Calibration device for robot teaching based on large model

Abstract

The utility model discloses a verification device for robot teaching based on a large model. The verification device comprises a support plate, a track unit, an image acquisition unit, a force sensing unit and an identification point unit. The track unit is arranged on the supporting table and comprises any one of a linear track, a circular track, a spiral track and a bent track; the force sensing unit is arranged at the tail end joint of the robot and comprises a connecting base, a six-axis force sensor and a ball contact part. According to the utility model, planning of a robot path is realized through image video data based on image identification of a large model and kinematics resolving capability, discovery and compensation of robot errors are realized through a preset track and a six-axis force sensor, and then teaching is carried out in combination with actual work requirements. According to the device, the accuracy and efficiency of robot teaching can be greatly improved, positioning errors caused by mechanical abrasion and the like are reduced, and then the stability and reliability of a robot in automatic operation are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot control technical field, concretely is a kind of robot demonstration based on big model is with check device. BACKGROUND

[0002] Traditional teaching method mainly relies on programmer programming or hand-to-hand teaching, and the operation is complex and requires high professional skills. With the rapid development of artificial intelligence technology, especially the emergence of large language model (LLM) and multi-modal large model, the traditional teaching process is greatly simplified by fusing visual perception and natural language understanding. Robots can learn tasks directly from human demonstration videos or images, and quickly generate operation strategies combined with language instructions, so as to realize precise and efficient automation operation. This technology not only reduces the dependence on professional programming, but also improves the adaptability and flexibility of robots in complex industrial scenarios, providing strong support for flexible production, intelligent assembly, quality detection and other applications. Typical robot teaching based on large model includes the following contents: engineers use language model combined with video, picture and other multi-modal input to show robots the key steps and operation process of production task. Robots quickly learn and understand the task through visual perception and language understanding, and automatically generate detection object trajectory and execution path.

[0003] In specific practice, due to mechanical wear and other problems, the robot will have certain positioning error, which needs to be compensated in teaching. Although the robot can compensate for the error through multiple fine adjustments in actual operation, this method is low in efficiency and depends on repeated tests, and is easy to cause damage to real workpieces due to error. SUMMARY

[0004] The utility model aims at providing a kind of robot demonstration based on big model is with check device to solve the problems in prior art.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the utility model provides a kind of robot demonstration based on big model is with check device, including support plate, track unit, image acquisition unit, force sensing unit, mark point unit;The track unit is arranged on the support plate and includes any multiple of straight track, circular track, spiral track and curved track;The force sensing unit is arranged at the end joint of the robot, including connecting seat, six-axis force sensor and touch ball part.

[0006] Further, the mark point unit includes a plurality of mark stickers, which are pasted to the preset part of the robot.

[0007] Further, the image acquisition unit includes at least two monocular cameras.

[0008] Further, the track size is greater than and / or equal to the ball diameter.

[0009] Further, the track unit comprises a track plate, wherein the groove track is arranged on the track plate, and the spiral track is arranged on the circular-arc convex track plate.

[0010] Further, the safety grating is arranged at the edge of the support plate.

[0011] Further, the verification device further comprises a support table, wherein the support plate is arranged on the support table, and the fixing through hole is arranged on the support plate.

[0012] Further, the connecting seat is connected with the end joint of the robot through a bolt structure, the six-axis force sensor is fixed at the end of the connecting seat, the force sensing unit further comprises a connecting rod, the ball part is a metal ball with a through hole arranged in the center, one end of the connecting rod is fixed on the six-axis force sensor, the other end is connected with the ball head bolt through the through hole in the center of the ball part, and the limiting protrusion of the ball part is arranged on the connecting rod.

[0013] The robot teaching verification device based on a large model can greatly improve the accuracy and efficiency of robot teaching, reduce positioning errors caused by mechanical wear and the like, and further improve the stability and reliability of the robot in automatic operation. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a schematic diagram of the overall scheme of an embodiment of the utility model.

[0015] Figure 2 is a schematic diagram of the overall scheme of another embodiment of the utility model.

[0016] Figure 3 is a local enlarged view of the force sensing unit region of the utility model.

[0017] Figure 4 is a schematic diagram of the ball part connecting structure of an embodiment of the utility model. DETAILED DESCRIPTION

[0018] The technical solutions 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, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0019] As shown in the accompanying drawings, Figures 1-3 The robot teaching verification device based on a large model comprises a support plate 11, a track unit 2, an image acquisition unit 3, a force sensing unit 4 and a mark point unit 5.

[0020] The mark point unit 5 comprises a plurality of mark stickers, which are pasted to the preset parts of the robot, such as the joint rotation axis, and more accurate image recognition is realized through cooperation of the image acquisition unit 3.

[0021] The image acquisition unit 3 comprises at least one industrial camera, preferably a binocular camera, or a plurality of monocular cameras.

[0022] As shown in the accompanying drawings, Figure 1 , 3 The force sensing unit 4 is arranged at the end joint of the robot and comprises a connecting seat 41, a six-axis force sensor 42 and a touch ball part 43. The robot can drive the force sensing unit 4 to act.

