Apparatus for fds robot tool frame establishment

Abstract

The utility model discloses a device for FDS robot tool coordinate system establishment belongs to robot automation technical field, including base, and fixed calibration mechanism and the positioning mechanism of installing on the flow drill screw riveting gun muzzle on the base, and positioning mechanism includes connecting shaft, limit ring, swivel ring and calibration block, and connecting shaft realizes detachable installation and axial location through the limit ring and the mouth of gun, and swivel ring is hinged with connecting shaft, and calibration block is fixed on swivel ring, is used for adjusting and simulating the position and angle of tool center point, and swivel ring still is equipped with screw hole and fixed pin, is used for the angle accurate locking of calibration block after adjusting is completed. The utility model solves the problem that simulates inaccuracy, lacks angle flexible adjustment and locking structure in the process of establishing FDS robot tool coordinate system in the prior art, has the beneficial effect that calibration precision is high, efficiency is high, suitability is strong and easy operation.

Description

Technical Field

[0001] This utility model relates to the field of robot automation technology, and in particular to a device for establishing the coordinate system of an FDS robot tool. Background Technology

[0002] When industrial robots perform high-precision automated operations, their work efficiency and processing quality directly depend on the accuracy of the tools. Flow drilling screw technology, as an advanced joining process, is increasingly widely used in aerospace and automotive manufacturing. This technology requires robots to drive the flow drilling screw riveting gun in a complex three-dimensional space with precise posture and position. Therefore, establishing and calibrating the robot's tool coordinate system is a crucial step before the robot is put into use.

[0003] In existing technologies, traditional tool coordinate system establishment methods typically rely on three-point, four-point, or six-point methods, where the tool tip at the end of the robot contacts a fixed reference point. For specialized tools like flow drill screw rivet guns, the structure of the gun muzzle or screw tip is often complex and irregular, making it difficult to directly and accurately contact the fixed reference point. Engineers usually need to rely on simple auxiliary tools or visual inspection and manual teaching for positioning. This not only makes the calibration process time-consuming and complex, but also results in low accuracy and poor repeatability of the final tool coordinate system due to the instability of the connection between the auxiliary tool and the rivet gun, as well as human error. This makes it difficult to meet the high-precision operation requirements of FDS processes. Once the work requirements change, a tool coordinate system with a specific tilt angle needs to be established. Existing simple auxiliary devices often lack flexible angle adjustment and locking functions, making it difficult to quickly and accurately adapt to new calibration requirements, which greatly limits the application flexibility and efficiency of FDS robots.

[0004] Therefore, this invention proposes a device for establishing the tool coordinate system of an FDS robot to address the shortcomings of existing technologies, such as inaccurate tool coordinate system simulation, low calibration efficiency, and lack of flexible angle adjustment structures. Utility Model Content

[0005] In view of the problems existing in the device for establishing the tool coordinate system of FDS robot, such as inaccurate tool coordinate system simulation, complex and time-consuming calibration process, and lack of flexible angle adjustment and locking structure, this utility model aims to provide a device for establishing the tool coordinate system of FDS robot with an improved structure that can effectively solve the above problems.

[0006] This utility model provides a device for establishing the coordinate system of an FDS robot tool, including: a base and a calibration mechanism; and a positioning mechanism.

[0007] The calibration mechanism includes a fixed plate, a gimbal fixedly connected to the fixed plate via a connecting column, and a reference object and a positioning groove disposed on the upper surface of the gimbal; the calibration mechanism serves as a fixed reference benchmark to provide a precise alignment basis.

[0008] The positioning mechanism is detachably installed on the muzzle of the flow drill screw rivet gun. The positioning mechanism includes a connecting shaft with one end for embedding into the muzzle, a limiting ring fixedly connected to the outer periphery of the connecting shaft to engage the muzzle, a rotating ring rotatably connected to the other end of the connecting shaft, and a calibration block fixedly connected to the rotating ring.

[0009] Furthermore, the calibration block on the positioning mechanism is configured to align with the reference object or positioning groove on the calibration mechanism gimbal. Through the rotational engagement structure of the connecting shaft, rotating ring and calibration block, the adjustable angle of the calibration block relative to the rivet gun muzzle is realized, thereby ensuring that the calibrated tool coordinate system can accurately simulate the tool center point of the FDS rivet gun under different working conditions.

