Robot calibration device

Abstract

The utility model provides a robot calibration device, which is characterized in that a mounting plate is horizontally arranged above a fixed seat and is connected with the fixed seat through a connecting piece, a first calibration piece is detachably arranged on a robot, and a plurality of second calibration pieces are arrayed on the mounting plate, so that when calibration is carried out, the first calibration piece and the second calibration piece are separated from each other; the first calibration part is aligned with the second calibration parts, the corresponding coordinates are recorded in a one-to-one mode, then calculation is automatically conducted through a system of the robot, and the DH parameters are written in, so that accurate calibration can be achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a robot calibration device. Background Technology

[0002] As a key production equipment in flexible manufacturing and intelligent manufacturing concepts, industrial robots' most basic function requires accurate positioning of the end effector (including pose and attitude). Articulated industrial robots, which are common open-chain mechanisms composed of the coupled motion of adjacent links, require precise control of the end effector's pose through accurate control of the joint parameters. However, robots inevitably experience numerous errors during their production and use cycles, including manufacturing, assembly, and wear. These errors cause deviations between the pre-set internal nominal kinematic model in the robot control system and the actual parameters of each individual robot, resulting in imprecise control. Therefore, careful and reliable calibration is necessary before and after robot deployment and maintenance. Current robot calibration typically involves fixing a target ball to the robot, using a laser tracker, and then inputting the resulting DH (difference in height) parameter into the robot controller to complete the robot's accuracy calibration.

[0003] However, calibrating the robot's accuracy using a laser tracker is not only inconvenient for on-site use, but also requires returning the robot to the factory for calibration. Furthermore, laser trackers are expensive. Therefore, there is an urgent need for a robot calibration device that can quickly complete the calibration and has a simple structure. Utility Model Content

[0004] In view of this, the present invention provides a robot calibration device to solve the problems caused by the use of laser trackers in existing robot calibration devices, such as inconvenience for on-site use, the need for factory calibration, and the high price of laser trackers.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A robot calibration device includes: a fixed base, a connector, a mounting plate, a first calibration component, and a plurality of second calibration components;

[0007] The mounting plate is horizontally positioned above the fixing base and connected to the fixing base via connectors;

[0008] The first calibration component can be detachably installed on the robot;

[0009] Multiple second calibration elements are arrayed on the mounting plate. The second calibration elements are used to align with the first calibration elements to calibrate the robot.

[0010] Preferably, the connector is a gimbal;

[0011] The gimbal can switch between locked and unlocked states. In the locked state, the gimbal restricts the rotation of the mounting plate relative to the fixed base; in the unlocked state, the gimbal releases the restriction on the rotation of the mounting plate relative to the fixed base.

[0012] Preferably, the top of the second calibration member and the alignment end of the first calibration member are conical structures.

[0013] Preferably, the mounting plate has multiple protruding plates for mounting the second calibration element.

[0014] Preferably, the lower part of the second calibration component is provided with a positioning platform;

[0015] The protruding plate has positioning holes that mate with the positioning column.

[0016] Preferably, the first calibration component and / or the second calibration component are made of Q234 steel.

[0017] Preferably, the mounting plate and / or mounting base are made of aluminum alloy.

[0018] Preferably, the number of second calibration parts is 4.

[0019] Preferably, the fixing base is a fixing plate;

[0020] The fixing plate has multiple fixing holes for bolt fixing.

[0021] Based on the robot calibration device provided by this utility model, the mounting plate is horizontally set above the fixed base and connected to the fixed base through a connector. The first calibration component is detachably set on the robot, and multiple second calibration components are arrayed on the mounting plate. During calibration, the first calibration component is aligned with the multiple second calibration components, and the corresponding coordinates are recorded one by one. Then, the robot's system automatically calculates and writes the results into the DH parameters, thereby achieving accurate calibration. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 A schematic diagram of the structure of a robot calibration device provided in an embodiment of this utility model;

[0024] Figure 2This is a schematic diagram of the assembly of the protruding plate and the second calibration component provided in an embodiment of the present utility model.

