Measuring device for robot tool compensation parameters

Abstract

The utility model relates to the technical field of robots, and discloses a robot tool compensation parameter measuring device which comprises a sensor group, a support, a robot and a mounting clamp, the support is independently mounted on a table top, the sensor group is mounted in the support, and the tail end of the robot is connected with the mounting clamp. The sensor group comprises a first sensor, a second sensor, a third sensor and a fourth sensor, the first sensor and the third sensor are installed above the support and form a 90-degree right angle, the second sensor and the fourth sensor are installed below the support and form a 90-degree right angle, the first sensor and the second sensor correspond to each other in position up and down, and the third sensor and the fourth sensor correspond to each other in position. According to the invention, parameter measurement is carried out on the tool to be measured in the transverse direction, the longitudinal direction and the vertical direction through position cooperation of the four sensors, and specific compensation parameters of the tool to be measured are accurately calculated.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a device for measuring compensation parameters of robot tools. Background Art

[0002] In actual application scenarios, different tools and equipment need to be installed at the end of the robot according to different usage requirements. The above tools and equipment will directly affect the tool compensation parameters of the robot, and the accuracy of the parameters is directly related to the TCP position accuracy of the robot. Therefore, how to accurately and conveniently obtain the tool compensation parameters has become one of the keys to ensuring the TCP position accuracy of the robot.

[0003] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the application and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to ordinary technicians in the field. Summary of the invention

[0004] The object of the present invention is to provide a measuring device for robot tool compensation parameters, which can accurately measure the dimensions of a tool to be measured in three directions, namely, horizontal, longitudinal and vertical, by coordinating the positions of four sensors, and calculate the corresponding tool compensation parameters.

[0005] In order to achieve the above objectives, this application is implemented by adopting the following technical solutions:

[0006] A device for measuring compensation parameters of a robot tool comprises a sensor assembly, a bracket and a robot. The bracket is mounted on a table top, the tool to be detected and the sensor assembly are arranged inside the bracket, and the sensor assembly is used to measure the size data of the tool to be detected in three directions: horizontal, longitudinal and vertical.

[0007] Optionally, a plurality of pin holes are provided on the bracket, and the distances between the plurality of pin holes are evenly arranged.

[0008] Optionally, the sensor assembly is fixedly installed in the pin hole by a positioning pin.

[0009] Optionally, the end of the robot is fixedly connected to a mounting fixture by bolts.

[0010] Optionally, the robot receives control instructions sent by the control console via wireless signals.

[0011] Optionally, the sensor group includes a first sensor, a second sensor, a third sensor and a fourth sensor, the first sensor and the third sensor are installed above the bracket at right angles, and the second sensor and the fourth sensor are installed below the bracket at right angles.

[0012] Optionally, the plane where the front faces of the first sensor and the third sensor are located is a vertical plane, and the center points of the front faces are on the same horizontal plane; the plane where the front faces of the second sensor and the fourth sensor are located is a vertical plane, and the center points of the front faces are on the same horizontal plane.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] By coordinating the positions of the sensor components, the parameters of the robot tool to be tested on the bracket are measured in the horizontal, longitudinal and vertical directions, and the specific compensation parameters of the tool to be tested are accurately calculated. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a structural schematic diagram of a novel measuring device for robot tool compensation parameters of the present invention;

[0017] Figure 2 It is a schematic diagram of a new type of robot tool compensation parameter measuring device of the present invention, after the tool is installed, to perform measurement;

[0018] Figure 3 The invention discloses a schematic diagram of a mounting fixture structure of a novel measuring device for robot tool compensation parameters.

[0019] Description of reference numerals:

[0020] 1. First sensor; 2. Second sensor; 3. Third sensor; 4. Fourth sensor; 5. Bracket; 6. Robot; 7. Mounting fixture; 8. Bolt; 9. Pin hole; 10. Tool to be tested. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Example

[0022] A measuring device for robot 6 tool compensation parameters, such as Figure 1As shown, it includes a sensor component, a bracket 5 and a robot 6. The bracket 5 is installed separately on the table. The tool to be detected is arranged inside the bracket 5. The sensor component for measuring the data of the tool to be detected in the horizontal, longitudinal and vertical directions is installed inside the bracket 5.