[0023] The connecting seat 41 is connected to the end joint of the robot through a bolt structure, the six-axis force sensor 42 is fixed at the end of the connecting seat 41, and the force sensing unit 4 further comprises a connecting rod 422.

[0024] As shown in the accompanying drawings, Figure 4 The touch ball part 43 is a metal ball with a through hole in the center, one end of the connecting rod 422 is fixed on the six-axis force sensor 42, the other end passes through the through hole in the center of the touch ball part 43 and is connected to the round head bolt 423, and the limiting protrusion 421 of the touch ball part 43 is arranged on the connecting rod 422. In this way, the wear on the track can be reduced.

[0025] The six-axis force sensor 42 is a commercially available product, and its specific structure does not belong to the protection content of the application.

[0026] The track unit 2 arranged on the support plate 11 comprises any one of a straight track, a circular track, a spiral track and a curved track. The size of the track is greater than and / or equal to the diameter of the touch ball part 43, and the depth is greater than and / or equal to the diameter of the touch ball part 43.

[0027] The track unit 2 in the attached figure includes a track plate 21, on which a grooved track is provided. The attached figure includes a straight track 221, a circular track 222, and a spiral track 223, wherein the spiral track 223 is provided on the arc-shaped protruding track plate 22.

[0028] During calibration, the force sensing unit 4 is required to be perpendicular to the track surface, and the contact ball part 43 is required to extend into the groove track. By detecting the magnitude of the force through the force sensing unit 4, the contact condition between the contact ball part 43 and the track side wall can be determined. Based on the planned path, the error of the robot can be obtained.

[0029] As attached Figure 2 As shown, to ensure safety during the verification process, a safety light curtain 6 is installed at the edge of the support plate 11. When the robot crosses the safety light curtain 6, the system issues a stop command to avoid danger caused by unexpected actions.

[0030] In practical application, the track unit 2 and the ball contact part 43 are different colors to facilitate the recognition by the image acquisition unit 3.

[0031] In addition to its application during the verification process, image acquisition unit 3 is also used in subsequent teaching.

[0032] Furthermore, casters are provided at the bottom of the support table 1 to facilitate the movement of the calibration device.

[0033] The specific usage process is as follows: Move the calibration device near the robot and accurately determine the relative position of the robot's zero point and the calibration device. Affix the marking stickers of the marking point unit 5 to key parts such as the robot's joint rotation axis. The marking stickers should be affixed flat and firmly to avoid affecting the recognition accuracy of the image acquisition unit 3 due to the marking points falling off or shifting in position. Install the force sensing unit 4 at the robot's end joint or existing gripper, ensuring a reliable connection between it and the robot. The software system then identifies the robot's structure through the image acquisition unit 3 and, combined with the built-in groove track position data, performs motion planning for the robot's movement within the track. The planning data is then transmitted to the robot controller. The robot controller then controls the robot to move the contact ball 43 of the force sensing unit 4 to the groove track. The motion process is detected based on the image data from the force sensing unit 4 and the image recognition unit 3, and error data is obtained. The robot's motion parameters are then adjusted. The error compensation parameters are input into the robot's control system to optimize its motion trajectory and positioning accuracy. The calibration process is repeated until the robot's motion error is within the allowable range.

[0034] Furthermore, the support plate 11 is set on the support table 1. In practice, only the support plate 11 can be used to improve portability. The support plate 11 is provided with a fixing through hole k for secure fixing to other structures, such as the tabletop on site.

[0035] It should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "setting" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

Claims

1. A verification device for robot teaching based on a large model, characterized by, The robot calibration device comprises a support plate, a track unit, an image acquisition unit, a force sensing unit, and a marker point unit. The track unit is arranged on the support plate and comprises any one or more of a straight track, a circular track, a spiral track, and a curved track. The force sensing unit is arranged at the end joint of the robot and comprises a connecting seat, a six-axis force sensor, and a touch ball part. The calibration device further comprises a support table, and the support plate is arranged on the support table. The support plate is provided with a fixed through hole.

2. The verification device for robot teaching based on a large model according to claim 1, characterized in that, The marker point unit comprises a plurality of marker stickers, which are attached to the predetermined part of the robot.

3. The verification device for robot teaching based on large models according to claim 1, characterized in that, The image acquisition unit comprises at least two monocular cameras.

4. The verification device for robot teaching based on a large model according to claim 1, characterized in that, The track size is greater than and / or equal to the diameter of the touch ball part.

5. The verification device for robot teaching based on large models according to claim 1, characterized in that, The track unit comprises a track plate, and the track plate is provided with a groove track. The spiral track is arranged on the arc convex track plate.

6. The verification device for robot teaching based on a large model according to claim 1, characterized in that, A safety grating is arranged at the edge of the support plate.

7. The verification device for robot teaching based on large models according to claim 1, characterized in that, The connecting seat is connected to the end joint of the robot by a bolt structure. The six-axis force sensor is fixed at the end of the connecting seat. The force sensing unit further comprises a connecting rod. The touch ball part is a metal ball with a through hole in the center. One end of the connecting rod is fixed on the six-axis force sensor, and the other end is connected to a round head bolt through the through hole in the center of the touch ball part. A limiting protrusion of the touch ball part is arranged on the connecting rod.

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