[0010] Preferably, it also includes a base mounted on the base, and a robotic arm rotatably mounted on the base, with a flow drill screw rivet gun fixedly connected to the end of the robotic arm, thus configuring the working environment and motion control platform of the entire device.

[0011] Preferably, the rotating ring has a screw hole, and the positioning mechanism also includes a fixing pin that is threaded into the screw hole. The fixing pin passes through the screw hole to abut against the connecting shaft and is used to lock the angle of the rotating ring relative to the connecting shaft. This structure ensures the reliability and stability of the calibration block after the angle is adjusted.

[0012] Preferably, the outer diameter of the limiting ring is larger than the inner diameter of the muzzle. The limiting ring, by engaging with the end connecting surface of the muzzle, forms a reliable axial limit between the positioning mechanism and the muzzle, ensuring the accuracy of repeated installation of the positioning mechanism.

[0013] Preferably, the calibration mechanism further includes a stabilizing component, which includes at least a fixing bolt; the fixing bolt passes through the fixing plate and the base in sequence to firmly fix the fixing plate on the base, effectively improving the seismic stability and fixing accuracy of the reference benchmark during the calibration process.

[0014] Preferably, the stabilizing component further includes a level, which is disposed on the upper surface of the fixing plate and is used by the user to calibrate and confirm the horizontal state of the calibration mechanism during installation, thereby further ensuring the accuracy of the coordinate system establishment.

[0015] Preferably, the gimbal has multiple positioning slots, and the multiple positioning slots have different shapes. The calibration block can be aligned with positioning slots or reference objects of different shapes, thereby improving the flexibility and applicability of the device to meet various calibration needs.

[0016] Preferably, the connecting shaft and the rotating ring adopt a hinge structure. This hinge structure ensures that the position and angle of the calibration block in space can be flexibly adjusted to meet the requirements for establishing tool coordinate systems with different tilt angles.

[0017] This utility model has the following beneficial effects:

[0018] 1. This utility model, by setting an adjustable and locking positioning mechanism, can accurately simulate the working state of the flow drill screw rivet gun during the calibration process, solving the problem of inaccurate tool coordinate system simulation in the prior art, and achieving the technical effect of high calibration accuracy and strong adaptability.

[0019] 2. This utility model, through the cooperation of the connecting shaft, rotating ring and fixing pin in the positioning mechanism, enables the angle of the calibration block to be flexibly adjusted and quickly locked, which solves the problem of the lack of flexible adjustment structure and difficulty in adapting to the needs of establishing different coordinate systems in the prior art, and achieves the technical effect of simplifying the process and improving calibration efficiency.

[0020] 3. This utility model, through the fixing bolts and level in the calibration mechanism, ensures the absolute stability and horizontal accuracy of the calibration reference benchmark, solves the problem of errors caused by easy shaking or tilting of the reference benchmark in the prior art, and achieves the technical effect of providing a highly stable and high-precision reference benchmark. Attached Figure Description

[0021] Figure 1 This is a perspective view of the device for establishing the coordinate system of an FDS robot tool proposed in this utility model;

[0022] Figure 2 This is a front view of the device for establishing the coordinate system of an FDS robot tool proposed in this utility model;

[0023] Figure 3 This is a side view of the device for establishing the coordinate system of an FDS robot tool proposed in this utility model;

[0024] Figure 4 This is a half-sectional view of the muzzle of the device for establishing the coordinate system of an FDS robot tool proposed in this utility model.

[0025] Legend:

[0026] 1. Base; 2. Base; 3. Robotic arm; 4. Positioning mechanism; 401. Flow drill screw rivet gun; 402. Gun muzzle; 403. Connecting shaft; 404. Limiting ring; 405. Rotary ring; 406. Screw hole; 407. Fixing pin; 408. Calibration block; 5. Calibration mechanism; 501. Fixing plate; 502. Connecting column; 503. Gimbal; 504. Reference object; 505. Positioning groove; 506. Stabilizing component; 5061. Fixing bolt; 5602. Level. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0028] Example:

[0029] Please refer to Figures 1 to 4 This utility model provides a device for establishing the coordinate system of an FDS robot tool, which aims to solve the problems of existing auxiliary devices for establishing the coordinate system of an FDS robot tool, such as simple structure, complex calibration process, low repeatability accuracy, and difficulty in adapting to different calibration requirements.

