Robot tool field calibration device

Abstract

A robot tool field calibration device comprises a supporting bottom plate and a robot tool part, the robot tool part is arranged on the upper surface of the supporting bottom plate, two sets of calibration parts are symmetrically and fixedly arranged on the upper surface of the supporting bottom plate, each calibration part comprises an induction disc and two calibration rings, and the two calibration rings are vertically and coaxially arranged; the sensing disc and any calibration ring are coaxially arranged, the outer diameter of the sensing disc is the same as the inner diameter of the calibration ring, a plurality of photoelectric position sensors are distributed on the upper surface of the supporting bottom plate in an array mode, the robot tool part is arranged in the range defined by the photoelectric position sensors, and a plurality of calibration pointed cones are further arranged on one side of the supporting bottom plate. The lower surface of the supporting bottom plate is provided with a guide rail component for controlling position adjustment of the supporting bottom plate and a driving assembly for driving the guide rail component. According to the utility model, the calibration work after maintenance can be completed without placing a target spot at the execution tail end of the robot tool, and the calibration efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robot calibration, and in particular, to a robot tool on-site calibration device. Background Art

[0002] With the development and progress of society, the degree of industrial production and processing automation is getting higher and higher. In existing industrial processing, industrial robots are mostly used for welding, handling, gluing and other processing processes. When the tools for processing are damaged, the components need to be disassembled on-site for maintenance or replacement. Due to the specific performance of the robot, after reinstallation, it does not know that the tool has deviated from the original position. Therefore, it is necessary to perform immediate calibration after installing the robot tool on-site.

[0003] The existing Korean patent with the patent number KR1020110135666A and the patent name of calibration device between a robot and a displacement sensor and a calibration method using the device. The calibration device between the robot and the LDS includes a measuring jig and a controller. The measuring jig is formed in a circular plate shape and moves parallel to the robot tool. The controller controls the robot drive to measure the positions of each vertex of the rectangle inscribed in the circle of the measuring jig. Its calibration process is automated, with greatly improved accuracy and precision, and the time required for calibration can be reduced.

[0004] Although the above existing technology can perform automatic calibration, in actual production, some robot tools cannot place a target point at the execution end. If a target point must be placed at the end, after the target point is removed, the robot tool can be used normally for fine processing. The operations of removing and installing the target point are relatively cumbersome. Therefore, the utility model proposes a robot tool on-site calibration device. Summary of the Utility Model

[0005] The purpose of the utility model is to overcome the deficiencies of the above traditional technologies, and provide a robot tool on-site calibration device, which can complete the calibration work after maintenance without placing a target point at the execution end of the robot tool, and has high calibration efficiency.

[0006] The purpose of the utility model is achieved by the following technical measures:

[0007] A robot tool on-site calibration device comprises a supporting base plate and a robot tool component, wherein the robot tool component is arranged on the upper surface of the supporting base plate, and two groups of calibration components are symmetrically fixedly arranged on the upper surface of the supporting base plate, each of the calibration components comprises a sensing disk and two calibration rings, and the two calibration rings are vertically opposite and coaxially arranged, and the sensing disk is coaxially arranged with any one of the calibration rings, and the outer diameter of the sensing disk is the same as the inner diameter of the calibration ring; a plurality of photoelectric position sensors are distributed in an array on the upper surface of the supporting base plate, and the robot tool component is arranged within a range surrounded by the plurality of photoelectric position sensors; a plurality of calibration cones are further arranged on one side of the supporting base plate, and a guide rail component for controlling the position adjustment of the supporting base plate and a driving component for driving the guide rail component are arranged on the lower surface of the supporting base plate; a connection controller is fixedly arranged on the supporting base plate, and the robot tool, the sensing disk, the calibration cone, the photoelectric position sensor and the driving component are all electrically connected to the connection controller.

[0008] In further specific optimization, a fixing frame is fixedly connected to the supporting base plate, and a plurality of the calibration cones are connected to the upper surface of the fixing frame, and the plurality of the calibration cones are arranged in a centrally symmetrical manner.

[0009] Further specific optimization, the guide rail component includes an adjustment frame and two sliding guide rails, the two sliding guide rails are arranged in parallel at the bottom of the supporting base plate, two first slide bars perpendicular to the sliding guide rails slide parallel to each other between the two sliding guide rails, the adjustment frame slides under the two first slide bars, and installation components are arranged around the adjustment frame, and the first slide bar and the adjustment frame are connected to the driving component.

