower part of the pin shaft and the mounting rod. The return spring ensures that the locking part will not fall off from the adjustment hole when locked.

[0015] Furthermore, the measuring piece is threadedly connected to the adjusting rod. When the measuring piece is damaged, only the measuring piece needs to be replaced, thus saving maintenance costs.

[0016] It can be seen from the above technical solutions that the utility model has the following advantages:

[0017] The utility model provides a tooling for measuring TCP points of a robot. The tooling ensures that the measuring rod is not easy to fall over during use by detachably connecting a measuring rod and a bottom plate, ensures the consistency of the position of a measuring piece, and ensures the accuracy of the robot in measuring the TCP point. A protective cap is connected by a thread to prevent it from being lost. The measuring rod and the bottom plate can be quickly disassembled and assembled by a magnetic connection, thereby improving work efficiency. The height of the measuring piece can be adjusted by cooperating with an adjusting rod and a mounting rod, so that the use requirement of measuring the TCP point can be met when the robot stroke is insufficient. The height measuring range of the measuring rod is increased by arranging a plurality of adjusting holes and locking pieces. A reset spring is used to ensure that the locking part will not fall off from the adjusting hole when locked. When the measuring piece is damaged, only the measuring piece needs to be replaced, thereby saving use and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the utility model, the drawings required for use in the description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of a specific implementation method of the utility model.

[0020] Figure 2 This is a schematic diagram of the structure of the utility model after removing the protective cap. Figure 1 .

[0021] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0022] Figure 4 This is a schematic diagram of the structure of the utility model after removing the protective cap. Figure 2 .

[0023] In the figure, 1. protective cap; 2. adjusting rod; 3. locking piece; 4. mounting rod; 5. base plate; 6. measuring piece; 7. adjusting hole; 8. support; 9. reset spring; 10. magnetic block; 11. positioning slot; 12. measuring rod. DETAILED DESCRIPTION

[0024] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the technical scheme of the utility model will be clearly and completely described below in combination with the drawings in the specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the utility model, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0025] like Figure 1 , Figure 2 and Figure 4 As shown, this specific embodiment provides a tooling for robot measurement of TCP points, including a base plate 5, and also includes a measuring rod 12, the measuring rod 12 is vertically arranged on the base plate 5, the measuring rod 12 is detachably connected to the base plate 5, a measuring piece 6 is arranged on the upper part of the measuring rod 12, the measuring piece 6 is a conical structure, and a protective cap 1 is also detachably arranged on the upper part of the measuring rod 12, the protective cap 1 can cover the measuring piece 6, specifically, an external thread is arranged on the measuring rod 12 near the measuring piece 6, and an internal thread is arranged on the inner wall of the protective cap 1. By detachably connecting the measuring rod 12 with the base plate 5, it is ensured that the measuring rod 12 is not easy to tip over during use, the consistency of the position of the measuring piece 6 is ensured, and the accuracy of the robot measurement of the TCP point is ensured.

[0026] like Figure 4 As shown, the bottom of the measuring rod 12 can be connected to the base plate 5 by threads, but in order to improve the disassembly and assembly efficiency, a magnetic block 10 or an electromagnet assembly is provided at the bottom of the measuring rod 12, and the base plate 5 is made of ferromagnetic material. In this specific embodiment, in order to reduce costs, a cavity is provided at the bottom of the measuring rod 12, and a magnetic block 10 is provided in the cavity; in order to ensure that the measuring rod 12 can still maintain an accurate position after being upright after being tilted, a double insurance is realized with the magnetic connection between the measuring rod 12 and the base plate 5 to ensure measurement accuracy, and a positioning groove 11 is provided on the base plate 5, and the lower end of the measuring rod 12 is gap-matched with the positioning groove 11.

[0027] like Figures 1 to 4As shown, since different robots have different working strokes, in order to ensure the versatility of the tooling, the measuring rod 12 includes a mounting rod 4 and an adjusting rod 2. The lower end of the mounting rod 4 is connected to the base plate 5, and the upper end of the adjusting rod 2 is provided with a measuring piece 6. The adjusting rod 2 is movably arranged at the upper end of the mounting rod 4, and the adjusting rod 2 can be locked with the mounting rod 4. The height of the measuring piece 6 can be adjusted by the cooperation of the adjusting rod 2 and the mounting rod 4, so that the use requirements of measuring the TCP point can be met when the robot stroke is not enough; in order to achieve height adjustment, the upper end of the mounting rod 4 and the lower end of the adjusting rod 2 can be threadedly connected, but the length of the threaded connection is short, resulting in the height adjustment of the measuring rod 12 The adjustment range is not large. In order to increase the adjustment range, in the present specific embodiment, the mounting rod 4 is a hollow structure. The mounting rod 4 and the adjusting rod 2 are clearance-matched. At least three adjustment holes 7 are provided on the adjusting rod 2 and are arranged along the axial direction of the adjusting rod 2. In the present specific embodiment, five adjustment holes 7 are provided. A locking member 3 is hinged on the outer circular surface of the upper end of the mounting rod 4. The locking member 3 is an L-shaped structure. The locking member 3 includes a force-applying portion and a locking portion. The locking portion can be extended into the adjustment hole 7. Specifically, the force-applying portion is rotatably connected to a support 8 on the outer circumference of the upper end of the mounting rod 4 through a pin shaft. A reset spring 9 is provided on the force-applying portion and between the lower part of the pin shaft and the mounting rod 4.

