Auxiliary calibration device for tool setting point of robot

Abstract

The utility model discloses a robot tool setting point auxiliary calibration device, and relates to the technical field of tool setting point calibration. The auxiliary calibration device for the tool setting point of the robot comprises a mounting plate, and four threaded holes are symmetrically formed in the mounting plate; the sliding block is connected above the mounting plate in a sliding manner; the moving seat is fixed above the sliding block, and the bottom of the moving seat is slidably connected with the top of the mounting plate; the calibration plate is slidably connected to the inner wall of the upper portion of the moving seat, a calibration hole is formed in the calibration plate, the two sides of the calibration hole are both arranged in a fillet mode, and a lifting assembly used for driving the calibration plate to ascend and descend in the moving seat is installed on the inner wall of the moving seat; according to the device, by arranging the moving assembly, the device can achieve lifting of the calibration hole and can also achieve flexible linear movement of the calibration hole, so that the tool setting requirements of different positions and angles can be met, the device is also convenient to adapt to tool bits of various models installed at the movable end of a robot, and the applicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of tool point calibration, in particular to a robot tool point auxiliary calibration device. Background Technique

[0002] The robot tool point auxiliary calibration device is a key device to ensure that the robot can accurately align and fix tools or workpieces when performing tasks. This device has a wide range of applications in the fields of industrial automation, precision manufacturing, machining, etc.

[0003] Referring to a welding robot TCP automatic calibration device disclosed in a patent application with a publication number of CN219379450U, a bracket is fixedly installed on a base, a detection switch is fixedly installed in a circular hole reserved at the upper end of the bracket through bolts, three detection holes communicating with the circular hole reserved at the upper end of the bracket are opened at the top of the bracket, and the included angle between adjacent detection holes is the same; the welding wire at the bottom of the welding torch extends into the detection holes, and the TCP automatic calibration device with detection holes is installed at the TCP measurement position of the welding robot through measurement, and automatic calibration is carried out by using an automated device, with high calibration accuracy, reduced labor load of the operator, and improved production efficiency.

[0004] As shown in the above prior art, in the prior art, a calibration TCP (Tool Center Point) bracket is usually used to assist the tool point calibration work of the robot. However, the existing calibration TCP brackets are usually fixed to the robot TCP measurement position through bolts, making it difficult to adapt to various types of tool heads at the moving end of the robot. This may cause inconvenience in the calibration work and low applicability.

[0005] Therefore, it is necessary to provide a robot tool point auxiliary calibration device to solve the above technical problems. Content of the Utility Model

[0006] (1) Technical Problems to be Solved

[0007] To solve the above technical problems, the utility model provides a robot tool point auxiliary calibration device.

[0008] (2) Technical Solutions

[0009] To achieve the above object, the utility model is realized through the following technical solutions: a robot tool point auxiliary calibration device, including:

[0010] A mounting plate, on which four threaded holes are symmetrically opened;

[0011] A slider, slidably connected above the mounting plate;

[0012] A moving seat, fixed above the slider, and the bottom of the moving seat is slidably connected to the top of the mounting plate;

[0013] The calibration plate is slidably connected to the inner wall above the moving seat. The calibration plate is provided with a calibration hole. The inner wall of the moving seat is installed with a lifting component for driving the calibration plate to rise and fall in the moving seat.

[0014] Preferably, the lifting assembly includes a first screw rotatably connected to the inner wall of the movable seat, the outer wall of the first screw is threadedly connected to the inner wall of the calibration plate, a worm gear is fixed to the outer wall of the lower end of the first screw, a worm is rotatably connected below the inner wall of the movable seat, the worm gear is meshingly connected to the worm, and one end of the worm passes through the movable seat and is fixed with a first knob.

[0015] Preferably, the moving assembly includes a second screw rod rotatably connected to the mounting plate, one end of the second screw rod passes through the mounting plate and is fixed with a second knob, and the sliding block is threadedly connected to the outer wall of the second screw rod.

[0016] Preferably, a center line groove is formed on a side of the mounting plate away from the second knob.

