Industrial robot TCP precision measuring device based on laser sensor
By installing two independent laser sensors at the end effector of an industrial robot, covering a range of 10mm×10mm, and combining them with a data acquisition module, real-time high-precision TCP point offset measurement is achieved. This solves the problem of existing technologies being unable to fully reflect the accuracy of the robot under different postures, and realizes high precision and real-time performance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-27
- Publication Date
- 2026-03-27
AI Technical Summary
Existing TCP accuracy measurement methods are insufficient to fully reflect the robot's offset under different postures, especially in multi-dimensional space where they cannot effectively capture the nonlinear error changes caused by rotation angle.
Two independent laser sensors are arranged along the X and Y axes, covering a range of 10mm×10mm. Combined with a data acquisition module, they achieve real-time high-precision measurement. They are connected to the robot's end effector through an L-shaped fixing module, and an angle adjustment mechanism ensures stability.
It achieves high-precision TCP point offset measurement in the XY plane with an accuracy of ±0.02mm, meeting the dynamic repositioning requirements of robots. The structural design is adapted to error monitoring under different postures.
Smart Images
Figure CN224051265U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of industrial robot, specifically, especially, it relates to a kind of industrial robot TCP precision measuring device based on laser sensor. BACKGROUND
[0002] With the wide application of industrial robot, the precision of robot end effector (i.e.TCP) becomes a key indicator in robot performance evaluation. In order to ensure the high precision work of robot on the automatic production line, it is necessary to accurately measure the position precision of robot TCP point. However, the existing TCP precision measurement method usually has the following limitations:
[0003] 1. Traditional measurement method: the existing robot precision measurement method mostly depends on complex equipment or single direction measurement, which leads to the difficulty of fully reflecting the TCP point offset of robot in different postures.
[0004] 2. Relationship between rotation angle and error: the precision of industrial robot TCP point is usually closely related to the rotation angle of robot, especially when rotating along the effective direction of tool coordinate system. With the increase of rotation angle, the displacement error of robot end tool shows nonlinear growth, which leads to the gradual increase of precision error. The existing technology is difficult to effectively measure and evaluate the precision performance of robot at different rotation angles, especially when accurately measuring in multidimensional space, the existing method cannot fully capture the change trend of such error.
[0005] Therefore, it is of important technical demand and market value to provide a device capable of accurately measuring the offset of robot TCP point at multiple angles and multiple directions. UTILITY MODEL CONTENT
[0006] According to the above technical problem of the positioning precision offset of industrial robot TCP point caused by posture change in repositioning motion, a TCP precision measuring device for industrial robot based on laser sensor is provided. The utility model realizes real-time and high-precision measurement of TCP point in XY plane by two independent laser sensors, overcoming the technical problems of small measurement range and poor dynamic adaptability of traditional single sensor.
[0007] The technical means adopted by the utility model are as follows:
[0008] A TCP precision measuring device for industrial robot based on laser sensor, comprising: a fixing module, a laser sensor module, a data acquisition module and a connecting module;
[0009] The fixing module is used for supporting and positioning the laser sensor module, and ensuring the stable relative position of the laser sensor module and TCP point;
[0010] The laser sensor module is used for measuring displacement difference of a robot end tool TCP point at different postures in real time.
[0011] The data acquisition module is used for collecting and processing displacement data measured by the sensor in real time.
[0012] The connecting module is used for fixing the overall device on the end effector of the robot.
[0013] The laser sensor module comprises two independent laser sensors; the laser sensors are arranged in an L shape along the X axis and the Y axis of the robot tool coordinate system, and cover a measurement range of 10mm*10mm.
[0014] Further, the laser sensor module is arranged below the robot end effector, at a distance of 50mm from the TCP point.
[0015] Further, the emission angle of the laser sensor is inwardly inclined by 15°, and focuses on the TCP point reflection target.
[0016] Further, the fixing module is in an L shape; one end of the fixing module is fixed to the end flange of the robot, and the other end is connected with the laser sensor module.
[0017] Further, the data acquisition module is connected with the laser sensor through a sensor interface module; the data acquisition module is arranged on the side of the fixing module.
