TCP automatic calibration device

Abstract

The utility model discloses a TCP automatic calibration device, which belongs to the technical field of calibration, and comprises a bottom plate and a calibration ball, the top of the bottom plate is fixedly connected with a T-shaped frame, the top of the T-shaped frame is fixedly connected with a U-shaped frame, the inside of the U-shaped frame is rotatably connected with a ring sleeve, the front side of the ring sleeve is fixedly connected with a support plate, and the support plate is fixedly connected with a base plate. By arranging the energy absorption assembly, when the contact force between the robot and the calibration ball is too large, the calibration ball can drive the connection block and the first fixing plate to move backwards together after being stressed, and the first fixing plate can extrude a hydraulic damper and an energy absorption spring when moving backwards; the hydraulic damper can effectively buffer extrusion force through flowing resistance of liquid, when the energy absorption spring is subjected to external force, the energy absorption spring can be compressed, so that the external force can be absorbed, and the effect that the contact force of the robot can be buffered and absorbed is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of calibration, in particular to a TCP automatic calibration device. Background Art

[0002] TCP, i.e., the tool center point, is an important reference for robot programming, motion control and precision calibration. With the development of automated manufacturing, robots have gradually replaced manual labor in production operations, and high precision is required for their operations. Before a robot executes an operation, it needs to be calibrated.

[0003] Existing automatic calibration devices are usually calibration pins and calibration balls, etc. However, when a robot uses a calibration ball for automatic calibration, if the contact force of the robot is not properly controlled, the contact force between the robot and the calibration ball may be too large. In severe cases, the excessive force may cause the calibration ball to deform slightly, changing its originally precise spherical shape, thus affecting the calibration accuracy.

[0004] Therefore, a TCP automatic calibration device is proposed. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a TCP automatic calibration device, which can solve the problem that existing automatic calibration devices are usually calibration pins and calibration balls, etc. However, when a robot uses a calibration ball for automatic calibration, if the contact force of the robot is not properly controlled, the contact force between the robot and the calibration ball may be too large. In severe cases, the excessive force may cause the calibration ball to deform slightly, changing its originally precise spherical shape, thus affecting the calibration accuracy.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A TCP automatic calibration device includes a bottom plate and a calibration ball. A T-shaped frame is fixedly connected to the top of the bottom plate, a U-shaped frame is fixedly connected to the top of the T-shaped frame, a ring sleeve is rotatably connected inside the U-shaped frame, a support plate is fixedly connected to the front side of the ring sleeve, a connection block is fixedly connected to the rear side of the calibration ball, and a buffer assembly is arranged between the side of the connection block and the support plate close to each other. The buffer assembly includes a slider, and two sets of energy absorption components are arranged between the opposite sides of the support plate and the connection block;

[0007] The energy absorption component includes a first fixing plate, a second fixing plate, a hydraulic damper and an energy absorption spring. The first fixing plate is fixedly connected to the rear side of the connection block, the second fixing plate is fixedly connected to the front side of the support plate, the hydraulic damper is fixedly connected between the opposite sides of the first fixing plate and the second fixing plate, and the energy absorption spring is sleeved on the surface of the hydraulic damper and is fixedly connected to the first fixing plate and the second fixing plate respectively on the sides close to them.

[0008] Preferably, an installation groove is formed in the front side of the support plate, and the slider is slidably connected to the inside of the installation groove.

[0009] Preferably, a first connection block is fixedly connected to the rear side of the connection plate, a second connection block is fixedly connected to the front side of the slider, a rotating rod is rotatably connected to the top of the first connection block, and one side of the rotating rod close to the second connection block is rotatably connected to the second connection block.

[0010] Preferably, a buffer spring is fixedly connected between the sides of the two sliders close to each other, and the sides of the buffer spring close to the sliders are respectively fixedly connected to the sliders.

[0011] Preferably, a rotating shaft is rotatably connected to the inside of the U-shaped frame, and a driven gear is fixedly sleeved on the surface of the rotating shaft. The collar is fixedly sleeved on the surface of the rotating shaft.

[0012] Preferably, a protective box is fixedly connected to the right side of the U-shaped frame, and the rotating shaft penetrates through the protective box and is rotatably connected to the protective box.

[0013] Preferably, a connecting shaft is rotatably connected to the inside of the protective box, and one side of the connecting shaft close to the protective box is rotatably connected to the protective box. A driving gear is fixedly sleeved on the surface of the connecting shaft, and the driving gear is meshed and connected to the rear side of the driven gear.

[0014] Preferably, a limiting rod is fixedly connected to the inside of the installation groove, the slider is slidably connected to the surface of the limiting rod, and the buffer spring is sleeved on the surface of the limiting rod.

