Device for establishing FDS robot tool coordinate system

Abstract

The utility model relates to the technical field of FDS robots, in particular to a device for establishing a tool coordinate system of an FDS robot, which comprises a flow drill screw riveter body, one end of the flow drill screw riveter body is provided with a riveter head, the outer wall of the riveter head is fixedly connected with a connecting block, one side of the connecting block is provided with a positioning groove, and the other side of the connecting block is provided with a positioning groove. A positioning groove is formed in the bottom of the flow drill screw riveter body, a calibration block is arranged on the inner side of the positioning groove and comprises a mounting plate, the bottom of the mounting plate is fixedly connected with an end, and the calibration block and the flow drill screw riveter body are connected and fixed through a bolt by means of a connecting block and a screw hole in the flow drill screw riveter body. And meanwhile, the end part of the calibration block simulates the protruding part of the end part of the rivet, and the tip height of the end part is consistent with the actual size of the rivet in the clamping mouth, so that quick calibration work of the robot tool coordinate system is realized, and robot debugging personnel can conveniently calibrate the tool coordinate system.

Description

Technical Field

[0001] The utility model relates to the technical field of FDS robots, and particularly relates to a device for establishing a tool coordinate system of an FDS robot. Background Technique

[0002] With the popularization of new energy vehicles, new body connection technologies have also developed better, especially in the context of the increasing proportion of aluminum materials used in the white body. In the body connection process, in addition to the previous thermal connection technologies such as resistance spot welding and arc welding, cold connection technologies such as FDS and SPR have also emerged.

[0003] FDS: Flow drill screw, is a cold forming process that transmits the high-speed rotation of the motor to the sheet material to be connected through the central tightening shaft of the equipment to generate plastic deformation by friction and then self-taps and screws. The process includes six stages: rotation (heating) → penetration → through hole → thread tapping → thread screwing → fastening;

[0004] Due to the factors of pressure and torque in the FDS process parameters, there are certain requirements for fixtures and through holes. Therefore, the riveting technology of the body has higher requirements for the position accuracy of the riveting points compared to conventional spot welding. To solve the problem of low position accuracy of the robot FDS, it is necessary to establish the tool coordinate system of the robot before robot debugging. The tool coordinate origin of the FDS workstation is at the tip of the screw tail, and the tool origin must be in a fixed state, while usually the screw is in a movable state in the barrel. Content of the Utility Model

[0005] The purpose of the utility model is to provide a device for establishing a tool coordinate system of an FDS robot, which has the characteristics of realizing the rapid calibration of the robot tool coordinate system and facilitating the calibration of the tool coordinate system by robot debugging personnel.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A device for establishing a tool coordinate system of an FDS robot, including a flow drill screw riveting gun body, one end of the flow drill screw riveting gun body is provided with a gun head, the outer wall of the gun head is fixedly connected with a connecting block, a positioning groove is opened on one side of the connecting block, a calibration block is arranged inside the positioning groove, the calibration block includes a mounting plate, and an end part is fixedly connected to the bottom of the mounting plate.

[0007] To facilitate the installation of the calibration block, as a preferred device for establishing a tool coordinate system of an FDS robot of the utility model, the cross section of the mounting plate is in an L-shaped structure.

[0008] For the convenience of installing the calibration block, as an optimization of the device for establishing the tool coordinate system of the FDS robot in the present utility model, two screw holes are provided on the outer wall of the connecting block.

[0009] For the convenience of installing the calibration block, as an optimization of the device for establishing the tool coordinate system of the FDS robot in the present utility model, two mounting holes matching the screw holes are provided on the outer wall of the mounting plate.

[0010] For simulating the end of the rivet, as an optimization of the device for establishing the tool coordinate system of the FDS robot in the present utility model, the end is of a conical structure.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0012] When installing the calibration block, it is placed inside the positioning groove on one side of the connecting block. The positioning groove plays a positioning role to align the two screw holes and the mounting holes. Subsequently, the calibration block is installed and fixed by bolts. After the calibration block is installed, the end is located at the bottom of the gun head. By borrowing the connecting block and screw holes on the body of the flow drill screw riveter, the connection and fixation of the calibration block and the body of the flow drill screw riveter are achieved through bolts. At the same time, the end part of the calibration block simulates the protruding part of the end of the rivet, and the tip height of the end is consistent with the actual size of the rivet in the chuck, thereby realizing the rapid calibration of the robot tool coordinate system and facilitating the calibration of the tool coordinate system by the robot debugger. Description of the Drawings

[0013] Figure 1 Structural diagram of the calibration block of the present utility model in the uninstalled state;

[0014] Figure 2 Structural diagram of the calibration block of the present utility model in the installed state;

[0015] Figure 3 For the present utility model Figure 1 Enlarged structural diagram of part a in;

[0016] Figure 4 For the present utility model Figure 2 Enlarged structural diagram of part b in;

[0017] Figure 5 Front view structural diagram of the calibration block of the present utility model;

[0018] Figure 6 Stereo structural diagram of the calibration block of the present utility model.

