Robot automatic recalibration TCP device

Abstract

The utility model discloses an automatic recalibration TCP device for a robot, which relates to the technical field of robot calibration and comprises a detection assembly arranged on the inner wall of a rotating assembly. The rotating assembly comprises a mounting ring, and a rotating cylinder is rotationally mounted at the bottom end of the mounting ring; the detection assembly comprises a fixing frame, the fixing frame is fixedly connected with the rotating cylinder, a second servo motor is fixedly installed at the bottom end of the fixing frame, the output end of the second servo motor penetrates through the top end of the fixing frame, and a second gear is fixedly installed at the output end of the second servo motor. Whether the tool center point axis deviates or not is accurately determined, visual detection can be conducted on the tool center point axis in the X-axis direction, the Y-axis direction and the Z-axis direction through the rotating assembly, therefore, the deviation angle of the tool center point axis can be better recognized and detected, and a more accurate basis is provided for follow-up adjustment and calibration of the tool center point axis.

Description

Technical Field

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

[0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. Different tools need to be installed at the end of the industrial robot. The positioning accuracy of the position of the tool center point (TCP) at the end of the industrial robot directly affects the quality of products on the production line. The working trajectory of the robot is the movement trajectory of the tool TCP. Therefore, the position of the tool TCP needs to be set before formal operation. For special processing operations, such as drilling, reaming, laser shock, and cutting, etc., it is required that the tool is perpendicular to the surface of the workpiece to be processed or coaxial with the prefabricated hole. This requires obtaining the direction information of the TCP of the tool at the end of the robot to ensure that the Z-axis of the tool coordinate system is coaxial with the rotation axis diameter of the drill bit or milling cutter of the working part of the tool. Therefore, it is necessary to calibrate the axis at the tool point at the end of the robot.

[0003] In the prior art, such as an industrial robot automatic calibration device in Chinese Patent No. CN221517824U, which includes a robot body and a calibration plate. A robotic arm is provided on one side of the robot body, a substrate is provided on one side of the robotic arm, a connection groove is opened on the front surface of the substrate, a channel is opened on the inner bottom wall of the connection groove, a bracket is fixedly connected to one side of the substrate, and an electric motor is provided on one side of the bracket. By setting the robot body, robotic arm, calibration plate, sensor body, moving plate, clamping block, and clamping plate, when the electric motor is started, the threaded rod rotates to drive the two clamping plates to move in opposite directions to clamp the part. When the part is not in the exact middle of the two clamping plates, when one clamping plate contacts the part and encounters resistance during the movement, it will stop moving, and the other clamping plate will continue to move until it contacts the part, and then the part can be clamped, realizing automatic calibration according to the position of the part.

[0004] Although the above patent can calibrate the part, there are still some problems. After the clamping plate contacts the part during the movement, it may cause damage to the part, and some parts have a certain angle, and the part cannot be adjusted by clamping, so the calibration effect is not good. Therefore, the utility model provides a robot automatic re-calibration TCP device. Summary of the Utility Model

[0005] Aiming at the deficiencies of the prior art, the utility model provides a robot automatic re-calibration TCP device, which solves the problems that after the clamping plate contacts the part during the movement, it may cause damage to the part, and some parts have a certain angle, and the part cannot be adjusted by clamping, so the calibration effect is not good.

[0006] To achieve the above object, the utility model is realized by the following technical solutions: A robot automatic TCP re-calibration device, including two electromagnets, a rotation assembly is arranged at the bottom ends of the two electromagnets, and a detection assembly is arranged on the inner wall of the rotation assembly;

[0007] The rotation assembly includes an installation ring, the installation ring is fixedly connected to the bottom ends of the two electromagnets, and a rotating cylinder is rotatably installed at the bottom end of the installation ring;

[0008] The detection assembly includes a fixed frame, the fixed frame is fixedly connected to the rotating cylinder, a second servo motor is fixedly installed at the bottom end of the fixed frame, and the output end of the second servo motor penetrates through the top end of the fixed frame and is fixedly installed with a second gear.