[0010] Further specific optimization, the driving assembly includes a first driving cylinder and a second driving cylinder, the second driving cylinder is fixedly connected to the lower surface of the supporting base plate, the telescopic end of the second driving cylinder is fixedly connected to the adjustment frame, the telescopic end of the first driving cylinder is fixedly connected to any one of the first sliding bars, and the first driving cylinder and the second driving cylinder are electrically connected to the connection controller.

[0011] Further specific optimization, the mounting assembly includes a mounting plate and a height adjustment assembly, the mounting plate is connected with a plurality of mounting bolts for connecting other facilities, the height adjustment assembly includes a height adjustment plate and an adjustment bolt, the height adjustment plate is fixedly connected to the bottom of the adjustment frame, the adjustment bolt is vertically threadedly connected to the height adjustment plate, an adjustment nut is sleeved on the adjustment bolt, the adjustment nut is arranged on the side of the height adjustment plate away from the adjustment frame, and the end of the adjustment bolt is movably abutted against the mounting plate.

[0012] According to further specific optimization, each of the mounting plates is connected with an L-shaped limit baffle, and the L-shaped limit baffle is movably abutted against the height adjustment plate.

[0013] Due to the adoption of the above technical solution, compared with the prior art, the advantages of the present utility model are as follows:

[0014] The present utility model discloses a robot tool on-site calibration device. After replacing the robot tool, the first driving cylinder and the second driving cylinder are used to control the movement of the adjustment frame and the sliding guide rail in the horizontal direction, and the relative position of the adjustment bolt and the height adjustment plate is controlled to adjust the position of the support bottom plate in the vertical direction, so as to ensure that the calibration light beam used on other facilities can pass through two hollow calibration rings and penetrate through the corresponding induction disks, so that a plurality of positioning columns connected to other devices for assisting in calibrating the robot tool components are aligned with the corresponding calibration cones, and it can also ensure that the photoelectric position sensor senses the calibration light beam emitted from above by other devices. Furthermore, without placing a target point at the execution end of the robot tool, the replaced robot can be accurately recalibrated and installed at the original position of the entire production line, ensuring accurate calibration and high calibration efficiency and simple operation.

[0015] The following further describes the present utility model in conjunction with the accompanying drawings and specific embodiments. Description of the Drawings

[0016] Figure 1 is the overall structural schematic diagram of the embodiment of the present utility model.

[0017] Figure 2 is the structural schematic diagram of the calibration ring, photoelectric position sensor and calibration cone of the embodiment of the present utility model.

[0018] Figure 3 is the structural schematic diagram of the guide rail component of the embodiment of the present utility model.

[0019] Figure 4 is the side structural schematic diagram of the embodiment of the present utility model.

[0020] Figure 5 is Figure 3 the enlarged structural schematic diagram at position A in

[0021] Markings in the figure: 1, support bottom plate; 2, robot tool component; 3, induction disk; 4, calibration ring; 5, photoelectric position sensor; 6, calibration cone; 7, connection controller; 8, fixing frame; 9, adjustment frame; 10, sliding guide rail; 11, first slide bar; 12, first driving cylinder; 13, second driving cylinder; 14, mounting plate; 15, mounting bolt; 16, height adjustment plate; 17, adjustment bolt; 18, L-shaped limit baffle. Specific Embodiments

[0022] In order to clearly and completely describe the purpose and technical solutions of the present utility model and make its advantages more clearly understood, the following further details the embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are part of the embodiments of the present utility model, rather than all of them, and are only used to explain the embodiments of the present utility model, not to limit the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0023] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "middle", "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", "side", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present utility model. In addition, the terms "one", "first", "second", "third", "fourth", "fifth", "sixth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0025] For the purpose of simplicity and illustration, the principles of the embodiments are mainly described by reference to examples. In the following description, many specific details are set forth to provide a thorough understanding of the embodiments. However, it is obvious that for those of ordinary skill in the art, these embodiments may not be limited to these specific details in practice. In some instances, well-known methods and structures are not described in detail to avoid unnecessarily obscuring these embodiments. Additionally, all embodiments can be used in combination with each other.

[0026] Embodiment:

[0027] A robot tool on-site calibration device includes a support base plate 1 and a robot tool component 2. The robot tool component 2 is arranged on the upper surface of the support base plate 1. Two groups of calibration components are symmetrically and fixedly arranged on the upper surface of the support base plate 1. Each calibration component includes an induction disc 3 and two calibration rings 4. The two calibration rings 4 are vertically opposite and coaxially arranged. The induction disc 3 is coaxially arranged with any one of the calibration rings 4. The outer diameter of the induction disc 3 is the same as the inner diameter of the calibration ring 4. A plurality of photoelectric position sensors 5 are arranged in an array distribution on the upper surface of the support base plate 1. The robot tool component 2 is arranged within the range surrounded by the plurality of photoelectric position sensors 5. A plurality of calibration cones 6 are also arranged on one side of the support base plate 1. A guide rail component for controlling the position adjustment of the support base plate 1 and a driving component for driving the guide rail component are arranged on the lower surface of the support base plate 1. A connection controller 7 is fixedly arranged on the support base plate 1. The robot tool, the induction disc 3, the calibration cones 6, the photoelectric position sensors 5 and the driving component are all electrically connected to the connection controller 7.