[0025] The components include a fixed base 1, a fixed hole 11, a connector 2, a mounting plate 3, an extension plate 31, a positioning hole 32, a second calibration component 4, and a positioning column 41. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] This utility model embodiment provides a robot calibration device, see [link]. Figures 1 to 2 , Figure 1 This is a schematic diagram of the structure of a robot calibration device, which includes: a fixed base 1, a connector 2, a mounting plate 3, a first calibration component, and multiple second calibration components 4;

[0028] Mounting plate 3 is horizontally positioned above fixed base 1 and connected to fixed base 1 via connector 2;

[0029] The first calibration component can be detachably installed on the robot;

[0030] Multiple second calibration elements 4 are arrayed on the mounting plate 3. The second calibration elements 4 are used to align with the first calibration elements to calibrate the robot.

[0031] It should be noted that multiple second calibration elements 4 are arrayed on the mounting plate 3. Therefore, the distance between the multiple second calibration elements 4 is the same. The first calibration element is installed at the end of the robot. Then, by operating the robot to move, the first calibration element can be aligned with the second calibration elements 4 on the mounting plate 3. Since the positions of the multiple second calibration elements 4 on the mounting plate 3 are fixed, the robot records the coordinates of the first calibration element when it is aligned with the multiple second calibration elements 4. The calibration result is automatically calculated and written into the selected DH parameter, so accurate calibration can be achieved.

[0032] In this embodiment of the invention, the mounting plate 3 is horizontally positioned above the fixed base 1 and connected to the fixed base 1 via the connector 2. The first calibration component is detachably mounted on the robot, and multiple second calibration components 4 are arrayed on the mounting plate 3. During calibration, the first calibration component is aligned with the multiple second calibration components 4, and the corresponding coordinates are recorded one by one. The robot's system then automatically calculates the coordinates and writes them into the DH parameters, thereby achieving accurate calibration.

[0033] Specifically, connector 2 is a gimbal;

[0034] The gimbal can switch between locked and unlocked states. In the locked state, the gimbal restricts the rotation of the mounting plate 3 relative to the fixed base 1. In the unlocked state, the gimbal releases the restriction on the rotation of the mounting plate 3 relative to the fixed base 1.

[0035] It should be noted that by setting the connector 2 as a gimbal and switching the gimbal to the unlocked state, it is possible to adjust the robot to any angle. After adjustment, the gimbal can be switched from the unlocked state to the locked state to ensure that the mounting plate 3 does not slip during the robot calibration process.

[0036] Furthermore, the top of the second calibration component 4 and the alignment end of the first calibration component are conical structures.

[0037] It should be noted that the top of the second calibration component 4 and the alignment end of the first calibration component are conical structures. This makes it easier to observe when the top of the second calibration component 4 and the alignment end of the first calibration component are aligned, reducing coordinate errors and thus effectively improving the accuracy of the final calibration.

[0038] Specifically, the mounting plate 3 has multiple protruding plates 31 for mounting the second calibration piece 4.

[0039] It should be noted that the mounting plate 3 is configured with multiple protruding plates 31 for mounting the second calibration components 4. There are four protruding plates 31, making the mounting plate 3 X-shaped. This better meets the needs of different positions and posture changes during robot calibration. The number of protruding plates 31 can also be greater than four. This not only effectively reduces the overall weight of the mounting plate 3, facilitating transportation, but also ensures the overall rigidity of the mounting plate 3, preventing deformation of the mounting plate 3 from affecting the distance between the various second calibration components 4 and thus impacting the final calibration accuracy.

[0040] Specifically, the lower part of the second calibration component 4 is provided with a positioning column 41;

[0041] The protruding plate 31 has a positioning hole 32 that mates with the positioning column 41.

[0042] It should be noted that by providing a positioning post 41 at the bottom of the second calibration part 4 and opening a positioning hole 32 in the protruding plate 31 to cooperate with the positioning post 41, the staff can replace the second calibration part 4 of different sizes as needed, and can also ensure that the top distance of the second calibration part 4 of different sizes remains unchanged.

[0043] It is worth noting that the first calibration component and the second calibration component 4 have the same structure. The first calibration component is not shown in the figure. The specific structure is the same as that of the second calibration component 4. The positioning column of the first calibration component is consistent with the inner hole size of the robot lead screw, which effectively ensures the marking accuracy of the first calibration component after it is installed on the robot.

[0044] Furthermore, the first calibration component and / or the second calibration component 4 are made of Q234 steel.

[0045] It should be noted that the first calibration component and the second calibration component 4 can be made of Q234 steel, or other materials with high hardness, resistance to deformation and wear resistance. Those skilled in the art can choose according to their needs.

