CN113916200B - Calibration system and method for coupling robot with external shaft - Google Patents
Calibration system and method for coupling robot with external shaft Download PDFInfo
- Publication number
- CN113916200B CN113916200B CN202111162778.9A CN202111162778A CN113916200B CN 113916200 B CN113916200 B CN 113916200B CN 202111162778 A CN202111162778 A CN 202111162778A CN 113916200 B CN113916200 B CN 113916200B
- Authority
- CN
- China
- Prior art keywords
- robot
- steel needle
- light beam
- mounting plate
- calibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000008878 coupling Effects 0.000 title claims abstract description 33
- 238000010168 coupling process Methods 0.000 title claims abstract description 33
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 33
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 69
- 239000010959 steel Substances 0.000 claims abstract description 69
- 230000008569 process Effects 0.000 claims abstract description 26
- 238000013461 design Methods 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims abstract description 3
- 238000005259 measurement Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 7
- 238000012512 characterization method Methods 0.000 claims description 2
- 230000001419 dependent effect Effects 0.000 abstract description 2
- 239000003550 marker Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
- G01C15/004—Reference lines, planes or sectors
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention provides a calibration system for coupling a robot with an external shaft, comprising: a steel needle calibrator for coupling to a terminal shaft flange of the robot; the foldable annular mounting plate is provided with a central hole which is matched with the steel needle type calibrator, and in the calibration process, the foldable annular mounting plate is sleeved on the steel needle type calibrator and positioned at the position of the light beam emitting port; a reflecting mirror surface, the surface of which is provided with an orthogonal cross mark; an L-shaped bracket, one end of which is connected with the reflecting mirror surface and the other end of which is coupled to the external shaft; the joint part of the L-shaped bracket adopts a rotatable adjusting design, and two ends of the L-shaped bracket adopt telescopic adjusting structures. The calibration system provided by the invention has the advantages that the detection efficiency and the precision can be obviously improved, the calibration precision and the calibration efficiency are not dependent on the experience of operators, the operability of the calibration system is good, the calibration process is visual, and the calibration process is easy to execute.
Description
Technical Field
The invention belongs to the technical field of coupling calibration of robots and external shafts, and particularly relates to a vertical reflection-based rapid coupling calibration device for robots and external shafts.
Background
The TCP is abbreviated as Tool Central Point, the Chinese name is a tool coordinate point, the TCP in the initial state of the robot is a center point of a terminal shaft flange, and when the robot is manually or programmatically moved to approach a certain point of a coordinate system, the TCP is moved to approach the point. In practice, a tool is fixed on the end flange, for example: the relative position relationship between the action points of the tools and the center point of the flange at the tail end of the robot needs to be known so as to control the running track of the action points, and the process of searching the relative position relationship is called TCP calibration.
The process of the robot to find the relative position between the robot and the external shaft is called the robot to be coupled with the external shaft after the robot finishes TCP, the traditional calibration process is to find a small hole mark at a position far away from the center point of the plane on the plane of the external shaft, when the robot approaches the hole manually or in a programming mode, the robot can observe the tail end of the steel needle of the robot to coincide with the small hole and not contact with the hole in different angles, and then the external shaft is rotated or turned over for a certain angle, and the operation is repeated for a plurality of times, so that the calibration is realized.
Disclosure of Invention
An object of a first aspect of the invention is to provide a calibration system for coupling a robot with an external shaft, comprising:
a steel needle gauge for coupling to a terminal shaft flange of a robot, the steel needle gauge being configured to transmit a light beam, receive a reflected light beam, and range according to the received reflected light beam;
the foldable annular mounting plate is provided with a central hole which is matched with the steel needle type calibrator, and is sleeved on the steel needle type calibrator and positioned at the position of the light beam emitting port in the calibration process;
the surface of the reflecting mirror surface is provided with an orthogonal cross line mark, and in the calibration process, the surface of the reflecting mirror surface faces to the direction of a light beam emitting opening of the steel needle type calibrator;
an L-shaped bracket, one end of which is connected with the reflecting mirror surface and the other end of which is coupled to the external shaft;
the joint part of the L-shaped bracket adopts a rotatable adjusting design, and two ends of the L-shaped bracket adopt telescopic adjusting structures.