[0028] On other support devices for supporting the robot tool component 2, there are calibration light beams and calibration positioning rods that cooperate with the calibration device of the present application, or other auxiliary components for calibration.

[0029] Through the above technical solution, after replacing the robot tool component 2, it is connected to the connection controller 7. The driving component is automatically controlled by the connection controller 7 to drive the guide rail component to move, and the specific position of the support base plate 1 is adjusted, so that the calibration light beam can pass through the two hollow calibration rings 4 and penetrate onto the corresponding induction disc 3, and the plurality of positioning columns are aligned with the corresponding calibration cones 6. It can also ensure that the photoelectric position sensors 5 sense the calibration light beam emitted from above. Thus, without placing a target at the execution end of the robot tool, the replaced robot can be accurately recalibrated and installed in the original position, ensuring accurate calibration and high calibration efficiency and simple operation.

[0030] A fixing frame 8 is fixedly connected to the support base plate 1. The plurality of calibration cones 6 are connected to the upper surface of the fixing frame 8. The plurality of calibration cones 6 are arranged in central symmetry. A control point is arranged on the tip of the calibration cone 6. When the control point is in direct contact with the positioning column, the position of the robot tool component 2 can be adjusted to further ensure the calibration accuracy.

[0031] The guide rail component includes an adjustment frame 9 and two sliding guide rails 10. The two sliding guide rails 10 are arranged in parallel at the bottom of the support base plate 1. Two first sliding bars 11 perpendicular to the sliding guide rails 10 slide in parallel between the two sliding guide rails 10. The adjustment frame 9 slides below the two first sliding bars 11. Installation components are arranged on the four sides of the adjustment frame 9. The first sliding bars 11 and the adjustment frame 9 are both connected to the driving component.

[0032] The driving assembly includes a first driving cylinder 12 and a second driving cylinder 13. The second driving cylinders 13 are fixedly connected to the lower surface of the support base plate 1. The telescopic end of the second driving cylinder 13 is fixedly connected to the adjustment frame 9. The telescopic end of the first driving cylinder 12 is fixedly connected to any one of the first sliding bars 11. The first driving cylinder 12 and the second driving cylinder 13 are both electrically connected to the connection controller 7.

[0033] Through the above technical solution, the robotic tool component 2 is installed in the designated area of the large facility through the installation assembly. The second driving cylinder 13 can drive the adjustment frame 9 to move in the horizontal direction. The first driving cylinder 12 is connected to other fixed facilities for use. Then, the first sliding bar 11 is driven to move by the telescopic end of the first driving cylinder 12. The moving directions of the first sliding bar 11 and the adjustment frame 9 are perpendicular to each other. Therefore, the support base plate 1 can be driven to complete the calibration movement in the horizontal direction.

[0034] The installation assembly includes an installation plate 14 and a height adjustment assembly. A plurality of installation bolts 15 for connecting to other facilities are connected to the installation plate 14. The height adjustment assembly includes a height adjustment plate 16 and an adjustment bolt 17. The height adjustment plate 16 is fixedly connected to the bottom of the adjustment frame 9. The adjustment bolt 17 is vertically threadedly connected to the height adjustment plate 16. An adjustment nut is sleeved on the adjustment bolt 17. The adjustment nut is arranged on the side of the height adjustment plate 16 away from the adjustment frame 9. The end of the adjustment bolt 17 is movably abutted against the installation plate 14.

[0035] Through the above technical solution, by adjusting the positions of the plurality of adjustment bolts 17 around and their corresponding height adjustment plates 16, the position of the support base plate 1 in the vertical direction can be adjusted, so as to ensure that the light beam for calibration can pass through the two hollow calibration rings 4 and penetrate the corresponding induction discs 3, improving the calibration accuracy and efficiency.

[0036] An L-shaped limit baffle 18 is connected to each installation plate 14. The L-shaped limit baffle 18 is movably abutted against the height adjustment plate 16. The L-shaped limit baffle 18 can prevent the adjustment frame 9 from excessive displacement during movement, thereby avoiding collision accidents between the robotic tool and other facilities due to excessive displacement during calibration, and thus improving the safety of on-site calibration.

