Robot positioning calibration device

Abstract

The utility model discloses a robot positioning calibration device, which belongs to the field of industrial robots and comprises a calibration table. A first linear lead screw module is installed on the upper end face of the calibration table, a bearing table is assembled on the first linear lead screw module, a robot calibration base is installed on the bearing table, a portal frame is installed on the side face of the calibration table, a second linear lead screw module is erected on the portal frame, and a zero returning position adjusting assembly is installed on the side face of the second linear lead screw module. According to the robot positioning and calibrating device, the current position of the robot body can be dynamically updated through data measurement between the laser sensor and the radar sensor, so that positioning and calibrating of the position of the robot body are achieved; through multi-position control of the first linear lead screw module, the second linear lead screw module and the return-to-zero position adjusting assembly, the position of the calibration object can be accurately adjusted, so that the robot body and the calibration object are accurately butted, and positioning errors caused by position deviation are reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of industrial robots, concretely relates to a robot positioning calibration device. BACKGROUND

[0002] Industrial robots are mechanical devices used in automated industrial production processes, typically with high flexibility and precision. They can perform a variety of repetitive and complex tasks, widely used in manufacturing, assembly, welding, spraying, handling, packaging and other fields; most industrial robots have a structure similar to human arms, usually composed of multiple joints and links, capable of multidimensional movement.

[0003] Industrial robot positioning calibration is a process to ensure that the robot can accurately and reliably perform the predetermined task during the work process. Through positioning calibration, the consistency between the actual position of each joint, tool or end effector of the robot and the ideal position can be ensured to ensure the accuracy and efficiency of production. Positioning calibration is particularly important in industrial robot applications, especially in complex and high-precision tasks such as welding, assembly and precision machining.

[0004] In actual calibration operations, the traditional industrial robot positions its zero point mostly by manual adjustment of the position by personnel, thereby adjusting the displacement of multiple zero points, cooperating with the sensors integrated on the robot to achieve positioning calibration; such as a Chinese patent No. CN205201527U, which provides a robot zero point calibration system, combined with support plate 3, positioning device, calibration sensor 2 and calibration structure 5 on robot 4, robot 4 can be automatically calibrated, the calibration device structure is simple, avoids the tediousness of manual calibration in turn, improves the calibration efficiency and precision.

[0005] However, during this period, the sensor used for zero return in robot positioning is single in position, and can only be adjusted in height during adjustment, making it difficult to adjust in horizontal direction. Due to the single zero point position, the calibration data can only reflect the performance of a specific position, lacking comprehensive evaluation of different working areas or tasks, thus making the positioning calibration of the robot not accurate enough; at the same time, the height adjustment needs to be operated manually, which is not accurate enough and difficult to adapt to the zero positioning calibration of the robot; therefore, a robot positioning calibration device is proposed to solve the above problems. UTILITY MODEL CONTENT

[0006] In view of one or more of the above defects or improvement needs of the prior art, the utility model provides a robot positioning calibration device, which has the advantages of multiple calibration positions, accurate positioning adjustment, and zero return for different areas.

[0007] In order to achieve the above object, the utility model provides a kind of robot positioning calibration device, including calibration platform;

[0008] Horizontal calibration platform is formed on the calibration platform;

[0009] First linear lead screw module is installed on the upper end surface of the calibration platform, bearing table is assembled and arranged on the first linear lead screw module, robot calibration seat is installed on the bearing table, and robot body is loaded and arranged on the robot calibration seat;

[0010] Gantry is installed on the side surface of the calibration platform, and second linear lead screw module is erected on the gantry, and zero position adjusting assembly is installed on the side surface of the second linear lead screw module;

[0011] The zero position adjusting assembly includes side plate arranged on the side surface of the second linear lead screw module, two linear guides are installed on the side surface of the side plate vertically, guide rail slider is slidably installed on the two linear guides, and moving block is jointly installed on the side surface of the two guide rail sliders;

[0012] Connecting plate is assembled on the side surface of the moving block, and radar sensor is assembled and arranged on the side surface of the connecting plate.

[0013] As a further improvement of the utility model, laser sensor is installed on the end of the mechanical hand of the robot body, and cabinet is arranged on the outside cover of the zero position adjusting assembly.

[0014] As a further improvement of the utility model, the zero position adjusting assembly further includes first pulley and second pulley rotatably arranged on the side surface of the side plate, and the first pulley and the second pulley are arranged oppositely and transmission belt is arranged between them.

[0015] As a further improvement of the utility model, one side of the moving block is connected with the transmission belt.

[0016] As a further improvement of the utility model, reciprocating motor is installed on the side surface of the side plate, and the output end of the reciprocating motor penetrates the side plate and extends to the side of the first pulley and is connected with it.