[0009] Preferably, two sliding rods are fixedly installed on the inner wall of the rotating cylinder, sliders are slidably connected to the outer walls of the two sliding rods, moving racks are fixedly installed at one ends of the outer walls of the two sliders, and the two moving racks are both meshed with the second gear.

[0010] Preferably, a moving plate is fixedly installed at the top end of one of the two moving racks, a first vision detection camera is fixedly installed on the outer wall of the moving plate, and a moving background plate is fixedly installed at the top end of one of the two moving racks.

[0011] Preferably, a bracket is fixedly installed at the top end of the fixed frame, a second vision detection camera is fixedly installed at the top end of the bracket, and a microcomputer is fixedly installed at the bottom end of the fixed frame.

[0012] Preferably, an external gear ring is fixedly sleeved on the outer wall of the rotating cylinder, an installation plate is fixedly installed on the outer wall of the installation ring, a first servo motor is fixedly installed at the bottom end of the installation plate, a first gear is fixedly installed at the output end of the first servo motor, the first gear is meshed with the external gear ring, and two through grooves are penetrated and opened on the outer wall of the rotating cylinder.

[0013] Preferably, the microcomputer is electrically connected to the first vision detection camera and the second vision detection camera respectively.

[0014] Beneficial effects

[0015] The utility model provides a robot automatic TCP re-calibration device. Compared with the prior art, the following beneficial effects are achieved:

[0016] (1) The robot automatically recalibrates the TCP device. When calibrating the axis at the end tool point, first place the device on the end surface of the robot so that the axis at the end tool point is at the center of the device. Then turn on the electromagnet to fixedly install the device on the end surface of the robot. At this time, turn on the second servo motor. The second servo motor drives the second gear to rotate, and the second gear drives the two moving racks to approach each other. The two moving racks then drive the first vision detection camera and the moving background plate to approach each other. Since the first vision detection camera is closer to the axis at the end tool point, the blur and distortion caused by long-distance shooting are reduced, and the contour and features of the axis can be determined more accurately. This helps the vision detection algorithm to more precisely detect whether the tool center point axis is offset. At the same time, a background plate is provided, which can better provide a single and uniform background, enabling the first vision detection camera to better identify the edge and contour of the tool center axis, thereby accurately determining whether the tool center point axis is offset. Through the mutual cooperation of the two, the recognition accuracy of the tool center point axis is improved.

[0017] (2) The robot automatically recalibrates the TCP device. After the first vision detection camera performs vision detection on the tool center point axis from one direction, turn on the first servo motor. The first servo motor drives the first gear to rotate, and the first gear then drives the outer gear ring and the rotating cylinder to rotate, causing the internal detection component to rotate by ninety degrees, so that the tool center point axis can be visually detected from another direction. Then, through the second vision detection camera, the tool center point axis can be visually detected from three different directions on the X, Y, and Z axes, so that the offset angle of the tool center point axis can be better recognized and detected, providing a more accurate basis for the subsequent adjustment and calibration of the tool center point axis. Description of the Drawings

[0018] Figure 1 Schematic diagram of the overall structure of the present utility model;

[0019] Figure 2 Schematic diagram of the overall structure of another perspective of the present utility model;

[0020] Figure 3 Cross-sectional view of the overall structure of the present utility model;

[0021] Figure 4 Schematic diagram of the detection component of the present utility model;

[0022] Figure 5 Schematic diagram of the detection component of another perspective of the present utility model.

[0023] In the figure: 1. Electromagnet; 2. Rotating assembly; 21. Mounting ring; 22. Rotating cylinder; 23. External gear ring; 24. Mounting plate; 25. First servo motor; 26. First gear; 27. Through groove; 3. Detection assembly; 31. Fixed frame; 32. Second servo motor; 33. Second gear; 34. Moving rack; 35. Slide block; 36. Slide bar; 37. Moving plate; 38. First vision detection camera; 39. Moving background plate; 310. Bracket; 311. Second vision detection camera; 312. Microcomputer. Detailed implementation

[0024] 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 work fall within the protection scope of the present invention.