[0037] A on-site calibration device for a robotic tool. When in use, after replacing the robotic tool, the adjusting frame 9 and the sliding guide rail 10 are controlled by the first driving cylinder 12 and the second driving cylinder 13 to move horizontally, and the position of the support bottom plate 1 in the vertical direction is adjusted by controlling the relative position of the adjusting bolt 17 and the height adjusting plate 16, so as to ensure that the calibration beam used for calibration on other facilities can pass through the two hollow calibration rings 4 and penetrate the corresponding induction discs 3, enabling the multiple positioning posts used to assist in calibrating the robotic tool component 2 connected to other devices to be aligned with the corresponding calibration cones 6, and also ensuring that the optoelectronic position sensor 5 senses the calibration beam emitted from above by other devices. Thus, without placing a target at the execution end of the robotic tool, the replaced robotic tool can be accurately recalibrated and reinstalled at the original position on the entire production line, ensuring accurate calibration and high calibration efficiency with simple operation.

[0038] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0039] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robot tool on-site calibration device, comprising a support base plate (1) and a robot tool component (2), wherein the robot tool component (2) is arranged on the upper surface of the support base plate (1), characterized in that: Two groups of calibration components are symmetrically fixedly arranged on the upper surface of the support base plate (1), each of the calibration components comprises a sensing disc (3) and two calibration rings (4), the two calibration rings (4) are vertically opposite and coaxially arranged, the sensing disc (3) is coaxially arranged with any one of the calibration rings (4), the outer diameter of the sensing disc (3) is the same as the inner diameter of the calibration ring (4), a plurality of photoelectric position sensors (5) are arrayed on the upper surface of the support base plate (1), the robot tool component (2) is arranged within a range surrounded by the plurality of photoelectric position sensors (5), a plurality of calibration cones (6) are also arranged on one side of the support base plate (1), a guide rail component for controlling the position adjustment of the support base plate (1) and a drive assembly for driving the guide rail component are arranged on the lower surface of the support base plate (1), a connection controller (7) is fixedly arranged on the support base plate (1), and the robot tool, the sensing disc (3), the calibration cone (6), the photoelectric position sensor (5) and the drive assembly are all electrically connected to the connection controller (7).

2. The on-site calibration device for a robot tool according to claim 1, characterized in that: A fixing frame (8) is fixedly connected to the supporting base plate (1), and a plurality of calibration cones (6) are connected to the upper surface of the fixing frame (8), and the plurality of calibration cones (6) are arranged in a centrally symmetrical manner.

3. The on-site calibration device for a robot tool according to claim 1, characterized in that: The guide rail component comprises an adjustment frame (9) and two sliding guide rails (10), the two sliding guide rails (10) are arranged in parallel at the bottom of the supporting base plate (1), two first slide bars (11) perpendicular to the sliding guide rails (10) slide in parallel between the two sliding guide rails (10), the adjustment frame (9) slides under the two first slide bars (11), mounting components are arranged around the adjustment frame (9), and the first slide bars (11) and the adjustment frame (9) are connected to the driving component.

4. The on-site calibration device for a robot tool according to claim 3, characterized in that: The driving assembly comprises a first driving cylinder (12) and a second driving cylinder (13), the second driving cylinder (13) being fixedly connected to the lower surface of the supporting base plate (1), the telescopic end of the second driving cylinder (13) being fixedly connected to the adjustment frame (9), the telescopic end of the first driving cylinder (12) being fixedly connected to any one of the first sliding bars (11), and the first driving cylinder (12) and the second driving cylinder (13) being electrically connected to the connection controller (7).

5. The on-site calibration device for a robot tool according to claim 4, characterized in that: The mounting assembly comprises a mounting plate (14) and a height adjustment assembly, wherein the mounting plate (14) is connected with a plurality of mounting bolts (15) for connecting with other facilities, and the height adjustment assembly comprises a height adjustment plate (16) and an adjustment bolt (17), wherein the height adjustment plate (16) is fixedly connected to the bottom of the adjustment frame (9), and the adjustment bolt (17) is vertically threadedly connected to the height adjustment plate (16), and an adjustment nut is sleeved on the adjustment bolt (17), wherein the adjustment nut is arranged on a side of the height adjustment plate (16) away from the adjustment frame (9), and the end of the adjustment bolt (17) is movably abutted against the mounting plate (14).

6. The on-site calibration device for a robot tool according to claim 5, characterized in that: Each of the mounting plates (14) is connected to an L-shaped limit baffle plate (18), and the L-shaped limit baffle plate (18) is movably abutted against the height adjustment plate (16).

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