[0017] Preferably, a reinforcement sleeve is fixed to a side of the movable seat close to the first knob, and the inner wall of the reinforcement sleeve is rotatably connected to the outer wall of the worm.

[0018] Preferably, both sides of the calibration hole are rounded.

[0019] (III) Beneficial effects

[0020] The utility model provides a robot tool setting point auxiliary calibration device. Compared with the prior art, it has the following beneficial effects:

[0021] 1. During robot processing or operation, the accuracy of the tool setting point is crucial. If there is a large error in the tool setting point, the processing accuracy will be affected. The device realizes the precise lifting and lowering of the calibration plate by setting the first screw, worm gear and worm, thereby ensuring the precise calibration of the tool setting point;

[0022] 2. The device is provided with a moving component, so that the device can not only realize the lifting and lowering of the calibration hole but also realize the flexible linear movement of the calibration hole, so that it can adapt to the tool setting needs of different positions and angles, and it is also easy to adapt to various types of tool heads installed on the moving end of the robot, and has strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 It is a schematic diagram of the relationship between the slider and the second screw rod of the utility model;

[0025] Figure 3 This is a schematic diagram of the relationship between the first screw and the calibration plate of the utility model.

[0026] Reference numerals in the figure: 1, mounting plate; 2, threaded hole; 3, slider; 4, moving seat; 5, calibration plate; 6, calibration hole; 7, first screw; 8, worm gear; 9, worm; 10, second screw; 11, second knob; 12, center groove; 13, reinforcing sleeve; 14, first knob. Specific implementation mode

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] The present invention provides two technical solutions:

[0029] Figures 1 to 3 The first implementation mode is shown: a robot tool setting point auxiliary calibration device, including:

[0030] A mounting plate 1, on which four threaded holes 2 are symmetrically opened;

[0031] A slider 3, slidably connected above the mounting plate 1;

[0032] A moving seat 4, fixed above the slider 3, and the bottom of the moving seat 4 is slidably connected to the top of the mounting plate 1;

[0033] A calibration plate 5, slidably connected to the inner wall above the moving seat 4, a calibration hole 6 is opened on the calibration plate 5, and both sides of the calibration hole 6 are provided with inverted rounded corners. An elevating assembly for driving the calibration plate 5 to lift in the moving seat 4 is installed on the inner wall of the moving seat 4;

[0034] A moving assembly, installed on the mounting plate 1, for driving the slider 3 to perform linear movement on the mounting plate 1.

[0035] The elevating assembly includes a first screw 7 rotatably connected to the inner wall of the moving seat 4. The outer wall of the first screw 7 is threadedly connected to the inner wall of the calibration plate 5. A worm gear 8 is fixed to the outer wall of the lower end of the first screw 7. A worm 9 is rotatably connected to the lower part of the inner wall of the moving seat 4. The worm gear 8 is meshed with the worm 9. One end of the worm 9 penetrates through the moving seat 4 and is fixed with a first knob 14. A reinforcing sleeve 13 is fixed to one side of the moving seat 4 close to the first knob 14. The inner wall of the reinforcing sleeve 13 is rotatably connected to the outer wall of the worm 9.

[0036] During the machining or operation of the robot, the accuracy of the tool setting point is crucial. If there are large errors in the tool setting point, it will affect the machining accuracy. This device realizes the precise lifting of the calibration plate 5 by setting the first screw 7, worm gear 8 and worm 9, thereby ensuring the precise calibration of the tool setting point.

[0037] During the machining or operation of the robot, the accuracy of the tool setting point is crucial. If there are large errors in the tool setting point, it will affect the machining accuracy. This device realizes the precise lifting of the calibration plate 5 by setting the first screw 7, worm gear 8 and worm 9, thereby ensuring the precise calibration of the tool setting point.

[0038] Figures 1 to 2 The second implementation mode is shown, and the main difference from the first implementation mode is:

[0039] The moving component includes a second screw 10 rotatably connected to the mounting plate 1. One end of the second screw 10 penetrates through the mounting plate 1 and is fixed with a second knob 11. The slider 3 is threadedly connected to the outer wall of the second screw 10.