[0030] like Figure 1 , Figure 2 and Figure 3 As shown, the device for establishing the tool coordinate system of the FDS robot includes a base 1, a base 2, a robotic arm 3, a positioning mechanism 4, and a calibration mechanism 5. The base 1 serves as the mounting platform for the entire device. The base 2 is fixedly connected to the base 1. The robotic arm 3 is rotatably connected to the base 2, and a flow drill screw rivet gun 401 is fixedly connected to the end of the robotic arm 3. The device completes the accurate establishment of the tool coordinate system by cooperating with the calibration mechanism 5, which is fixed in the working environment, and the positioning mechanism 4, which is installed on the flow drill screw rivet gun 401.

[0031] The calibration mechanism 5 is used to provide a fixed reference benchmark. It is fixedly connected to the base 1. The main structure of the calibration mechanism 5 includes a fixing plate 501, at least two connecting columns 502, and a gimbal 503. The fixing plate 501 is directly fixed to the base 1. The connecting columns 502 are vertically arranged on the fixing plate 501. The gimbal 503 is fixedly connected to the fixing plate 501 through the connecting columns 502 and is spaced apart from the fixing plate 501. The upper surface of the gimbal 503 is provided with a reference object 504 for alignment and multiple positioning grooves 505 of different shapes.

[0032] The positioning mechanism 4 is used to accurately simulate the center point of the tool. It is detachably mounted on the muzzle 402 of the flow drill screw rivet gun 401. The positioning mechanism 4 includes a connecting shaft 403, a limiting ring 404, a rotating ring 405, and a calibration block 408. One end of the connecting shaft 403 is used to be embedded inside the muzzle 402. The limiting ring 404 is fixedly connected to the outer circumference of the connecting shaft 403 and is used to engage the end face of the muzzle 402 to achieve axial limiting. The rotating ring 405 is rotatably connected to the other end of the connecting shaft 403 away from the muzzle 402. The calibration block 408 is fixedly connected to the rotating ring 405. When establishing the coordinate system, the robotic arm 3 drives the flow drill screw rivet gun 401, which in turn drives the positioning mechanism 4 to move, so that the calibration block 408 on it is accurately aligned with the reference object 504 or the positioning groove 505 on the calibration mechanism 5.

[0033] To solve the above-mentioned technical problems, the technical solution of this embodiment is that the device for establishing the FDS robot tool coordinate system realizes the simulation and adjustment of the tool point (TCP) through the positioning mechanism 4, and a specific detachable engagement and locking relationship is formed between the positioning mechanism 4 and the flow drill screw rivet gun 401.

[0034] Please refer to Figure 4 As shown, the positioning mechanism 4 includes a connecting shaft 403, a limiting ring 404, a rotating ring 405, a calibration block 408, and a fixing pin 407. The connecting shaft 403 has a cylindrical structure, and one end of the connecting shaft 403 is designed to be embedded inside the nozzle 402 of the flow drill screw rivet gun 401. The limiting ring 404 has an annular structure, and its outer diameter is larger than the inner diameter of the nozzle 402. The limiting ring 404 is fixedly connected to the outer circumference of the connecting shaft 403. When the positioning mechanism 4 is installed, the limiting ring 404 engages with the end connecting surface of the nozzle 402, forming a precise axial limit between the positioning mechanism 4 and the flow drill screw rivet gun 401.

[0035] The rotating ring 405 is rotatably connected to the other end of the connecting shaft 403 away from the muzzle 402, i.e., the two are hinged together; the calibration block 408 is fixedly connected to the rotating ring 405. The calibration block 408 is the terminal feature point for alignment operation, used to simulate the tool center point of the flow drill screw rivet gun 401 in the working state; since the connecting shaft 403 and the rotating ring 405 are hinged together, the position and angle of the calibration block 408 can be changed by manually adjusting the rotating ring 405 to meet the requirements for establishing different coordinate systems;

[0036] A screw hole 406 is provided on the rotating ring 405. A fixing pin 407 that cooperates with the rotating ring 405 is set on the positioning mechanism 4. The fixing pin 407 is threadedly engaged with the screw hole 406. After the angle of the calibration block 408 is adjusted, the fixing pin 407 is screwed into the screw hole 406. The fixing pin 407 passes through the screw hole 406 and abuts or presses against the surface of the connecting shaft 403, thereby accurately locking the angle of the rotating ring 405 relative to the connecting shaft 403, ensuring that the position and angle of the calibration block 408 remain unchanged during the calibration process.