[0019] In the figure: 1. Body of the flow drill screw riveter; 2. Gun head; 3. Connecting block; 4. Positioning groove; 5. Screw hole; 6. Calibration block; 7. Mounting plate; 8. End; 9. Mounting hole. Detailed Description of the Invention

[0020] Please refer to Figures 1 to 6 , a device for establishing a tool coordinate system of an FDS robot, including a flow drill screw riveting gun body 1. One end of the flow drill screw riveting gun body 1 is provided with a gun head 2. A connecting block 3 is fixedly connected to the outer wall of the gun head 2. A positioning groove 4 is formed on one side of the connecting block 3. A calibration block 6 is arranged inside the positioning groove 4. The calibration block 6 includes a mounting plate 7, and an end portion 8 is fixedly connected to the bottom of the mounting plate 7.

[0021] In this embodiment: When the calibration block 6 is installed, it is placed inside the positioning groove 4 on one side of the connecting block 3. The positioning groove 4 plays a positioning role to align the two screw holes 5 and the mounting holes 9. Subsequently, the calibration block 6 is installed and fixed by bolts. After the calibration block 6 is installed, the end portion 8 is located at the bottom of the gun head 2. By borrowing the connecting block 3 and the screw holes 5 on the flow drill screw riveting gun body 1, the connection and fixation of the calibration block 6 and the flow drill screw riveting gun body 1 are realized through bolts. At the same time, the end portion 8 of the calibration block 6 simulates the protruding part of the end of the rivet, and the tip height of the end portion 8 is consistent with the actual size of the rivet in the chuck, thus realizing the rapid calibration work of the robot tool coordinate system and facilitating the calibration of the tool coordinate system by the robot debugger.

[0022] As a technical optimization scheme of the present utility model, the cross-section of the mounting plate 7 is in an L-shaped structure.

[0023] In this embodiment: The cross-section of the mounting plate 7 is in an L-shaped structure, so as to facilitate the cooperation with the connecting block 3 to install the calibration block 6 on the flow drill screw riveting gun body 1.

[0024] As a technical optimization scheme of the present utility model, two screw holes 5 are formed on the outer wall of the connecting block 3.

[0025] In this embodiment: Two screw holes 5 are formed on the outer wall of the connecting block 3, so as to facilitate the installation and fixation of the calibration block 6 by bolts.

[0026] As a technical optimization scheme of the present utility model, two mounting holes 9 matching the screw holes 5 are formed on the outer wall of the mounting plate 7.

[0027] In this embodiment: Two mounting holes 9 matching the screw holes 5 are formed on the outer wall of the mounting plate 7, so as to facilitate the installation and fixation of the calibration block 6 by bolts.

[0028] As a technical optimization scheme of the present utility model, the end portion 8 is in a conical structure.

[0029] In this embodiment: The end portion 8 is in a conical structure, and the tip height of the end portion 8 is consistent with the actual size of the rivet in the chuck, thus realizing the rapid calibration work of the robot tool coordinate system.

[0030] Working principle: When the calibration block 6 is installed, it is placed inside the positioning groove 4 on one side of the connecting block 3. The positioning groove 4 plays a positioning role to align the two screw holes 5 and the mounting holes 9. Subsequently, the calibration block 6 is installed and fixed by bolts. After the calibration block 6 is installed, the end 8 is located at the bottom of the gun head 2. By borrowing the connecting block 3 and the screw holes 5 on the flow drill screw riveting gun body 1, the connection and fixation of the calibration block 6 and the flow drill screw riveting gun body 1 are realized through bolts. At the same time, the end 8 part of the calibration block 6 simulates the protruding part of the end of the rivet, and the tip height of the end 8 is the same as the actual size of the rivet in the chuck, so as to realize the rapid calibration of the robot tool coordinate system and facilitate the robot debugger to calibrate the tool coordinate system.

[0031] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device for establishing a FDS robot tool coordinate system, comprising a flow drill screw rivet gun body (1), characterized in that: A gun head (2) is provided at one end of the flow drill screw rivet gun body (1); a connecting block (3) is fixedly connected to the outer wall of the gun head (2); a positioning groove (4) is provided on one side of the connecting block (3); a calibration block (6) is provided on the inner side of the positioning groove (4); the calibration block (6) comprises a mounting plate (7); an end portion (8) is fixedly connected to the bottom of the mounting plate (7).

2. The device for establishing a FDS robot tool coordinate system according to claim 1, characterized in that: The cross section of the mounting plate (7) is an L-shaped structure.

3. The device for establishing a tool coordinate system of an FDS robot according to claim 1, characterized in that: The outer wall of the connecting block (3) is provided with two screw holes (5).

4. The device for establishing a FDS robot tool coordinate system according to claim 1, characterized in that: The outer wall of the mounting plate (7) is provided with two mounting holes (9) matching the screw holes (5).

5. The device for establishing a tool coordinate system of an FDS robot according to claim 1, characterized in that: The end portion (8) is a conical structure.

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