[0040] A central groove 12 is formed on one side of the mounting plate 1 facing away from the second knob 11.

[0041] By setting the moving component, this device can not only realize the lifting of the calibration hole 6 but also realize the flexible linear movement of the calibration hole 6, so as to adapt to the tool setting requirements of different positions and angles, and it is also convenient to adapt to various types of tool heads installed at the moving end of the robot, with strong applicability.

[0042] By setting the moving component, this device can not only realize the lifting of the calibration hole 6 but also realize the flexible linear movement of the calibration hole 6, so as to adapt to the tool setting requirements of different positions and angles, and it is also convenient to adapt to various types of tool heads installed at the moving end of the robot, with strong applicability.

[0043] Working principle:

[0044] Align the central groove 12 on the mounting plate 1 with the center line of the robot TCP measurement position, and install the mounting plate 1 through the four threaded holes 2.

[0045] When tool setting is required, make the tool head at the moving end of the robot pass through the calibration hole 6, and then run the tool setting program to make the robot start to run. Record the position after making the tool head at the moving end of the robot move in four directions and make contact. Finally, calculate the four-point recorded data and write it into the system, thereby completing the tool setting work for the robot.

[0046] To adapt to various types of tool heads at the moving end of the robot, the tool setting point can be adjusted according to the tool setting requirements; rotating the first knob 14 can make the worm 9 rotate, and the worm wheel 8 rotates accordingly to drive the first screw rod 7 to rotate, so that the calibration plate 5 moves up and down inside the moving seat 4; rotating the second knob 11 makes the second screw rod 10 rotate, then the slider 3 moves on the mounting plate 1, driving the moving seat 4 to move linearly, and the calibration plate 5 moves accordingly.

[0047] Meanwhile, the content not detailedly described in this specification belongs to the prior art well-known to those skilled in the art.

[0048] It should be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0049] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot tool point auxiliary calibration device, characterized in that, include: A mounting plate (1), wherein four threaded holes (2) are symmetrically provided on the mounting plate (1); A slider (3) is slidably connected to the top of the mounting plate (1); A movable seat (4) is fixed above the slider (3), and the bottom of the movable seat (4) is slidably connected to the top of the mounting plate (1); A calibration plate (5) is slidably connected to the upper inner wall of the movable seat (4); a calibration hole (6) is provided on the calibration plate (5); and a lifting component for driving the calibration plate (5) to move up and down in the movable seat (4) is installed on the inner wall of the movable seat (4); The moving component is mounted on the mounting plate (1) and is used to drive the slider (3) to move linearly on the mounting plate (1).

2. The robot tool setting point auxiliary calibration device according to claim 1, characterized in that: The lifting assembly comprises a first screw (7) rotatably connected to the inner wall of the moving seat (4); the outer wall of the first screw (7) is threadedly connected to the inner wall of the calibration plate (5); a worm wheel (8) is fixed to the outer wall of the lower end of the first screw (7); a worm (9) is rotatably connected below the inner wall of the moving seat (4); the worm wheel (8) is meshingly connected to the worm (9); one end of the worm (9) passes through the moving seat (4) and is fixed with a first knob (14).

3. The robot tool point auxiliary calibration device according to claim 1, characterized in that: The moving assembly comprises a second screw rod (10) rotatably connected to the mounting plate (1), one end of the second screw rod (10) passes through the mounting plate (1) and is fixed with a second knob (11), and the sliding block (3) is threadedly connected to the outer wall of the second screw rod (10).

4. The robot tool point auxiliary calibration device according to claim 3, characterized in that: A centerline groove (12) is provided on a side of the mounting plate (1) facing away from the second knob (11).

5. The robot tool point auxiliary calibration device according to claim 2, wherein: A reinforcing sleeve (13) is fixed to one side of the movable seat (4) close to the first knob (14), and the inner wall of the reinforcing sleeve (13) is rotatably connected to the outer wall of the worm (9).

6. The robot tool point auxiliary calibration device according to claim 1, characterized in that: Both sides of the calibration hole (6) are arranged with rounded corners.

Images