Preferably, an end of the L-shaped bracket coupled to the other end of the outer shaft is provided with a first magnetic attraction portion by which the L-shaped bracket is attracted to a surface of the outer shaft.
Preferably, the steel needle type marker has a longitudinal body portion defining a first end coupled with the end shaft flange of the robot and a second end serving as a light beam emitting port, and an end portion of the first end is provided with a second magnetic attraction portion by which the end portion is attracted to the end shaft flange of the robot.
Preferably, the foldable annular mounting plate has sector-shaped folding plates surrounding the central hole and being continuously and uniformly distributed in the circumferential direction, each sector-shaped folding plate being arranged to be folded in multiple stages in the radial direction.
Preferably, each of said fan-shaped folding plates is operable to fold or unfold independently.
Preferably, the mirror surface is flush with the plane of the outer axis.
Preferably, the emitted light beam is a red laser beam, which is driven and excited with a red laser.
An object of a second aspect of the present invention is to provide a calibration method for coupling a robot with an external shaft, comprising the steps of:
step 1, respectively coupling and connecting two end parts of an L-shaped bracket with a reflecting mirror surface and an external shaft;
step 2, enabling the reflecting mirror surface to be flush with the plane of the external shaft through adjusting the L-shaped support;
step 3, combining the foldable annular mounting plate with a steel needle type calibrator, namely: sleeving a foldable annular mounting plate on one end of a light beam emitting port of the steel needle type calibrator through a central hole of the foldable annular mounting plate, enabling the two to be in an orthogonal state, and coupling the other end of the steel needle type calibrator to a tail end shaft flange of the robot;
step 4, connecting the steel needle type calibrator with an upper computer, controlling the emitted light beam through the upper computer, performing distance measurement according to the returned light beam, and displaying the distance value of the distance measurement result in real time through a display on the surface of the steel needle type calibrator;
step 5, enabling fine and bright light spots emitted by the steel needle type calibrator to be aligned with the center of the orthogonal cross line mark of the reflecting mirror surface by moving and adjusting the tail end shaft of the robot;
step 6, when the light spot is aligned with the center of the orthogonal cross line mark of the reflecting mirror surface, the light spot of the reflected light beam of the reflecting mirror surface irradiates on the foldable annular mounting plate through the fine adjustment of the tail end shaft of the robot, and the light spot of the reflected light beam is positioned at the center of the foldable annular mounting plate, namely, the light spot of the reflected light beam returns to the steel needle type calibrator along the center hole of the foldable annular mounting plate and the direction opposite to the transmitting light path;
step 7, when all the following three conditions are met, completing one measurement: 1) The light spot generated by the emitted light beam is positioned at the center of the orthogonal cross line mark of the reflecting mirror surface; 2) The light spot of the reflected light beam returns to the steel needle type calibrator along the central hole of the foldable annular mounting plate and in the direction opposite to the transmitting light path; 3) The steel needle type calibrator receives the returned reflected light beam;
step 8, repeating the processes 2-7 by rotating or turning the external shaft by a certain angle to finish the second measurement;
and 9, repeating the processes 6 and 7 on the basis of the angle adjusted in the step 8, and completing the third and fourth times to realize final calibration.
Wherein, in the step 6, the method further comprises the following steps:
judging whether the foldable annular mounting plate and the tail end shaft/outer shaft of the robot are mechanically interfered according to the gesture of the robot, if the mechanical interference does not occur, all the fan-shaped folding plates are unfolded, and if an interference position exists between the tail end shaft/outer shaft of the robot and the foldable annular mounting plate, the fan-shaped folding plates at the interference position are folded.
Wherein, in the step 7, the method further comprises the following steps:
when all of said conditions 1) -3) are satisfied, a visual characterization is performed on the steel needle calibrator.