[0015] Preferably, expansion bolts penetrate through and are threadedly connected to the bottom of the bottom plate, and the expansion bolts are distributed at the four corners of the bottom plate.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0017] 1. In this application, by setting an energy absorption component, when the contact force between the robot and the calibration ball is too large, the calibration ball will drive the connection block to move backward after being stressed. When the connection plate moves, it will drive the first fixing plate to move backward together. When the first fixing plate moves backward, it will squeeze the hydraulic damper and the energy absorption spring. The hydraulic damper uses the flow resistance of the liquid to effectively buffer the extrusion force. When the energy absorption spring is acted upon by an external force, the energy absorption spring will be compressed, so as to absorb the external force, thereby achieving the effect of buffering and absorbing the contact force of the robot.

[0018] 2. In this application, by providing a buffer component, when the connecting block moves backward, the connecting plate will drive the first connecting block to move backward. When the first connecting block moves, it will drive the rotating rod to rotate. When the rotating rod rotates, it will drive the corresponding second connecting block to move. By providing an installation groove and a slider, when the second connecting block moves, it will drive the slider to slide inside the installation groove, so that when the two sliders slide relative to each other, they will respectively squeeze both sides of the buffer spring, and the elastic force of the buffer spring itself to both sides will buffer or offset the squeezing force when the slider moves, thereby enabling secondary buffering of the contact force of the robot and improving the buffering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the overall structure diagram of the TCP automatic calibration device of the present utility model;

[0020] Figure 2 For the present utility model Figure 1 partial structure schematic diagram;

[0021] Figure 3 is the structure schematic diagram of the buffer component of the present utility model;

[0022] Figure 4 is the structure schematic diagram of the energy absorption component of the present utility model;

[0023] Figure 5 is the structure schematic diagram of the support plate of the present utility model;

[0024] Figure 6 is the structural cross-sectional view of the protective box of the present utility model.

[0025] In the figures, 1, base plate; 2, calibration ball; 3, T-shaped frame; 4, U-shaped frame; 5, ring sleeve; 6, support plate; 7, connecting block; 8, buffer component; 801, slider; 802, first connecting block; 803, second connecting block; 804, rotating rod; 805, buffer spring; 9, energy absorption component; 901, first fixing plate; 902, second fixing plate; 903, hydraulic damper; 904, energy absorption spring; 10, installation groove; 11, rotating shaft; 12, driven gear; 13, protective box; 14, connecting shaft; 15, driving gear; 16, driving motor; 17, limiting rod; 18, expansion bolt. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0027] Please refer to Figures 1-6 , the present utility model provides a technical solution:

[0028] A TCP automatic calibration device includes a bottom plate 1 and a calibration ball 2. A T-shaped frame 3 is fixedly connected to the top of the bottom plate 1. A U-shaped frame 4 is fixedly connected to the top of the T-shaped frame 3. A ring sleeve 5 is rotatably connected inside the U-shaped frame 4. A support plate 6 is fixedly connected to the front side of the ring sleeve 5. A connection block 7 is fixedly connected to the rear side of the calibration ball 2. A buffer assembly 8 is arranged between the side of the connection block 7 and the support plate 6 close to each other. The buffer assembly 8 includes a slider 801. An energy absorption assembly 9 is arranged between the opposite sides of the support plate 6 and the connection block 7, and the energy absorption assembly 9 is provided in two groups;

[0029] The energy absorption assembly 9 includes a first fixing plate 901, a second fixing plate 902, a hydraulic damper 903 and an energy absorption spring 904. The first fixing plate 901 is fixedly connected to the rear side of the connection block 7. The second fixing plate 902 is fixedly connected to the front side of the support plate 6. The hydraulic damper 903 is fixedly connected between the opposite sides of the first fixing plate 901 and the second fixing plate 902. The energy absorption spring 904 is sleeved on the surface of the hydraulic damper 903, and the sides of the energy absorption spring 904 close to the first fixing plate 901 and the second fixing plate 902 are respectively fixedly connected thereto.

[0030] In this embodiment: By setting the energy absorption assembly 9, when the contact force between the robot and the calibration ball 2 is too large, the calibration ball 2 will drive the connection block 7 to move backward after being stressed. When the connection plate moves, it will drive the first fixing plate 901 to move backward together. When the first fixing plate 901 moves backward, it will squeeze the hydraulic damper 903 and the energy absorption spring 904. The hydraulic damper 903 can effectively buffer the extrusion force by using the flow resistance of the liquid. When the energy absorption spring 904 is subjected to an external force, the energy absorption spring 904 will be compressed, so as to absorb the external force, thereby achieving the effect of buffering and absorbing the contact force of the robot.