[0037] The positioning mechanism 4, consisting of a connecting shaft 403, a rotating ring 405, a calibration block 408, a locking screw hole 406, and a fixing pin 407, ensures that the angle of the calibration block 408 is adjustable and can be locked after adjustment, thus realizing high-precision simulation and flexible configuration of the tool coordinate system of the convection drill screw rivet gun 401.

[0038] In a preferred embodiment, the device also includes a base 2 and a robotic arm 3. The base 2 is fixedly connected to the base 1, and the robotic arm 3 is mounted on the base 2 by a rotatable connection. The end of the robotic arm 3 is fixedly connected to a flow drill screw rivet gun 401. The flow drill screw rivet gun 401 drives the positioning mechanism 4 on it to reach the predetermined calibration position through the movement of the robotic arm 3, thereby realizing the alignment operation.

[0039] As another preferred embodiment, in order to ensure the locking reliability after the calibration angle is adjusted, the rotating ring 405 is provided with a screw hole 406 for embedding the fixing pin 407. The fixing pin 407 and the screw hole 406 are threaded together. After the fixing pin 407 is screwed into the screw hole 406, it can abut against the connecting shaft 403, thereby eliminating the rotational freedom of the rotating ring 405 relative to the connecting shaft 403, and ensuring that the calibration block 408 can be accurately locked after the angle is adjusted.

[0040] As another preferred embodiment, in order to achieve quick installation and precise axial positioning of the positioning mechanism 4 and the muzzle 402, the connecting shaft 403 and the muzzle 402 are fitted together. The limiting ring 404 is fixedly connected to the outer periphery of the connecting shaft 403. The outer diameter of the limiting ring 404 is larger than the inner diameter of the muzzle 402. By engaging the end connecting surface of the muzzle 402 with the limiting ring 404, the positioning mechanism 4 is ensured to have a stable starting position in the axial direction.

[0041] As another preferred embodiment, in order to ensure the absolute stability of the calibration mechanism 5 during the calibration process, the calibration mechanism 5 further includes a stabilizing component 506, which includes a fixing bolt 5061. The fixing bolt 5061 passes through the corresponding mounting holes of the fixing plate 501 and the base 1 in sequence to firmly fix the fixing plate 501 on the base 1, thereby eliminating any slight displacement or shaking of the calibration mechanism 5 during the calibration process.

[0042] As another preferred embodiment, in order to facilitate the user to calibrate the calibration mechanism 5, the stabilizing component 506 also includes a level 5602. The level 5602 is disposed on the upper surface of the fixing plate 501. The user can check at any time whether the calibration mechanism 5 is in a horizontal state through the level 5602, and adjust the mechanism to a precise level by adjusting the tightness of the fixing bolt 5061 or the support structure under the base 1, so as to ensure the accuracy of the coordinate system establishment.

[0043] As another preferred embodiment, in order to meet the needs of establishing various types of coordinate systems, the gimbal 503 has multiple positioning slots 505, and the multiple positioning slots 505 have different shapes. The calibration block 408 can be aligned with positioning slots 505 or reference objects 504 of different shapes, thereby improving the applicability of this device to different calibration scenarios.

[0044] As another preferred embodiment, a hinge structure is preferably adopted between the connecting shaft 403 and the rotating ring 405 to realize the free adjustment of the position and angle of the calibration block 408 in space. This adjustable design enables the device to adapt to the definition requirements of the tool coordinate system in different directions.

[0045] Working principle: The FDS robot tool coordinate system is established by controlling the flow drill screw rivet gun 401 through the robotic arm 3 on the base 2. Before the positioning operation, an auxiliary tool needs to be installed at the gun nozzle 402 of the flow drill screw rivet gun 401. The connecting shaft 403 is embedded into the connecting gun nozzle 402, so that the limiting ring 404 on the connecting shaft 403 engages with the connecting surface of the gun nozzle 402 to form a fixed position. By adjusting the hinged rotating ring 405 at the bottom of the connecting shaft 403, the position and angle of the calibration block 408 are adjusted to meet the required coordinate system. After the rotation adjustment is completed, the angle adjustment and fixation are completed by inserting the fixing pin 407 into the screw hole 406 reserved in the rotating ring 405. The preparation work for establishing the coordinate system is completed. The positioning mechanism 4 as a whole can simulate the working state of the flow drill screw rivet gun 401 during operation, can form a precise positioning coordinate system, and can meet different coordinate system requirements by adjusting the angle.