The technical scheme of the invention shows that the calibration system for coupling the robot with the external shaft is provided by the invention, and comprises an L-shaped bracket with telescopic two ends, a steel needle type calibration device (integrating red light emission, reflected light collection, target point ranging, feedback signal display and supporting communication) and the cooperation of a telescopic and foldable annular mounting plate. In the calibration process, a steel needle type calibration device is arranged on a flange plate of a tail end shaft of the robot, an annular mounting plate is arranged on the calibration device, a telescopic L-shaped bracket is arranged on an external shaft, the joint of the telescopic L-shaped bracket is rotatable to facilitate adjustment, the calibration device is used for emitting red light, and the robot is manually operated, so that the red light emitted by the tip end of the steel needle type calibration device is orthogonal and perpendicular to a reflecting mirror surface with an orthogonal cross score mark in a space three-dimensional coordinate system, and the coupling calibration of the external shaft is realized.
In the existing calibration mode in the past, a needle-shaped small hole is formed in a longer-distance plane on an external shaft, then a steel needle fixed on a manual mobile robot is aligned with the needle-shaped small hole on the external shaft, and calibration can be realized through four alignment operations of the mobile robot and the external shaft, so that collision is easy to occur, whether alignment is difficult to observe or not, measurement accuracy is reduced, an error range is high, and the calibration is carried out again.
Compared with the prior art, the calibration system for coupling the robot with the external shaft has the following remarkable beneficial effects and advantages:
1) The steel needle type calibration device can be quickly assembled and disassembled through the design of the magnetic base;
2) The design of the L-shaped bracket is used for being coupled to the reflecting mirror surface and the external shaft, the two ends of the L-shaped bracket are telescopic, and the joint position can be adjusted, so that the L-shaped bracket can be used for external shafts with various shapes and sizes; the tail end of the bracket can be quickly coupled by adopting the design of a magnetic base;
3) The foldable annular mounting plate is suitable for various angles of robots and avoids interference with the robots, and collision can not occur in the calibration process due to the telescopic folding design of each sector; after all the circular ring-shaped objects are folded and contracted, each sector can be opened independently, and when all the circular ring-shaped objects are opened, the circular ring-shaped objects are a larger circular plane, so that the circular ring-shaped objects are convenient to store and use, the large-size unfolded state is ensured to receive light spots in the use process, the observation and adjustment are facilitated, the problem that the reflected light spots cannot be found just before is avoided, and meanwhile, the circular ring-shaped objects are highlighted and easy to observe by adopting a red laser beam;
4) The first indication module, such as a green light indication module, is designed to clearly display the completion of the calibration action, so that the calibration result and the completion state can be visually observed, and the next calibration process can be performed;
5) The first indication module, such as a distance digital display device, is designed to clearly display the positions of the calibration device and the external shaft calibration point;
6) The calibration system can remarkably improve the detection efficiency and the precision, and the calibration precision and the efficiency are not dependent on the experience of operators any more, and the calibration system has the advantages of good operability, visual and easy execution of the calibration flow, quick and skillful grasp and use even by new people, and easy realization.
It should be understood that all combinations of the foregoing concepts, as well as additional concepts described in more detail below, may be considered a part of the inventive subject matter of the present disclosure as long as such concepts are not mutually inconsistent. In addition, all combinations of claimed subject matter are considered part of the disclosed inventive subject matter.
The foregoing and other aspects, embodiments, and features of the present teachings will be more fully understood from the following description, taken together with the accompanying drawings. Other additional aspects of the invention, such as features and/or advantages of the exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the embodiments according to the teachings of the invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a calibration system for coupling a robot to an external shaft according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a steel needle type calibrator according to an embodiment of the present invention.
Fig. 3 is a schematic illustration of the fanning and folding of a foldable annular mounting plate in accordance with an embodiment of the present invention.
FIG. 4 is a top view of the fanning and folding status of a foldable annular mounting plate in accordance with an embodiment of the present invention
FIG. 5 is a schematic representation of the position of a spot of an emitted beam on a mirror surface, with the left side being a representation of the robot before adjustment of the end axis and the right side being a representation of the alignment of the spot with the center of an orthogonal cross hair mark of the mirror surface after adjustment, in accordance with an embodiment of the present invention.
FIG. 6 is a schematic diagram of the position of the spot of the reflected beam on the foldable annular mounting plate, with the left side being the schematic before adjustment of the robot tip axis and the right side being the schematic after adjustment such that the spot of the reflected beam is centered on the foldable annular mounting plate, in accordance with an embodiment of the present invention.