[0046] It is worth noting that the first calibration component and the second calibration component 4 can be made of the same material or different materials, and those skilled in the art can choose according to their needs.

[0047] Specifically, the mounting plate 3 and / or the mounting base 1 are made of aluminum alloy.

[0048] It should be noted that the mounting plate 3 and the fixing base 1 can be made of aluminum alloy or other materials, and those skilled in the art can choose according to their needs.

[0049] It should also be noted that aluminum alloy is a cheap, lightweight, easy-to-process, corrosion-resistant, oxidation-resistant, and reusable material. In this application, the mounting plate 3 and the fixed base 1 can be made of aluminum alloy, which not only facilitates transportation but also prevents deformation, effectively ensuring the accuracy of the robot's final calibration.

[0050] It is worth noting that the mounting plate 3 and the fixing base 1 can be made of aluminum alloy or other materials, and those skilled in the art can choose according to their needs.

[0051] Specifically, there are four second calibration parts 4.

[0052] It should be noted that the number of second calibration pieces 4 can be 4, 3, or 5. This application prefers the number of second calibration pieces 4 to be 4, but it is not limited to this.

[0053] Specifically, mounting base 1 is a mounting plate;

[0054] The fixing plate has multiple fixing holes 11 for bolt fixing.

[0055] It should be noted that the fixing seat 1 is set as a fixing plate, and multiple fixing holes 11 for bolt fixing are opened on the fixing plate. This allows the staff to quickly fix the fixing seat 1 on the workbench and avoids the moving of the fixing seat 1 during the calibration process from affecting the accuracy of the final calibration.

[0056] Based on the robot calibration device provided above, the calibration steps for the robot calibration device are provided below.

[0057] 1. Install the calibration tip (i.e., the first calibration element) at the end of the robot flange.

[0058] 2. Open the robot's "Positioning Accuracy" page.

[0059] 3. Following the prompts in the dialog box, align the calibration tip of the robot end effector with calibration point 1 (i.e., the second calibration piece 4), and click "Record".

[0060] 4. Change the robot's left and right hand systems so that the calibration tip installed at the robot's end effector is still aligned with calibration point 1, and click "Record".

[0061] 5. Keeping the robot in its current hand position, use the end effector to align the calibration tip with calibration points 2, 3, and 4 in sequence, and then click "Record".

[0062] 6. When all the "×" signs in the "Status" column change to "√", click the "Calculate" button.

[0063] 7. In the pop-up dialog box, select the corresponding DH parameter number and click "OK".

[0064] 8. A message pops up indicating successful saving; the calibrated parameters will be automatically written into the robot system.

[0065] 9. Power off and restart the robot system; the calibrated parameters will then take effect.

[0066] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot calibration device, characterized in that, include: Mounting bracket, connector, mounting plate, first calibration component, and multiple second calibration components; The mounting plate is horizontally positioned above the fixing base and is connected to the fixing base via the connector; The first calibration component is detachably mounted on the robot; A plurality of second calibration elements are arrayed on the mounting plate, the second calibration elements being aligned with the first calibration elements to calibrate the robot.

2. The robot calibration device of claim 1, wherein, The connector is a universal gimbal; The gimbal can switch between a locked state and an unlocked state. In the locked state, the gimbal is used to restrict the rotation of the mounting plate relative to the fixed base. In the unlocked state, the omnidirectional gimbal releases the restriction on the rotation of the mounting plate relative to the fixed base.

3. The robot calibration device of claim 1, wherein, The top of the second calibration member and the alignment end of the first calibration member are conical structures.

4. The robot calibration device of claim 3, wherein, The mounting plate has multiple protruding plates for mounting the second calibration element.

5. The robot calibration device of claim 4, wherein, The lower part of the second calibration component is provided with a positioning platform; The protruding plate has positioning holes that mate with the positioning column.

6. The robot calibration device of claim 1, wherein, The first calibration component and / or the second calibration component are made of Q234 steel.

7. The robot calibration device of claim 1, wherein, The mounting plate and / or the mounting base are made of aluminum alloy.

8. The robot calibration device of claim 1, wherein, The number of the second calibration components is 4.

9. The robot calibration device of claim 1, wherein, The fixing base is a fixing plate; The fixing plate has multiple fixing holes for bolt fixing.

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