[0031] Specifically, as Figure 5 shown, an installation groove 10 is formed on the front side of the support plate 6, and the slider 801 is slidably connected inside the installation groove 10.

[0032] Specifically, as Figure 3 shown, a first connection block 802 is fixedly connected to the rear side of the connection plate, a second connection block 803 is fixedly connected to the front side of the slider 801, a rotating rod 804 is rotatably connected to the top of the first connection block 802, and the side of the rotating rod 804 close to the second connection block 803 is rotatably connected to the second connection block 803.

[0033] Specifically, as Figure 3As shown, a buffer spring 805 is fixedly connected between the adjacent sides of the two sliders 801, and the two sides of the buffer spring 805 close to the sliders 801 are respectively fixedly connected to the sliders 801.

[0034] In this embodiment: By providing the buffer assembly 8, when the connecting block 7 moves backward, the connecting plate will drive the first connecting block 802 to move backward. When the first connecting block 802 moves, it will drive the rotating rod 804 to rotate. When the rotating rod 804 rotates, it will drive the corresponding second connecting block 803 to move. By providing the installation groove 10 and the slider 801, when the second connecting block 803 moves, it will drive the slider 801 to slide inside the installation groove 10, so that when the two sliders 801 slide relative to each other, they will respectively squeeze both sides of the buffer spring 805, and the elastic force of the buffer spring 805 itself in both directions will buffer or offset the extrusion force when the slider 801 moves, thereby enabling secondary buffering of the contact force of the robot and improving the buffering effect.

[0035] Specifically, as Figure 1 shown, a rotating shaft 11 is rotatably connected inside the U-shaped frame 4, and a driven gear 12 is fixedly sleeved on the surface of the rotating shaft 11. The collar 5 is fixedly sleeved on the surface of the rotating shaft 11.

[0036] Specifically, as Figure 6 shown, a protective box 13 is fixedly connected to the right side of the U-shaped frame 4, and the rotating shaft 11 passes through the protective box 13 and is rotatably connected to the protective box 13.

[0037] Specifically, as Figure 6 shown, a connecting shaft 14 is rotatably connected inside the protective box 13, and the side of the connecting shaft 14 close to the protective box 13 is rotatably connected to the protective box 13. A driving gear 15 is fixedly sleeved on the surface of the connecting shaft 14, and the driving gear 15 is meshed and connected to the rear side of the driven gear 12.

[0038] Specifically, as Figure 6 shown, a driving motor 16 is fixedly connected inside the protective box 13, and the output end of the driving motor 16 is fixedly connected to the right side of the connecting shaft 14.

[0039] In this embodiment: Through the above settings, the driving motor 16 can drive the connecting shaft 14 to rotate. When the connecting shaft 14 rotates, it can drive the driving gear 15 to rotate. The driving gear 15 will drive the driven gear 12 to rotate. The driven gear 12 will drive the rotating shaft 11 to rotate, and the rotating shaft 11 will drive the collar 5 to rotate, so that the calibration ball 2 can be driven to rotate, thereby enabling adjustment of the angle of the calibration ball 2 according to the usage requirements and improving the usage flexibility.

[0040] Specifically, as Figure 5As shown, a limiting rod 17 is fixedly connected inside the installation groove 10. The slider 801 is slidably connected to the surface of the limiting rod 17, and the buffer spring 805 is sleeved on the surface of the limiting rod 17.

[0041] Specifically, as Figure 1 shown, expansion bolts 18 penetrate and are threadedly connected to the bottom of the bottom plate 1, and the expansion bolts 18 are distributed at the four corners of the bottom plate 1.

[0042] In this embodiment: Through the above settings, the limiting rod 17 can limit the movement track of the slider 801, thereby improving the stability of the buffer assembly 8 during use. When the device needs to be calibrated, the expansion bolts 18 can be used to bolt the bottom plate 1 to the contact surface, thereby improving the use stability.