[0028] In order to reduce the use and maintenance costs, the measuring piece 6 is threadedly connected to the adjusting rod 2. Specifically, a cavity is provided on the upper portion of the adjusting rod 2, and an internal thread is provided in the cavity to match the external thread of the measuring piece 6.

[0029] The working process of establishing reference points for this tool is as follows:

[0030] First, install the mounting rod 4 on the base plate 5, adjust the height of the adjustment rod 2 according to the stroke of the robot and lock it with the locking piece 3; unscrew the protective cap 1 and it can be used; after use, cover the protective cap 1, retract the adjustment rod 2, and remove the mounting rod 4.

[0031] From the above specific implementations, it can be seen that the utility model has the following beneficial effects:

[0032] 1. By detachably connecting the measuring rod 12 to the base plate 5, the measuring rod 12 is not easily tipped over during use, the position consistency of the measuring member 6 is ensured, and the accuracy of the robot in measuring the TCP point is ensured;

[0033] 2. Prevent the protective cap 1 from being lost by threading it;

[0034] 3. The measuring rod 12 and the base plate 5 can be quickly disassembled and assembled through magnetic connection, thereby improving work efficiency;

[0035] 4. The height of the measuring piece 6 can be adjusted by adjusting the rod 2 and the mounting rod 4, so that the robot can meet the requirements of measuring the TCP point when the robot stroke is not enough;

[0036] 5. The height measuring range of the measuring rod 12 is increased by providing a plurality of adjustment holes 7 and locking members 3;

[0037] 6. The return spring 9 ensures that the locking part will not fall out of the adjustment hole 7 when locked;

[0038] 7. When the measuring piece 6 is damaged, only the measuring piece 6 needs to be replaced, thus saving the maintenance cost.

[0039] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tool for robot to measure TCP points, comprising a base plate (5), characterized in that: The invention also comprises a measuring rod (12), the measuring rod (12) being vertically arranged on the bottom plate (5), the measuring rod (12) being detachably connected to the bottom plate (5), a measuring piece (6) being arranged on the top of the measuring rod (12), the measuring piece (6) being a conical structure, and a protective cap (1) being detachably arranged on the top of the measuring rod (12), the protective cap (1) being capable of covering the measuring piece (6).

2. The tooling for robot measurement of TCP points as claimed in claim 1, characterized in that: An external thread is provided on the measuring rod (12) at a position close to the measuring piece (6), and an internal thread is provided on the inner wall of the protective cap (1).

3. The tooling for robot measurement of TCP points as claimed in claim 2, characterized in that: The measuring rod (12) is threadedly connected to the base plate (5).

4. The tooling for robot measurement of TCP points as claimed in claim 2, characterized in that: A magnetic block (10) or an electromagnet assembly is arranged at the bottom of the measuring rod (12), and the bottom plate (5) is made of ferromagnetic material.

5. The tooling for robot measurement of TCP points as claimed in claim 4, characterized in that: A positioning groove (11) is provided on the bottom plate (5), and the lower end of the measuring rod (12) is clearance-matched with the positioning groove (11).

6. The tooling for robot measurement of TCP points according to any one of claims 1 to 5, characterized in that: The measuring rod (12) comprises a mounting rod (4) and an adjusting rod (2); the lower end of the mounting rod (4) is detachably connected to a base plate (5); the upper end of the adjusting rod (2) is provided with a measuring piece (6); the adjusting rod (2) is movably arranged on the upper end of the mounting rod (4); and the adjusting rod (2) can be locked with the mounting rod (4).

7. The tooling for robot measurement of TCP points as claimed in claim 6, characterized in that: The upper end of the mounting rod (4) is threadedly connected to the lower end of the adjusting rod (2).

8. The tooling for robot measurement of TCP points as claimed in claim 6, characterized in that: The mounting rod (4) is a hollow structure. The mounting rod (4) and the adjusting rod (2) are clearance-matched. The adjusting rod (2) is provided with at least three adjusting holes (7) arranged along the axial direction of the adjusting rod (2). A locking member (3) is hingedly connected to the outer circumferential surface of the upper end of the mounting rod (4). The locking member (3) is an L-shaped structure. The locking member (3) comprises a force-applying portion and a locking portion. The locking portion can extend into the adjusting hole (7).

9. The tooling for robot measurement of TCP points as claimed in claim 8, characterized in that: The force applying part is rotatably connected to a support (8) on the mounting rod (4) via a pin shaft, and a return spring (9) is arranged on the force applying part and between the lower part of the pin shaft and the mounting rod (4).

10. The tooling for robot measurement of TCP points according to claim 6, characterized in that: The measuring piece (6) is threadedly connected to the adjusting rod (2).

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