[0017] Overall, the above technical scheme conceived by the utility model has the beneficial effects compared with the prior art, including:

[0018] The robot positioning calibration device of the utility model, in actual use, through mutual movement cooperation of multiple structures arranged in the zero position adjusting assembly, the radar sensor installed in the zero position adjusting assembly can move linearly along the vertical direction, and the lateral direction adjustment of the zero position adjusting assembly is adjusted in cooperation with the second linear lead screw module, so that under the double control of the lateral direction and the vertical direction, the robot body can accurately adjust the position of the calibration object; through data measurement between the laser sensor and the radar sensor, the current position of the robot body can be dynamically updated, so that the position positioning calibration of the robot body is realized; compared with the manual height adjustment mode in the cited document, the multiple position control of the first linear lead screw module, the second linear lead screw module and the zero position adjusting assembly can accurately adjust the position of the calibration object, so that the robot body and the calibration object are accurately docked, and the positioning error caused by the position deviation is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 It is a whole installation structure schematic view of the utility model;

[0020] Fig. 2 It is a whole installation structure schematic view of the zero position adjusting assembly of the utility model;

[0021] Fig. 3 It is a whole installation structure schematic view of the robot body on the robot calibration seat of the utility model.

[0022] In all the drawings, same reference signs represent same technical features, specifically: 1, calibration table; 2, first linear lead screw module; 3, bearing table; 4, robot calibration seat; 5, robot body; 6, laser sensor; 7, second linear lead screw module; 8, case; 9, zero position adjusting assembly; 91, side plate; 92, linear guide rail; 93, guide rail sliding block; 94, moving block; 95, connecting plate; 96, radar sensor; 97, first belt pulley; 98, second belt pulley; 99, transmission belt; 910, reciprocating motor. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model, obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0024] EMBODIMENT

[0025] By Figs. 1-3 It is given, a kind of robot positioning calibration device, including calibration table 1;

[0026] The calibration table 1 is provided with a horizontal calibration platform;

[0027] A first linear lead screw module 2 is mounted on the upper end face of the calibration table 1, a bearing table 3 is arranged on the first linear lead screw module 2, a robot calibration seat 4 is mounted on the bearing table 3, and a robot body 5 is carried and arranged on the robot calibration seat 4;

[0028] A gantry is mounted on the side face of the calibration table 1, and a second linear lead screw module 7 is arranged on the gantry, and a zero position adjusting assembly 9 is mounted on the side face of the second linear lead screw module 7;

[0029] The zero position adjusting assembly 9 comprises a side plate 91 arranged on the side face of the second linear lead screw module 7, two linear guide rails 92 are vertically and parallelly mounted on the side face of the side plate 91, guide rail sliders 93 are slidingly mounted on the two linear guide rails 92, and a moving block 94 is jointly mounted on the side faces of the two guide rail sliders 93;

[0030] A connecting plate 95 is assembled on the side face of the moving block 94, and a radar sensor 96 is arranged on the side face of the connecting plate 95.

[0031] In actual use, the mutual movement of the multiple structures arranged in the zero position adjusting assembly 9 enables the radar sensor 96 arranged in the zero position adjusting assembly 9 to move linearly in the vertical direction, and the lateral direction adjustment of the zero position adjusting assembly 9 by the second linear lead screw module 7 enables the robot body 5 to accurately adjust the position of the calibration object in multiple directions under the double control of the lateral direction and the vertical direction. Through the data measurement between the laser sensor 6 and the radar sensor 96, the current position of the robot body 5 can be dynamically updated, so as to realize the position positioning and calibration of the robot body 5. Compared with the manual height adjustment mode in the cited document, the multiple position controls of the first linear lead screw module 2, the second linear lead screw module 7 and the zero position adjusting assembly 9 can accurately adjust the position of the calibration object, so as to accurately dock the robot body 5 and the calibration object, and reduce the positioning error caused by the position deviation.

[0032] Specifically, referring to Figs. 1-3 , a laser sensor 6 is mounted on the end face of the mechanical hand of the robot body 5, and a cabinet 8 is arranged on the outer cover of the zero position adjusting assembly 9.

[0033] In this embodiment, the laser sensor 6 can be used for marking and identifying the radar sensor 96, so as to take the radar sensor 96 as the calibration object, so that the relative position of the robot body 5 can be determined. In actual use, the current position of the robot body 5 is dynamically updated according to the data of the laser sensor 6, so as to ensure that the robot body 5 always maintains high precision during movement.

[0034] Specifically, referring to Figs. 1-2 , the zero-return position adjusting assembly 9 further comprises a first pulley 97 and a second pulley 98 arranged on the side surface of the side plate 91, and the first pulley 97 and the second pulley 98 are arranged oppositely and a transmission belt 99 is arranged between the first pulley 97 and the second pulley 98.

[0035] In the embodiment, the transmission belt 99 is engaged with the first pulley 97 and the second pulley 98, and when the first pulley 97 rotates, the transmission belt 99 engaged with the first pulley 97 and the second pulley 98 can rotate under the tension of the second pulley 98.

[0036] Specifically, referring to Fig. 2 , one side of the moving block 94 is engaged with the transmission belt 99.