[0043] Working principle: First, bolt the bottom plate 1 to the ground through the expansion bolts 18, and then move the robot to a safe and easy-to-operate position, so that the tool tip at the end of the robot contacts the surface of the calibration ball 2. When the contact force between the robot and the calibration ball 2 is too large, the calibration ball 2 will drive the connecting block 7 and the first fixing plate 901 to move backward together after being stressed. When the first fixing plate 901 moves backward, it will squeeze the hydraulic damper 903 and the energy-absorbing spring 904. The hydraulic damper 903 can effectively buffer the extrusion force by using the flow resistance of the liquid. When the energy-absorbing spring 904 is subjected to an external force, the energy-absorbing spring 904 will be compressed, so that the external force can be absorbed, thereby achieving the effect of buffering and absorbing the contact force of the robot. When the position of the calibration ball 2 needs to be adjusted, start the driving motor 16. The driving motor 16 will drive the connecting shaft 14 to rotate. When the connecting shaft 14 rotates, it will drive the driving gear 15 to rotate. The driving gear 15 will drive the driven gear 12 to rotate. The driven gear 12 will drive the rotating shaft 11 to rotate. The rotating shaft 11 will drive the collar 5 to rotate, so that the calibration ball 2 can be driven to rotate, and thus the angle of the calibration ball 2 can be adjusted according to the use requirements.

[0044] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A TCP automatic calibration device, comprising a base plate (1) and a calibration ball (2), characterized in that: The top of the bottom plate (1) is fixedly connected to a T-shaped frame (3), the top of the T-shaped frame (3) is fixedly connected to a U-shaped frame (4), the inside of the U-shaped frame (4) is rotatably connected to a ring sleeve (5), the front side of the ring sleeve (5) is fixedly connected to a support plate (6), the rear side of the calibration ball (2) is fixedly connected to a connecting block (7), a buffer component (8) is arranged between the side where the connecting block (7) and the support plate (6) are close to each other, the buffer component (8) comprises a slider (801), and an energy absorption component (9) is arranged between the side where the support plate (6) and the connecting block (7) are opposite to each other, and the energy absorption component (9) is arranged in two groups; The energy absorption assembly (9) comprises a first fixed plate (901), a second fixed plate (902), a hydraulic damper (903) and an energy absorption spring (904); the first fixed plate (901) is fixedly connected to the rear side of the connecting block (7); the second fixed plate (902) is fixedly connected to the front side of the supporting plate (6); the hydraulic damper (903) is fixedly connected between the first fixed plate (901) and the second fixed plate (902) on opposite sides; the energy absorption spring (904) is sleeved on the surface of the hydraulic damper (903) and the energy absorption spring (904) is fixedly connected to the first fixed plate (901) and the second fixed plate (902) on one side thereof.

2. A TCP automatic calibration device according to claim 1, characterized in that: The front side of the support plate (6) is provided with a mounting groove (10), and the sliding block (801) is slidably connected inside the mounting groove (10).

3. A TCP automatic calibration device according to claim 1, characterized in that: The rear side of the connecting block (7) is fixedly connected to a first connecting block (802), the front side of the sliding block (801) is fixedly connected to a second connecting block (803), the top of the first connecting block (802) is rotatably connected to a rotating rod (804), and the rotating rod (804) is rotatably connected to the second connecting block (803) at a side close to the second connecting block (803).

4. A TCP automatic calibration device according to claim 2, characterized in that: A buffer spring (805) is fixedly connected between the adjacent sides of the two sliders (801), and the sides of the buffer spring (805) adjacent to the sliders (801) are respectively fixedly connected to the sliders (801).

5. A TCP automatic calibration device according to claim 1, characterized in that: The U-shaped frame (4) is rotatably connected to a rotating shaft (11) and a driven gear (12) is fixedly sleeved on the surface of the rotating shaft (11). The ring sleeve (5) is fixedly sleeved on the surface of the rotating shaft (11).

6. A TCP automatic calibration device according to claim 5, characterized in that: A protection box (13) is fixedly connected to the right side of the U-shaped frame (4), and the rotating shaft (11) passes through the protection box (13) and is rotationally connected to the protection box (13).

7. A TCP automatic calibration device according to claim 6, characterized in that: The protection box (13) is internally rotatably connected with a connecting shaft (14), and the side of the connecting shaft (14) close to the protection box (13) is rotatably connected to the protection box (13). A driving gear (15) is fixedly sleeved on the surface of the connecting shaft (14), and the driving gear (15) is meshedly connected to the rear side of the driven gear (12).

8. A TCP automatic calibration device according to claim 7, characterized in that: The protection box (13) is fixedly connected to a driving motor (16) inside, and the output end of the driving motor (16) is fixedly connected to the right side of the connecting shaft (14).

9. A TCP automatic calibration device according to claim 4, characterized in that: The interior of the installation groove (10) is fixedly connected to a limiting rod (17), the sliding block (801) is slidably connected to the surface of the limiting rod (17), and the buffer spring (805) is sleeved on the surface of the limiting rod (17).

10. The TCP automatic calibration device according to claim 1, characterized in that: Expansion bolts (18) penetrate through the bottom of the base plate (1) and are threadedly connected thereto, and the expansion bolts (18) are distributed at the four corners of the base plate (1).

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