[0018] Further, the data acquisition module is of National Instruments NIDAQmx USB6363 type.
[0019] Further, the connecting module comprises a plurality of M6 bolts and an angle adjusting mechanism; the angle adjusting range of the angle adjusting mechanism is ±5°.
[0020] Compared with the prior art, the utility model has the following advantages:
[0021] High-precision measurement; 2D offset measurement of the TCP point in the 10mm*10mm range in the XY plane is realized through two independent laser sensors, the precision reaches ±0.02mm, and is superior to the traditional single sensor scheme.
[0022] Strong real-time performance; the sampling frequency is 200Hz, the data processing delay is low, and the dynamic repositioning requirement of the robot is met.
[0023] Structural innovation; the L-shaped arrangement design covers the 10mm*10mm area, and is suitable for error monitoring under different postures.
[0024] Good practicability; modular design, light weight (about 500g), easy to integrate into existing industrial robot system. BRIEF DESCRIPTION OF DRAWINGS
[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.
[0026] Figure 1 The overall structure of the present application Figure 1 .
[0027] Figure 2 The overall structure of the present application Figure 2 .
[0028] Figure 3 The spatial position relationship between the device of the present application and the end effector of the robot.
[0029] Among them, 1 is a fixed module; 2 is a data acquisition module; 3 is a connection module; 4 is a laser sensor module; 5 is a Y-axis sensor; 6 is an X-axis sensor; 7 is a TCP reflection target; 8 is an end flange; 9 is a TCP point. DETAILED DESCRIPTION
[0030] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.
[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. The description of the at least one exemplary embodiment is actually only illustrative, not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.
[0032] It is to be understood that the terms so far as the language goes are used herein only to describe specific embodiments and not intended to limit the example embodiments according to the present application. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components, and / or combinations thereof.
[0033] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. At the same time, it should be clear that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the convenience of description. The techniques, methods and devices known to those skilled in the related art can not be discussed in detail, but in appropriate cases, the techniques, methods and devices should be considered as part of the authorized description. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the example embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.
[0034] In the description of the present application, it should be understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and in the absence of the opposite description, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, therefore it cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer of the contour of each component.
[0035] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.
[0036] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.
[0037] like Figures 1-3 As shown, this utility model provides an industrial robot TCP accuracy measurement device based on a laser sensor, including: a fixing module 1, a data acquisition module 2, a connection module 3, and a laser sensor module 4.
[0038] In a preferred embodiment, the fixing module 1 is L-shaped and used to support and position the laser sensor module 4, ensuring its relative position with the TCP point is stable. One end of the fixing module 1 is fixed to the end flange of the robot, and the other end is connected to the laser sensor module 4.
[0039] Preferably, in this application, the fixing module 1 is made of aluminum alloy, which can reduce the weight of the overall device while ensuring support.
[0040] Preferably, the laser sensor module 4 is used to measure the displacement difference of the TCP point of the robot end tool in different postures in real time; in this application, the laser sensor module 4 includes two independent laser sensors; the emission angle of the laser sensor is tilted inward by 15° and focused on the TCP point reflective target 8.
[0041] In this application, the laser sensors are arranged in an L-shape along the X and Y axes of the robot tool coordinate system, covering a measurement range of 10mm × 10mm.
[0042] In addition, to improve the accuracy of the device, the laser sensor module 4 is located below the robot's end effector, 50mm away from the TCP point.
[0043] The data acquisition module 2 is used for real-time acquisition and processing of displacement data measured by the sensor; the data acquisition module 2 is connected with the laser sensor through the sensor interface module; the data acquisition module 2 is arranged on the side of the fixing module 1. The data acquisition module 2 is of National Instruments NIDAQmx USB6363 type. It includes an analog-to-digital converter (ADC), a signal conditioning circuit, a data buffer unit and a microcontroller (MCU). Parallel to the laser sensor substrate, the input end faces the sensor. The sampling frequency is 200 Hz, which meets the real-time requirement. The data acquisition module 2 is fixed to the bracket through four M3 bolts (spacing 30 mm) with anti-vibration pads.