[0025] The present invention provides two technical solutions:

[0026] Figures 1 - 5 The first implementation is shown: A robot automatic TCP re-calibration device includes two electromagnets 1. The bottom ends of the two electromagnets 1 are provided with a rotating assembly 2, and a detection assembly 3 is arranged on the inner wall of the rotating assembly 2;

[0027] The rotating assembly 2 includes a mounting ring 21. The mounting ring 21 is fixedly connected to the bottom ends of the two electromagnets 1. A rotating cylinder 22 is rotatably mounted at the bottom end of the mounting ring 21. The electromagnet 1 is a prior art and can generate magnetic force after being energized to fix the device on the surface of the end of the robot;

[0028] The detection assembly 3 includes a fixed frame 31. The fixed frame 31 is fixedly connected to the rotating cylinder 22. A second servo motor 32 is fixedly installed at the bottom end of the fixed frame 31. The output end of the second servo motor 32 penetrates the top end of the fixed frame 31 and is fixedly installed with a second gear 33. The second servo motor 32 is a prior art, which can achieve precise angle control and can also adjust the rotation speed, and can achieve precise position angle control.

[0029] Two slide bars 36 are fixedly installed on the inner wall of the rotating cylinder 22. Slide blocks 35 are slidably connected to the outer walls of the two slide bars 36. One ends of the outer walls of the two slide blocks 35 are fixedly installed with moving racks 34. The two moving racks 34 are both engaged with the second gear 33. The slide block 35 can slide on the slide bar 36, so as to limit and support the moving rack 34.

[0030] One end of the top of one of the two moving racks 34 is fixedly installed with a moving plate 37. The outer wall of the moving plate 37 is fixedly installed with a first vision detection camera 38. One end of the top of one of the two moving racks 34 is fixedly installed with a moving background plate 39. The top end of the fixed frame 31 is fixedly installed with a support 310. The top end of the support 310 is fixedly installed with a second vision detection camera 311. The bottom end of the fixed frame 31 is fixedly installed with a microcomputer 312. The first vision detection camera 38 and the second vision detection camera 311 are prior arts, which are devices for acquiring image information and performing analysis and processing. The microcomputer 312 is prior art and can quickly analyze the collected images and obtain key information.

[0031] Figures 1 - 5 The second embodiment is shown. The main difference from the first embodiment is that: an external gear ring 23 is fixedly sleeved on the outer wall of the rotating cylinder 22. The outer wall of the mounting ring 21 is fixedly installed with a mounting plate 24. The bottom end of the mounting plate 24 is fixedly installed with a first servo motor 25. The output end of the first servo motor 25 is fixedly installed with a first gear 26. The first gear 26 is meshed with the external gear ring 23. By starting the first servo motor 25, the first gear 26 can be driven to rotate, thereby driving the rotating cylinder 22 and the detection assembly 3 to rotate, so that the detection assembly 3 can perform detection from another direction. Two through slots 27 are formed through the outer wall of the rotating cylinder 22. When the moving rack 34 moves, it will pass through the through slots 27 without being obstructed.

[0032] The microcomputer 312 is electrically connected to the first vision detection camera 38 and the second vision detection camera 311 respectively. After the first vision detection camera 38 and the second vision detection camera 311 complete detection and recognition, the picture information they captured is fed back to the microcomputer 312, and the microcomputer 312 processes these picture information.