[0037] In the embodiment, when the transmission belt 99 is adjusted by the first pulley 97 and the second pulley 98, the moving block 94 connected with the transmission belt 99 can move synchronously through the rotation of the transmission belt 99.

[0038] Further, the user controls the rotation number of the first pulley 97 and the second pulley 98, and the moving block 94 drives the connecting plate 95 and the radar sensor 96 to move linearly in the vertical direction through the sliding between the linear guide rail 92 and the guide rail sliding block 93.

[0039] Specifically, referring to Fig. 2 , the reciprocating motor 910 is installed on the side surface of the side plate 91, and the output end of the reciprocating motor 910 penetrates through the side plate 91 and extends to the side of the first pulley 97 and is connected with the first pulley 97.

[0040] In the embodiment, the reciprocating motor 910 can be used to control the rotation number of the first pulley 97, and in use, the power connection mode is prior art, and the control circuit can be realized through simple programming of those skilled in the art, which is common knowledge in the art, and only the use is described, without modification, so the control mode and circuit connection are not described in detail.

[0041] The robot positioning and calibration device of the utility model:

[0042] Step 1: In actual use, when the user needs to perform positioning calibration on the robot body 5, first install the robot body 5 on the upper surface of the robot calibration seat 4, and then control the first linear screw module 2 to make the support platform 3 move in a straight line, thereby moving the robot body 5 to one side of the radar sensor 96. At this time, the user stops running the first linear screw module 2 and sets the current position of the robot body 5 to zero. Then the user controls the laser sensor 6 to identify with the radar sensor 96 and uses the radar sensor 96 as the calibration object, so that the robot body 5 can determine its relative position.

[0043] Step 2: The user controls the movement of the zero position adjustment component 9. At this time, the radar sensor 96 installed in the zero position adjustment component 9 can move its position so that the laser sensor 6 can identify and detect it in different directions. During this period, the user connects the reciprocating motor 910 to the power supply and controls the rotation of the first pulley 97. When the first pulley 97 rotates, the tension of the second pulley 98 causes the transmission belt 99, which is engaged with it, to rotate. The rotation of the transmission belt 99 causes the moving block 94 connected to the transmission belt 99 to move synchronously. With the sliding between the linear guide rail 92 and the guide rail slider 93, the moving block 94 can drive the connecting plate 95 and the radar sensor 96 to move in a straight line in the vertical range.

[0044] Step 3: The user controls the movement of the second linear screw module 7. At this time, the zeroing position adjustment component 9 installed on the second linear screw module 7 can also move laterally along the top of the calibration platform 1. The radar sensor 96 installed on the zeroing position adjustment component 9 can be driven, thereby realizing precise horizontal and vertical displacement adjustment above the calibration platform 1. Under the dual control of horizontal and vertical directions, the robot body 5 can accurately adjust the position of the calibration object in multiple directions. Through data measurement between the laser sensor 6 and the radar sensor 96, the current position of the robot body 5 can be dynamically updated, thereby realizing the position positioning calibration of the robot body 5. At the same time, by adjusting the position of the calibration object, the robot body 5 and the calibration object can be accurately docked, reducing the positioning error caused by position deviation.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot positioning and calibration device, characterized in that; Includes calibration station (1); A horizontal calibration platform is formed on the calibration table (1); The calibration platform (1) is equipped with a first linear screw module (2) on its upper surface. A support platform (3) is mounted on the first linear screw module (2). A robot calibration seat (4) is mounted on the support platform (3). A robot body (5) is mounted on the robot calibration seat (4). The calibration platform (1) is equipped with a gantry frame on its side and a second linear screw module (7) is mounted on the gantry frame. A zero position adjustment component (9) is installed on the side of the second linear screw module (7). The zero position adjustment component (9) includes a side plate (91) disposed on the side of the second linear screw module (7). Two linear guide rails (92) are mounted parallel to each other on the side of the side plate (91) in the vertical direction. Guide rail sliders (93) are slidably mounted on both linear guide rails (92). A moving block (94) is mounted on the side of both guide rail sliders (93). The moving block (94) is fitted with a connecting plate (95) on its side, and a radar sensor (96) is fitted on the side of the connecting plate (95).

2. The robot positioning and calibration device according to claim 1, characterized in that, A laser sensor (6) is installed on the end of the robotic arm of the robot body (5), and a housing (8) is provided on the outside of the zeroing position adjustment component (9).

3. The robot positioning and calibration device according to claim 1, characterized in that, The zero position adjustment component (9) further includes a first pulley (97) and a second pulley (98) rotatably disposed on the side of the side plate (91). The first pulley (97) and the second pulley (98) are arranged vertically opposite each other and a transmission belt (99) is tensioned between them.

4. The robot positioning and calibration device according to claim 3, characterized in that, One side of the moving block (94) is engaged with the transmission belt (99).

5. The robot positioning and calibration device according to claim 3, characterized in that, A reciprocating motor (910) is installed on the side of the side plate (91). The output end of the reciprocating motor (910) passes through the side plate (91) and extends to the side of the first pulley (97) and is connected thereto.

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