TCP calibration device used by robot

Abstract

The utility model relates to the field of TCP position calibration of a robot, in particular to a TCP calibration device used by the robot, which comprises a base body, a laser component mounted on the base body, a fixing device matched with the laser component, and a laser pressing plate matched with the laser component, the base body is also provided with a cable pressing plate for placing a cable, a control circuit board for realizing overall circuit control, a cable interface for inserting the cable, and an indicating lamp for displaying a normal use state. According to the utility model, the laser assembly with fixing and adjusting functions is adopted, the two groups of lasers are respectively adjusted, so that the parallel, vertical and coplanar laser rays are ensured, the precision error during installation and use is ensured, and tool parameters can be corrected and calibrated in combination with a core algorithm of software.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot calibration TCP position field, specifically a kind of TCP calibration device of robot use. BACKGROUND

[0002] With the continuous development of industrial automation, the demand for flexible production line is also increasing, and the robot TCP automatic calibration device is to meet the robot end device. In practical application, the operation of robot is completed by installing different processing tools at the end of robot, such as clamp, welding gun, etc., and in many application scenarios, camera, laser, etc. are also used as end tool. The accurate calibration of tool coordinate system directly affects the accuracy of robot trajectory planning. In production enterprises, as the task demand changes continuously, different workpieces are processed, and the tool needs to be replaced. After replacing the tool, the workpiece coordinate system relationship used in the original offline programming cannot be used, and the tool needs to be calibrated again. The accuracy of tool calibration is closely related to the accuracy of robot zero point parameters and rod length parameters. For example, after the robot collides, the zero point may be lost, and the accuracy of tool calibration may not meet the on-site use. In order to provide a more convenient way for on-site tool, zero point and rod length calibration, and provide a tool quick correction function to save tool calibration time, the current common scheme is to use manual calibration or calibration device, which has low calibration accuracy, is easily affected by external factors, and has long calibration time. The calibration device has the problems of high equipment price, the need for professional personnel to operate, long calibration time period and high maintenance cost. A high-precision laser sensor and software algorithm are combined to design a device with the characteristics of sensitive response, convenient use, small occupied space and high fitting accuracy. SUMMARY

[0003] To solve the above problems, the utility model provides a kind of TCP calibration device of robot use.

[0004] A kind of TCP calibration device of robot use, including base body, still including laser assembly installed on base body, with the fixed device of laser assembly cooperation, with the laser pressboard of laser assembly cooperation, the base body still be provided with the cable pressboard for placing cable, realize the control circuit board of overall circuit control, cable interface inserted cable, the indicator light of display normal use state;

[0005] The base body is the box structure with cavity.

[0006] The laser assembly includes laser transmitter one and laser transmitter two, which are installed in pairs on the base body in a symmetrical manner, and laser receiver one and laser receiver two are respectively matched with laser transmitter one and laser transmitter two.

[0007] The laser receiver one and the laser receiver two are installed to the laser station, and the laser pressing plate is pressed to ensure the parallel of the laser emitting line.

[0008] The utility model discloses the beneficial effect is:

[0009] The utility model discloses the laser assembly with the fixed and adjusted function, adjusts 2 groups of lasers respectively, makes it ensure the mutual parallelism of laser ray perpendicular and coplanar, ensures the precision error when installing using, and can correct and calibrate tool parameters in combination with the core algorithm of software. BRIEF DESCRIPTION OF DRAWINGS

[0010] The utility model is further illustrated below in connection with the drawings and examples.

[0011] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0012] Figure 2 It is the three-dimensional structure schematic diagram of the utility model's fixing device Figure One ;

[0013] Figure 3 It is the three-dimensional structure schematic diagram of the utility model's fixing device Figure Two ;

[0014] Reference signs: 1, laser transmitter one;2, base body;3, cable pressing plate;4, laser pressing plate;5, laser receiver one;6, control circuit board;7, cable interface;8, indicating lamp;9, laser receiver two;10, laser transmitter two;12, left pressing plate;13, left adjusting wedge A;14, body support;15, right adjusting wedge A;16, left adjusting washer;17, right adjusting washer;18, right pressing plate;19, right adjusting wedge B;110, left adjusting wedge B. DETAILED DESCRIPTION

[0015] In order to make the technical means, creation features, purposes and effects of the utility model easy to understand, the utility model is further described below.

[0016] As Figures 1 to 3 Shown, a kind of TCP calibration device used by robot, including base body 2, still including laser assembly installed on base body 2, fixing device cooperated with laser assembly, laser pressing plate 4 cooperated with laser assembly, the base body 2 still be provided with cable pressing plate 3 for placing cable, control circuit board 6 for realizing overall circuit control, cable interface 7 inserted into cable, indicating lamp 8 showing normal use state;

[0017] Specific, the base body 2 is a box structure with a cavity, for all devices are placed in the cavity.

[0018] As Figure 1 The laser assembly includes laser emitter one 1 and laser emitter two 10 installed in pairs on the base body 2 in a symmetrical arrangement, laser receiver one 5 and laser receiver two 9 matched with laser emitter one 1 and laser emitter two 10 respectively, the two groups of laser assemblies are installed in pairs in a symmetrical arrangement, and the receiving angles of laser receiver one 5 and laser receiver two 9 are adjusted during installation.

[0019] The laser receiver one 5 and the laser receiver two 9 are installed on the laser station, and then the laser pressing plate 4 is used for pressing, so that the parallelism of the laser emission line is guaranteed.