[0044] The connecting module 3 is used for fixing the overall device on the end effector of the robot; it includes a plurality of M6 bolts and an angle adjusting mechanism; the angle adjusting range of the angle adjusting mechanism is ±5°. It ensures the stable connection of the device and the end effector of the robot, and facilitates installation and adjustment.
[0045] As a preferred embodiment, the device realizes the measurement of TCP precision through the following steps:
[0046] Step 1: The laser sensor module 4 emits laser to the TCP point reflection target (such as a small reflective sticker), and the X-axis and Y-axis sensors respectively acquire the reflection signals in the X-axis and Y-axis directions.
[0047] Step 2: The signal is received by the data acquisition module 3, digitized by the analog-to-digital converter, processed by the signal conditioning circuit, and stored in the data buffer unit.
[0048] Step 3: Calculation of ideal position (X0, Y0). Place the robot end effector in the standard position (such as closed gripper or welding gun aiming at the calibration plate) to install the device, and attach the reflection target to the TCP point (such as the side of the gripper tip or the welding gun tip). Start the laser sensor module 2, and the X-axis and Y-axis sensors respectively measure the initial displacement dx and dy of the TCP point. Record this position as ideal position (X0, Y0) = (dx, dy), usually set as (0, 0), and use it to calibrate the measurement origin.
[0049] Step 4: The industrial robot makes a repositioning motion along the TCP point, and the microcontroller calculates the actual position (X1, Y1) of the TCP point at that moment based on the triangulation principle.
[0050] Step 5: Compare the pre-stored ideal position (X0, Y0) through the data acquisition module 2 to calculate the XY offset:
[0051] ΔX = X1 - X0;
[0052] ΔY = Y1 - Y0;
[0053] Step 6, offset data (ΔX, ΔY) is generated by the data acquisition module 2, accuracy ±0.02mm, frequency 200Hz, available for subsequent use.
[0054] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not limited to them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A laser sensor based TCP accuracy measurement device for industrial robots, characterized in that, The application relates to a laser sensor module for a robot, which comprises a fixing module (1), a laser sensor module (2), a data acquisition module (3) and a connecting module (4). The fixing module (1) is used for supporting and positioning the laser sensor module (2) and ensuring the relative position stability of the laser sensor module (2) and a TCP point. The laser sensor module (2) is used for measuring the displacement difference of a robot end tool TCP point in different postures in real time. The data acquisition module (3) is used for collecting and processing the displacement data measured by the laser sensor module (2) in real time. The connecting module (4) is used for fixing the whole device on a robot end effector. The laser sensor module (2) comprises two independent laser sensors; the laser sensors are arranged in an L shape along the X axis and the Y axis of a robot tool coordinate system and cover a measuring range of 10mm*10mm. The laser sensor module (2) is arranged below the robot end effector and is 50mm away from the TCP point.
2. The TCP accuracy measurement device for an industrial robot based on a laser sensor according to claim 1, characterized in that, The emission angle of the laser sensor is inwardly inclined by 15 degrees and focuses on a TCP point reflection target.
3. The TCP accuracy measurement device for an industrial robot based on a laser sensor according to claim 1, characterized in that, The fixing module (1) is in an L shape; one end of the fixing module (1) is fixed on a robot end flange, and the other end is connected with the laser sensor module (2).
4. The TCP accuracy measurement device for an industrial robot based on a laser sensor according to claim 1, characterized in that, The data acquisition module (3) is connected with the laser sensor through a sensor interface module; the data acquisition module (3) is arranged on the side of the fixing module (1), and the distance between the data acquisition module (3) and any laser sensor is 20mm.
5. The TCP accuracy measurement device for an industrial robot based on a laser sensor according to claim 1, characterized in that, The connecting module (4) comprises a plurality of M6 bolts and an angle adjusting mechanism; the angle adjusting range of the angle adjusting mechanism is + / -5 degrees.
6. The TCP accuracy measurement device for an industrial robot based on a laser sensor according to claim 1, characterized in that,