A device for rapid robot calibration

Abstract

The utility model discloses a kind of robot rapid calibration device, it is related to robot calibration technical field.The purpose is to solve the problem that the existing robot rapid calibration device relies on laser tracker, three-dimensional scanner and other precision equipment, leading to high cost and high maintenance cost.The device includes pedestal, target piece and detection component;Pedestal is equipped with adjustable fixing structure to fix different models of robot;Target piece is installed on robot end effector;Detection component contains at least two fixed cameras around pedestal, for shooting target piece image.The utility model uses camera to replace precision equipment, reduce cost, and simple structure, maintenance is convenient, with good practicability.

Description

Technical Field

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

[0002] In the production and use of robots, calibration is necessary to ensure motion accuracy. Existing rapid robot calibration devices typically require sophisticated equipment such as laser trackers and 3D scanners, which are expensive and increase calibration costs. Furthermore, these sophisticated devices are complex and difficult to maintain, requiring specialized technicians, further increasing operating costs. Therefore, there is an urgent need for a low-cost, easy-to-maintain rapid robot calibration device. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a device for rapid calibration of robots, which has a simple structure, low cost and convenient maintenance.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a robot rapid calibration device, including a base, a target component and a detection component.

[0005] The base is equipped with an adjustable fixing structure for fixing the robot. The adjustable fixing structure can adapt to robots of different models and sizes, improving the versatility of the device.

[0006] The target component is used to be installed on the robot's end effector and moves with the robot's end effector as a reference target for calibration.

[0007] The detection component includes at least two cameras, which are fixedly mounted around the base to capture images of the target component. By capturing images of the target component from different angles using multiple cameras, three-dimensional position information of the target component can be obtained.

[0008] Preferably, the adjustable fixing structure includes multiple fixing plates spaced apart along the length of the base, and the fixing plates can slide along the width of the base. By adjusting the position of the fixing plates, robots of different sizes can be securely fixed to the base.

[0009] Preferably, the target component is a flat plate structure with multiple marker points, where the marker points are circular marks of a different color from the flat plate structure. This type of target component facilitates camera recognition and capture, improving the accuracy of image analysis.

[0010] Preferably, the detection component further includes an image processor electrically connected to the camera for receiving images captured by the camera.

[0011] Preferably, the base is made of cast iron, which has high strength and stability, ensuring the robot remains stable during calibration and improving calibration accuracy.

[0012] Preferably, the number of marker points is 4-8, and they are evenly distributed on the flat plate structure. Reasonably setting the number and distribution of marker points can improve the accuracy of target component position detection.

[0013] Preferably, the camera is fixed around the base by a bracket, the height of which is adjustable. By adjusting the height of the bracket, the camera can be positioned in the optimal shooting position, ensuring the quality of the captured image.

[0014] The beneficial effects of this utility model are as follows:

[0015] 1) Low cost: This utility model uses a camera as a detection component, replacing expensive precision equipment such as laser trackers and 3D scanners, which greatly reduces the manufacturing cost of the device.

[0016] 2) Easy to maintain: The camera has a simple structure, is easy to maintain, and has low maintenance costs. Compared with precision equipment, it reduces the difficulty and cost of maintenance work.

[0017] 3) High versatility: The adjustable fixing structure can adapt to robots of different models and sizes, thus improving the applicability of the device.

[0018] 4) High calibration accuracy: Multiple cameras are used to photograph the target part from different angles, which can accurately obtain the position information of the target part and ensure the calibration accuracy. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the structure of this utility model.

[0021] Figure 2 This is a schematic diagram of the target component.

[0022] Figure 3 This is a schematic diagram showing the connection between the clamping plate and the fixing plate. Detailed Implementation

[0023] The technical solution of this utility model will be clearly and completely described below through specific embodiments.

[0024] refer to Figures 1-3 This utility model includes a base 1, a target component 2, and a detection assembly. The base 1, as the basic support component of the entire device, is made of cast iron and has a rectangular parallelepiped structure, which provides high stability.

[0025] The base 1 is equipped with an adjustable fixing structure, which includes multiple fixing plates 4 spaced apart along the length of the base 1. The fixing plates 4 can slide along the width of the base 1. The number of fixing plates 4 can be flexibly selected according to the length of the robot base.

[0026] The mounting plate is made of 45# steel, stamped and galvanized, with a thickness of 5-8mm, providing sufficient support strength. The surface features a diamond-shaped anti-slip texture, which increases friction with the robot base and prevents scratches on the equipment surface during mounting.

[0027] The bottom of the fixed plate 4 is equipped with a T-shaped slider that matches the sliding groove, and the T-shaped slider is equipped with a locking structure (locking bolt). Clamping blocks 6 are located on both sides of the fixed plate 4, and the clamping blocks 6 are slidably connected to the fixed plate and fixed by a locking assembly. The locking assembly can be a double-ended screw. The surface of the fixed plate is provided with a guide groove, and the double-ended screw is located in the guide groove. Both ends are rotatably connected to the end of the guide groove through bearing seats. The lower part of the clamping block passes through the guide groove and is screwed to the double-ended screw. The end of the double-ended screw protrudes from the end of the fixed plate and is fixedly connected to a knob. Rotating the knob controls the clamping block to move closer, thus achieving a clamping function.