Detailed Description
For a better understanding of the technical content of the present invention, specific examples are set forth below, along with the accompanying drawings.
Aspects of the invention are described in this disclosure with reference to the drawings, in which are shown a number of illustrative embodiments. The embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, may be implemented in any of a number of ways, as the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the disclosure may be used alone or in any suitable combination with other aspects of the disclosure.
Calibration system for coupling robot with external shaft
Referring to fig. 1, a calibration system for coupling a robot with an external shaft according to an exemplary embodiment of the present invention includes a steel needle type calibrator 10, a foldable ring-shaped mounting plate 20, a mirror surface 30, and an L-shaped bracket 40.
In the calibration system, the foldable ring-shaped mounting plate 20 is orthogonally mounted to the laser beam emission port of the steel needle-type calibrator 10, and the reflecting mirror surface 30 is mounted to one end of the L-shaped bracket 40, and the other end of the L-shaped bracket 40 is coupled to the external shaft 100. In the calibration process, the reflection mirror surface 30 is adjusted to be flush with the plane of the external shaft 100, the steel needle type calibrator 10 emits red laser beams, and the robot is operated to enable the red laser beams emitted at the tip of the steel needle type calibrator 10 to be perpendicular to the reflection mirror surface with the cross score line in the space three-dimensional coordinate system, so that the external shaft coupling calibration is realized.
The L-shaped bracket 40 is designed with a rotary joint and two telescopic ends, and in the calibration process, the change of the position relationship with an external shaft can be realized through the rotation or overturn of the L-shaped bracket 40, so that the calibration is performed for a plurality of times.
Therefore, the problem that in the prior art, a small hole mark needs to be marked at a position far away from the center point of the plane in the process of finding the outer axis plane can be avoided, the vertical reflection-based robot and the manual and rapid calibration device for coupling the outer axis are used for calibration, the L-shaped support can enable the reflecting mirror surface to be flush with the surface of the outer axis, holes on the outer axis plane are avoided, direct contact is not needed in measurement, the acquisition of a red laser beam and a reflected beam is convenient to observe, and the calibration precision and efficiency are improved greatly.
Steel needle type calibrator
A steel needle type marker 10 for coupling to a terminal shaft flange of a robot is provided for emitting a light beam, receiving a reflected light beam, and ranging from the received reflected light beam.
In the example shown in fig. 1, the steel needle type marker 10 has a longitudinal body portion defining a first end 10A coupled with a distal shaft flange of the robot and a second end 10B as a light beam emitting port, and the end of the first end 10A is provided with a magnetic attraction portion, so that the steel needle type marker 10 can be attracted to the distal shaft flange of the robot by the magnetic attraction portion to achieve rapid attraction and engagement.
As in the example shown in fig. 1 and 2, the main body portion is provided with a plurality of functional module designs including a microprocessor 14, a first indication module 11, a second indication module 12, a communication interface, a laser emitting module 15A, a receiving module 15B, a laser ranging module 15C, and a power module 19.
It should be appreciated that the aforementioned communication interfaces, such as 232 communication interface 13A, 485 communication interface 13B, RJ network interface 13C, etc., are intended to enable communication between the steel needle calibrator 10 and an upper computer.
The first and second indication modules 11 and 12 may be, for example, LED display screens, LCD display screens, LED indication lamps, or the like, which provide visual feedback to human eyes.
The laser emitting module 15A is used to emit a light beam, for example, preferably a red laser emitting module, and can controllably emit a red laser beam, and the red light spot formed on the reflecting mirror surface 30 is striking and easy to observe, and is convenient to adjust and align.
The receiving module 15B is configured to receive a reflected light beam formed by reflection of the emitted laser light beam after reaching the reflecting mirror surface 30.
And the laser ranging module 15C is used for performing laser ranging according to the received reflected light beam.
In an alternative embodiment, the laser ranging module 15C may use a ranging process based on the TOF method to obtain the distance data.