[0020] The laser assembly with the fixing and adjusting functions is adopted, two groups of lasers are adjusted respectively, the mutual parallelism, perpendicularity and coplanarity of laser beams are guaranteed, the precision error during installation and use is guaranteed, the tool parameters can be corrected and calibrated in combination with the core algorithm of software.

[0021] Firstly, the laser receiver one 5 is installed on the laser station, and then the laser pressing plate 4 is used for pressing, so that the parallelism of the laser emission line is guaranteed;

[0022] Then, the laser receiver one 5 is installed on the laser receiver fixing station, and then the laser pressing plate 4 is used for pressing, so that the laser can be normally received;

[0023] The laser assembly is installed, and the laser assembly is pressed by the laser pressing plate 4, and the screw pre-tightening is 80%;

[0024] After power-on, the angles of the laser emitter one 1 and the laser emitter two 10, the laser receiver one 5 and the laser receiver two 9 need to be adjusted;

[0025] The laser sensor cable is installed and coiled in the calibration shell cavity, and a plurality of groups of laser pressing plates 4 are installed correspondingly;

[0026] The power-on test is carried out to check whether the laser is normally working and whether the signal is stable, the laser emitter one 1 and the laser emitter two 10 are moved by hand, the laser beam is shot into the receiving spot of the receiving end, and the point is fixed, and in this way, whether the other laser sensor is normal is checked;

[0027] After the adjustment is completed, the back cavity is packaged by using the combined glue, and the packaging height should not exceed the chamfered portion.

[0028] The fixing device comprises a body support 14 for placing a laser emitter one 1 or a laser emitter two 10, left and right pressing plates 12 and 18 arranged on the body support 14, left and right adjusting wedges B110 and B19 arranged on the left and right pressing plates 12 and 18 respectively, and left and right adjusting wedges A13 and A15.

[0029] The left and right pressing plates 12 and 18 are respectively provided with left and right adjusting shims 16 and 17 at lower ends for adjusting positions in YZ plane direction, the left adjusting shim 16 is arranged below the left pressing plate 12, and the right adjusting shim 17 is arranged below the right pressing plate 18.

[0030] The left and right pressing plates 12 and 18 are respectively provided with left and right adjusting shims 16 and 17 at lower ends for adjusting positions in YZ plane direction, the left adjusting shim 16 is arranged below the left pressing plate 12, and the right adjusting shim 17 is arranged below the right pressing plate 18.

[0031] During installation, the laser emitter one 1 is first pressed against a workpiece through the left pressing plate 12 and the left adjusting wedge A13, and the straightness of a laser beam is observed, and the positions in YZ plane direction are adjusted through the left and right adjusting shims 16 and 17.

[0032] The positions in XY plane direction are adjusted through the left and right adjusting wedges A13 and A15 and the right and left adjusting wedges B19 and B110, and the adjustment amounts of the same side need to be adjusted separately according to actual conditions, the left and right adjusting wedges A13 and A15 and the right and left adjusting wedges B19 and B110 are adjusted as a group, and the adjustment amounts of the units are slightly different.

[0033] The positions in ZX plane direction are adjusted through the left and right adjusting wedges A13 and A15 and the right and left adjusting wedges B19 and B110, and the adjustment amounts of the same side need to be adjusted separately according to actual conditions, the adjustment amounts of the elements of the right and left adjusting wedges B19 and B110 and the left and right adjusting wedges A13 and A15 are the same.

[0034] The basic principle, main features and advantages of the utility model are shown and described above. It should be understood by those skilled in the art that the utility model is not limited by the above examples, and the above examples and descriptions in the specification are only the principles of the utility model, and various changes and improvements can be made without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the utility model. The protection scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A TCP calibration device for use by a robot, comprising a base body (2), characterized in that: It also includes laser assembly installed on base body (2), fixing device matched with laser assembly, laser presser plate (4) matched with laser assembly, cable presser plate (3) for placing cable, control circuit board (6) for realizing overall circuit control, cable interface (7) for inserting cable, indicator light (8) for displaying normal use state, which are arranged on base body (2). The base body (2) is a box structure with cavity. 2.The TCP calibration device for robots according to claim 1, wherein: The laser assembly includes laser emitter one (1) and laser emitter two (10) installed in pairs on base body (2) in symmetrical arrangement, laser receiver one (5) and laser receiver two (9) matched with laser emitter one (1) and laser emitter two (10) respectively. 3.The TCP calibration device for robots according to claim 2, wherein: The laser receiver one (5) and laser receiver two (9) are installed on laser station and pressed by laser presser plate (4).

4. The TCP calibration device for use with a robot of claim 2, wherein: The fixing device includes body support (14) for placing laser emitter one (1) or laser emitter two (10), left presser plate (12) and right presser plate (18) arranged on body support (14), left adjusting wedge B (110) and right adjusting wedge B (19) arranged on both sides of left presser plate (12) and right presser plate (18) respectively, left adjusting wedge A (13) and right adjusting wedge A (15).

5. The TCP calibration device for use with a robot of claim 4, wherein: The lower ends of left presser plate (12) and right presser plate (18) are respectively provided with left adjusting washer (16) and right adjusting washer (17) for adjusting YZ plane direction position.

6. The TCP calibration device for use with a robot of claim 4, wherein: The left presser plate (12) and right presser plate (18) are both provided with arc-shaped cavity matched with laser emitter one (1) or laser emitter two (10).

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