[0028] On the upper surface of the base, there are multiple T-slots extending along the length direction and evenly distributed. The T-slots provide a track for the sliding of the adjustable fixing structure. The bottom of the fixing plate has a slider that matches the T-slot. The slider is embedded in the T-slot, allowing the fixing plate to slide smoothly along the width direction of the base, which facilitates position adjustment to fix robots of different sizes.

[0029] In use, place the robot on the base 1 and lock it in place by sliding the fixing plate 4 to fix the robot.

[0030] The bottom of the base can be equipped with an anti-slip pad made of rubber. Rubber has high friction, which increases the friction between the base and the ground, preventing the base from sliding during calibration and further improving the stability of the device. The base can also have a reinforcing rib structure inside, with the ribs arranged in a crisscross pattern. This effectively improves the overall strength and rigidity of the base, reduces deformation under stress, ensures the stability of the robot during calibration, and thus improves calibration accuracy.

[0031] The target component 2 is installed on the robot's end effector. The target component 2 is a flat structure with 6 marking points 7. The marking points 7 are red circular marks, and the flat structure is white. The color contrast makes it easy for the camera 5 to identify.

[0032] Specifically: Target part 2 is a square flat plate, which can be made of ABS engineering plastic, with a side length of 100-150mm and a thickness of 5-8mm, rounded edges, and a matte surface; the front has 6 circular markings, 8-12mm in diameter, distributed in a matrix with a center distance of 30-50mm, with at least 3 not collinear; printed with contrasting color ink. The back has two diagonal grooves and fastening bolts for easy installation.

[0033] The detection assembly includes two cameras 5, which are fixed around the base 1 by a bracket 9. The height of the bracket 9 is adjustable, and the two cameras 5 are located on both sides of the base 1.

[0034] The adjustable bracket is an existing structure and will not be described in detail.

[0035] Camera 5 is electrically connected to the image processor. Camera 5 captures an image of target part 2 and transmits the image to the image processor. The image processor analyzes and processes the image to calculate the three-dimensional coordinates of target part 2, thereby achieving the calibration of the robot.

[0036] The image processor is an industrial-grade embedded processor, specifically the NVIDIA Jetson Nano B01. This processor has a 128-core Maxwell GPU, supports CUDA accelerated computing, and has a computing power of 0.5 TFLOPS, which can meet the real-time image processing needs of multiple cameras. It is also compact in size (100mm×80mm) and suitable for integration into the detection component.

[0037] The core functions of this processor are as follows:

[0038] The image processor receives image data transmitted from two cameras through an interface, performs noise reduction (using a Gaussian filtering algorithm), distortion correction (based on preset camera intrinsic parameters), and grayscale processing on the images to remove environmental interference factors and improve the stability of marker recognition.

[0039] The Hough circle transform algorithm is used to identify circular markers on the target object and extract their two-dimensional coordinates in the image. The recognition accuracy is ≥99%, and the positioning accuracy reaches the sub-pixel level. When some markers are occluded, positioning can be completed using three or more remaining non-collinear markers, ensuring that the calibration process is uninterrupted.

[0040] Based on the principle of binocular vision, and combined with the extrinsic parameters of the two cameras (preset relative positional relationship), the three-dimensional coordinates of the marker point in the world coordinate system are calculated.

[0041] The calculated 3D coordinate data is transmitted to the robot control system via a serial port or Ethernet interface, supporting Modbus RTU or TCP / IP protocols. At the same time, it receives the theoretical position data of the end effector fed back by the robot for subsequent calibration error calculation.

[0042] The working principle of this utility model:

[0043] In use, the robot is fixed to the base 1 using an adjustable fixing structure, and the target part 2 is mounted on the robot's end effector. The robot is then started, causing its end effector to move the target part 2 to different positions. During this process, two cameras 5 capture images of the target part 2 from different angles and transmit these images to an image processor. The image processor processes the images, identifies the position of the marker point 7, and calculates the coordinates of the target part 2 in three-dimensional space based on the positional relationship of the two cameras 5 and the position of the marker point 7 in the image. By comparing the actual position of the target part 2 with its theoretical position, the robot is calibrated.

[0044] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Those skilled in the art can make various modifications or equivalent substitutions to the present utility model within its substance and protection scope, and such modifications or equivalent substitutions should also be considered to fall within the protection scope of the present utility model's technical solution.

Claims

1. A rapid calibration device for a robot, characterized in that, It includes a base, a target component, and a detection assembly; the base is provided with an adjustable fixing structure for fixing the robot; the target component is used to be installed on the robot's end effector; the detection assembly includes at least two cameras, which are fixedly arranged around the base for capturing images of the target component.

2. The robot rapid calibration device according to claim 1, characterized in that, The adjustable fixing structure includes multiple fixing plates spaced apart along the length of the base, and the fixing plates can slide along the width of the base.

3. The robot rapid calibration device according to claim 1, characterized in that, The target component is a flat plate structure with multiple marking points, and the marking points are circular marks of a different color from the flat plate structure.

4. The robot rapid calibration device according to claim 1, characterized in that, The detection component also includes an image processor, which is electrically connected to the camera and is used to receive images captured by the camera.

5. The robot rapid calibration device according to claim 1, characterized in that, The base is made of cast iron.

6. The robot rapid calibration device according to claim 3, characterized in that, The number of markers is 4-8, and they are evenly distributed on the flat plate structure.

7. The robot rapid calibration device according to claim 1, characterized in that, The camera is fixed around the base by a bracket, the height of which is adjustable.

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