In a preferred embodiment, the first indication module 11 is disposed on the surface of the main body, and is used for indicating that the steel needle type calibrator receives the reflected light beam, and preferably adopts a green LED indicator lamp, for example, when the reflected light beam is received, the green LED indicator lamp 1s is turned on, the green LED indicator lamp flashes rapidly 2 times, or other manners to indicate that the reflected light beam is received.
In a preferred embodiment, the second indication module 12 is disposed on the surface of the main body, and is used for representing the distance value of the ranging result, and it is preferable to use an indication module capable of displaying digital information, such as an LED display screen or the like.
Foldable annular mounting plate
The foldable annular mounting plate 20 is provided with a central hole 21 which is matched with the steel needle type calibrator 10, and the foldable annular mounting plate 20 is sleeved on the steel needle type calibrator through the central hole 21 and is positioned at the position of the light beam emitting opening in the calibration process.
The foldable annular mounting plate 20 is of a foldable telescopic design, is folded and contracted to be in a smaller annular shape, and each sector can be independently unfolded to be in a larger annular plane when all sectors are unfolded.
Wherein the foldable annular mounting plate 20 is in an orthogonal state (i.e., the central axis is perpendicular) to the steel needle type calibrator 10.
As shown in connection with fig. 3 and 4, the foldable annular mounting plate 20 also has fan-shaped folding plates 22 disposed around the central hole 21 and distributed continuously and uniformly in the circumferential direction, each fan-shaped folding plate 22 being disposed to be folded in multiple stages in the radial direction.
Wherein each fan-fold panel 22 is independently operable to fold or unfold.
It will be appreciated that during calibration, the foldable annular mounting plate 20 is operated to an open position with a large annular surface for receiving and viewing, and adjusting the spot of the reflected beam.
Thus, during calibration, when a certain angular condition occurs, the foldable annular mounting plate 20 mechanically interferes with the robot/external shaft, the interfering fan-shaped folding plate 22 can be folded.
Reflection mirror
The reflecting mirror surface 30 is connected to the L-shaped bracket 40. Wherein one end of the L-shaped bracket 40 is connected to the bottom of the mirror surface 30. The surface of the mirror surface 30 facing the beam emission port direction of the steel needle type marker is provided with an orthogonal reticle mark as shown in fig. 1.
L-shaped bracket
An L-shaped bracket 40, in conjunction with the illustrated example, has one end connected to the bottom of the mirror surface 30 and the other end coupled to an external shaft.
In a preferred embodiment, the end of the L-shaped bracket 40 coupled to the other end of the outer shaft is provided with a magnetic attraction portion by which it is attracted to the surface of the outer shaft 100.
In a preferred embodiment, the joint portion of the L-shaped bracket 40 is configured for rotational adjustment, such as 360 ° omni-directional adjustment, and both ends of the L-shaped bracket are configured for telescopic adjustment. In this way, a plurality of angular and positional adjustments may be achieved.
Calibration method
Referring to fig. 1, 5 and 6, the calibration process of coupling the robot and the external shaft by using the calibration system provided by the embodiment of the invention includes the following steps:
step 1, respectively coupling and connecting two end parts of an L-shaped bracket 40 with a reflecting mirror surface 30 and an external shaft 100;
step 2, the reflecting mirror surface 30 is flush with the plane of the external shaft 100 by adjusting the L-shaped bracket 40;
step 3, combining the foldable annular mounting plate 20 with the steel needle type calibrator 10, namely: the foldable annular mounting plate 20 is sleeved on one end of a light beam emitting port of the steel needle type calibrator 10 through a central hole 21 of the foldable annular mounting plate, the two end of the steel needle type calibrator 10 are in an orthogonal state, and the other end of the steel needle type calibrator 10 is coupled and connected to a tail end shaft flange of the robot, for example, the steel needle type calibrator 10 is fast coupled and connected through a magnetic attraction part;
step 4, connecting the steel needle type calibrator 10 with an upper computer, controlling the emitted light beam through the upper computer and carrying out distance measurement according to the returned reflected light beam, and displaying the distance value of the distance measurement result in real time through a display (such as a second indication module 12) on the surface of the steel needle type calibrator 10;