[0023] Take one end point of the base of bracket 5 as the origin, such as Figure 2 As shown, a three-dimensional coordinate system is established to measure the compensation parameters of the tool to be inspected in three directions, XYZ, through the sensor component. The tool compensation parameters of the tool are accurately measured and fed back to the robot 6 controller to ensure the operation accuracy of the robot 6.

[0024] A number of pin holes 9 are provided on the bracket 5, and the distances between the pin holes 9 are uniformly set. The sensor assembly is fixed in the pin holes 9 by positioning pins. After the sensor groups are installed in different pin holes 9, the distances between them can be determined by the number of uniform intervals between the pin holes 9. At the same time, the characteristic size of the tool in the sensor is measured by the sensor group, that is, the overall size of the tool equipment can be calculated relative to the specific position of the sensor.

[0025] The robot 6 is controlled by the console through wireless signals to drive the tool to be tested installed at the end of the robot.

[0026] 10 is moved, and when the tool to be measured 10 moves to the bracket 5, measurement is performed.

[0027] like Figure 1 As shown, the sensor group includes a first sensor 1, a second sensor 2, a third sensor 3 and a fourth sensor 4. The first sensor 1 and the third sensor 3 are installed above the bracket 5 at a right angle, and the second sensor 2 and the fourth sensor 4 are installed below the bracket 5 at a right angle. The first sensor 1 is installed directly above the second sensor 2, and the third sensor 3 is installed directly above the fourth sensor 4. The first sensor 1 and the second sensor 2 are designed at the upper and lower parts, and the tool compensation parameters in the upper and lower Z directions and the front and rear X directions can be calculated. In addition, the third sensor 3 and the fourth sensor 4 are also installed at the position of the included angle of 90°, and the compensation parameters in the left and right Y directions can be calculated to ensure the accuracy of the compensation parameters of the tool 10 to be measured. The first sensor 1, the second sensor 2, the third sensor 3 and the fourth sensor 4 are all laser projection measuring instruments. Example

[0028] Based on the first embodiment, an embodiment of installing a tool to be tested is provided:

[0029] like Figure 3 As shown, the end of the robot 6 is fixedly connected to a mounting fixture 7 via bolts 8 .

[0030] Different from the first embodiment, the tool 10 to be tested is clamped by the mounting fixture 7 and driven by the robot 6 to be placed in the bracket 5, thereby ensuring that the tool 10 to be tested is stably placed when being measured by the sensor assembly.

[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only used to explain the relative position relationship, movement, etc. between the components in a certain posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0032] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0033] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A device for measuring compensation parameters of a robot tool, characterized in that: The invention comprises a sensor component, a bracket and a robot. The bracket is installed on a table. A tool to be detected and the sensor component are arranged inside the bracket. The sensor component is used to measure the size data of the tool to be detected in three directions: horizontal, longitudinal and vertical.

2. The device for measuring compensation parameters of a robot tool according to claim 1, characterized in that: The bracket is provided with a plurality of pin holes, and the distances between the plurality of pin holes are evenly arranged.

3. The device for measuring compensation parameters of a robot tool according to claim 2, characterized in that: The sensor assembly is fixedly installed in the pin hole through a positioning pin.

4. The device for measuring compensation parameters of a robot tool according to claim 1, characterized in that: The end of the robot is fixedly connected to the mounting fixture by bolts.

5. The device for measuring compensation parameters of a robot tool according to claim 1, characterized in that: The robot receives control instructions sent by the control console via wireless signals.

6. The device for measuring compensation parameters of a robot tool according to claim 1, characterized in that: The sensor group includes a first sensor, a second sensor, a third sensor and a fourth sensor. The first sensor and the third sensor are installed above the bracket at a right angle, and the second sensor and the fourth sensor are installed below the bracket at a right angle.

7. The device for measuring compensation parameters of a robot tool according to claim 6, characterized in that: The planes where the front faces of the first sensor and the third sensor are located are vertical planes, and the center points of the front faces are on the same horizontal plane. The planes where the front faces of the second sensor and the fourth sensor are located are vertical planes, and the center points of the front faces are on the same horizontal plane.

8. The device for measuring compensation parameters of a robot tool according to claim 6, characterized in that: The second sensor is installed directly below the first sensor, and the fourth sensor is installed directly below the third sensor.

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