[0033] Meanwhile, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0034] During operation, when it is necessary to calibrate the axis at the end effector point, first place the device on the end surface of the robot so that the axis at the end effector point is at the exact center of the device. Then, turn on the electromagnet 1 to fixedly mount the device on the end surface of the robot. At this time, turn on the second servo motor 32. The second servo motor 32 drives the second gear 33 to rotate, and the second gear 33 drives the two moving racks 34 to move closer to each other. The two moving racks 34 then drive the first vision detection camera 38 and the moving background plate 39 to move closer to each other. At the same time, be careful not to let the first vision detection camera 38 and the moving background plate 39 collide with the axis at the end effector point. Since the first vision detection camera 38 is close to the axis at the end effector point, the blurring and distortion caused by long-distance shooting are reduced, and the contour and features of the axis can be determined more accurately. This helps the vision detection algorithm to more precisely detect whether the tool center point axis is offset. At the same time, there is a moving background plate 39, which can better provide a single and uniform background, enabling the first vision detection camera 38 to better identify the edge and contour of the tool center axis, thereby accurately determining whether the tool center point axis is offset. Through the mutual cooperation of the two, the recognition accuracy of the tool center point axis is improved. After the first vision detection camera 38 performs vision detection on the tool center point axis from one direction, turn on the first servo motor 25. The first servo motor 25 drives the first gear 26 to rotate, and the first gear 26 then drives the external gear ring 23 and the rotating cylinder 22 to rotate, causing the internal detection component 3 to rotate by 90 degrees, so that vision detection of the tool center point axis can be performed from another direction. Then, through the second vision detection camera 311, vision detection of the tool center point axis can be performed from three different directions on the X, Y, and Z axes, enabling better recognition of the offset angle of the tool center point axis and providing a more accurate basis for the subsequent adjustment and calibration of the tool center point axis. After the first vision detection camera 38 and the second vision detection camera 311 complete the detection and recognition, the image information they capture is fed back to the microcomputer 312. The microcomputer 312 processes this image information to generate key information such as the offset angle of the tool center point axis. At this time, when the staff obtains this key information, they can control the robot to calibrate and adjust the tool center point axis at its end.

[0035] It should be noted that in this article, 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 comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0036] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A robot automatic TCP recalibration device, comprising two electromagnets (1), characterized in that: A rotating component (2) is provided at the bottom end of the two electromagnets (1), and a detection component (3) is provided on the inner wall of the rotating component (2). The rotating component (2) includes a mounting ring (21), the mounting ring (21) is fixedly connected to the bottom ends of the two electromagnets (1), and a rotating cylinder (22) is rotatably mounted at the bottom end of the mounting ring (21). The detection component (3) includes a fixing frame (31), the fixing frame (31) is fixedly connected to the rotating cylinder (22), a second servo motor (32) is fixedly installed at the bottom end of the fixing frame (31), and the output end of the second servo motor (32) penetrates through the top end of the fixing frame (31) and is fixedly installed with a second gear (33).

2. The automatic TCP re-calibration device for a robot according to claim 1, characterized in that: Two sliding rods (36) are fixedly installed on the inner wall of the rotating cylinder (22), sliders (35) are slidably connected to the outer walls of the two sliding rods (36), moving racks (34) are fixedly installed at one ends of the outer walls of the two sliders (35), and the two moving racks (34) are both meshed with the second gear (33).

3. The automatic TCP re-calibration device for a robot according to claim 2, characterized in that: A moving plate (37) is fixedly installed at the top end of one of the two moving racks (34), a first vision detection camera (38) is fixedly installed on the outer wall of the moving plate (37), and a moving background plate (39) is fixedly installed at the top end of one of the two moving racks (34).

4. A robot automatic TCP recalibration device according to claim 3, characterized in that: A bracket (310) is fixedly installed at the top end of the fixing frame (31), a second vision detection camera (311) is fixedly installed at the top end of the bracket (310), and a microcomputer (312) is fixedly installed at the bottom end of the fixing frame (31).

5. A robot automatic TCP recalibration device according to claim 1, characterized in that: An external gear ring (23) is fixedly sleeved on the outer wall of the rotating cylinder (22), a mounting plate (24) is fixedly installed on the outer wall of the mounting ring (21), a first servo motor (25) is fixedly installed at the bottom end of the mounting plate (24), a first gear (26) is fixedly installed at the output end of the first servo motor (25), the first gear (26) is meshed with the external gear ring (23), and two through slots (27) are formed through the outer wall of the rotating cylinder (22).

6. A robot automatic TCP re - calibration device according to claim 4, characterized in that: The microcomputer (312) is electrically connected to the first vision detection camera (38) and the second vision detection camera (311) respectively.

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