[0046] Furthermore, establishing a coordinate system requires a fixed reference object. A calibration mechanism 5 is set on the base 1 to assist the FDS robot in establishing the coordinate system. The calibration mechanism 5 includes a fixing plate 501 for fixed contact and a gimbal 503 connected by four connecting columns 502. In order to achieve a fixed effect, the calibration mechanism 5 is also equipped with a stabilizing component 506. The fixing bolt 5061 passes through the fixing plate 501 to fix the calibration mechanism 5 to the base 1. The level of the mechanism can be confirmed by the level 5602 on the fixing plate 501, which is convenient for the user to adjust and ensure accuracy. The gimbal 503 has multiple positioning slots 505 of different shapes and reference objects 504 to facilitate the establishment of different coordinate systems, meet different needs, improve the efficiency and accuracy of FDS robot coordinate system establishment, simplify the process, and improve applicability.

Claims

1. A device for establishing a coordinate system for an FDS robot tool, comprising a base (1), characterized in that, The device further includes: a calibration mechanism (5), which includes a fixing plate (501) fixedly connected to the base (1), a gimbal (503) fixedly connected to the fixing plate (501) by at least two connecting columns (502), and a reference object (504) and a positioning groove (505) disposed on the upper surface of the gimbal (503). The positioning mechanism (4) is detachably mounted on the muzzle (402) of the flow drill screw rivet gun (401). The positioning mechanism (4) includes a connecting shaft (403) with one end embedded in the muzzle (402), a limiting ring (404) fixedly connected to the outer periphery of the connecting shaft (403) to engage the muzzle (402), a rotating ring (405) rotatably connected to the other end of the connecting shaft (403), and a calibration block (408) fixedly connected to the rotating ring (405). The calibration block (408) is configured to align with the reference object (504) or the positioning slot (505) on the gimbal (503).

2. The apparatus for establishing the coordinate system of an FDS robot tool according to claim 1, characterized in that, It also includes a base (2) mounted on the base (1) and a robotic arm (3) rotatably mounted on the base (2), wherein the flow drill screw rivet gun (401) is fixedly connected to the end of the robotic arm (3).

3. The apparatus for establishing the coordinate system of an FDS robot tool according to claim 1, characterized in that, The rotating ring (405) has a screw hole (406), and the positioning mechanism (4) further includes a fixing pin (407) that is threaded into the screw hole (406). The fixing pin (407) passes through the screw hole (406) to abut against the connecting shaft (403), thereby locking the angle of the rotating ring (405) relative to the connecting shaft (403).

4. The apparatus for establishing the coordinate system of an FDS robot tool according to claim 1, characterized in that, The outer diameter of the limiting ring (404) is larger than the inner diameter of the muzzle (402). The limiting ring (404) is engaged with the end connecting surface of the muzzle (402) to form an axial limit between the positioning mechanism (4) and the muzzle (402).

5. The apparatus for establishing the coordinate system of an FDS robot tool according to claim 1, characterized in that, The calibration mechanism (5) further includes a stabilizing component (506), which includes a fixing bolt (5061) that passes through the fixing plate (501) and the base (1) in sequence to securely fix the fixing plate (501) to the base (1).

6. The apparatus for establishing the coordinate system of an FDS robot tool according to claim 5, characterized in that, The stabilizing component (506) also includes a level (5602), which is disposed on the upper surface of the fixing plate (501) and is used to calibrate the horizontal state of the calibration mechanism (5).

7. The apparatus for establishing an FDS robot tool coordinate system according to claim 1, characterized in that, The gimbal (503) has multiple positioning slots (505), and the multiple positioning slots (505) have different shapes to establish different coordinate systems.

8. The apparatus for establishing the coordinate system of an FDS robot tool according to claim 1, characterized in that, The connecting shaft (403) and the rotating ring (405) are hinged together, and the position and angle of the calibration block (408) can be changed by adjusting the rotating ring (405).

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