step 5, by moving and adjusting the end axis of the robot, aligning the fine bright light spot (i.e. the emitting light spot) formed by the light beam 16 emitted by the steel needle type calibrator 10 with the center of the orthogonal cross-hair mark of the reflecting mirror surface, as shown in fig. 5; wherein fine bright spots especially mean spots with a particularly fine spot size and a bright size below 1 mm; especially the aforementioned red light spots for viewing;
step 6, when the light spot is aligned with the center of the orthogonal cross line mark of the reflecting mirror surface 30, the end axis of the robot is finely tuned so that the light spot formed by the reflected light beam 18 reflected by the reflecting mirror surface 30 (i.e. the reflected light spot) irradiates on the foldable annular mounting plate 20, and the light spot formed by the reflected light beam is located at the center of the foldable annular mounting plate 20, as shown in fig. 6, that is, the light spot formed by the reflected light beam returns to the steel needle type calibrator 10 along the central hole 21 of the foldable annular mounting plate and the direction opposite to the emission light path;
step 7, when all the following three conditions are met, one measurement calibration is completed: 1) The light spot generated by the emitted light beam is positioned at the center of the orthogonal cross line mark of the reflecting mirror surface; 2) The light spot of the reflected light beam returns to the steel needle type calibrator along the central hole of the foldable annular mounting plate and in the direction opposite to the transmitting light path; 3) The steel needle type calibrator receives the returned reflected light beam;
step 8, repeating the processes 2-7 by rotating or turning the external shaft by a certain angle to finish the second measurement calibration;
and 9, repeating the processes 6 and 7 on the basis of the angle adjusted in the step 8, and completing the third and fourth times to realize final calibration.
In an alternative embodiment, in the foregoing step 6, the method further includes the steps of:
whether the foldable annular mounting plate 20 mechanically interferes with the tail end shaft/outer shaft of the robot is judged according to the gesture of the robot, if no mechanical interference occurs, all the fan-shaped folding plates are unfolded, and if an interference position exists between the tail end shaft/outer shaft of the robot and the foldable annular mounting plate, the fan-shaped folding plates at the interference position are folded.
In an alternative embodiment, in the step 7, the method further includes the steps of:
when said conditions 1) -3) are all fulfilled, a visual representation is performed on the steel needle-type calibrator, for example by means of the aforementioned first indication module 11.
In the embodiment, the green LED indicator lamp flashes for 2 times to prompt to finish one measurement calibration.
While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present invention. Accordingly, the scope of the invention is defined by the appended claims.
Claims (8)
1. A calibration system for coupling a robot to an external shaft, comprising:
a steel needle gauge for coupling to a terminal shaft flange of a robot, the steel needle gauge being configured to transmit a light beam, receive a reflected light beam, and range according to the received reflected light beam;
the foldable annular mounting plate is provided with a central hole which is matched with the steel needle type calibrator, and is sleeved on the steel needle type calibrator and positioned at the position of the light beam emitting port in the calibration process;
the surface of the reflecting mirror surface is provided with an orthogonal cross line mark, and in the calibration process, the surface of the reflecting mirror surface faces to the direction of a light beam emitting opening of the steel needle type calibrator;
an L-shaped bracket, one end of which is connected with the reflecting mirror surface and the other end of which is coupled to the external shaft;
the joint part of the L-shaped bracket adopts a rotatable adjusting design, and two ends of the L-shaped bracket adopt telescopic adjusting structures;
the foldable annular mounting plate has sector-shaped folding plates surrounding a central hole and being continuously and uniformly distributed in a circumferential direction, each sector-shaped folding plate being arranged to be folded in multiple stages in a radial direction; each fan-shaped folding plate can be folded or unfolded independently by operation;
the mirror surface is flush with the plane of the outer axis;
wherein, the end part of the L-shaped bracket, which is coupled to the other end of the external shaft, is provided with a first magnetic attraction part, and the L-shaped bracket is attracted to the surface of the external shaft through the first magnetic attraction part;
the steel needle type calibrator is provided with a longitudinal main body part, the main body part defines a first end coupled with a tail end shaft flange of the robot and a second end serving as a light beam emitting port, and a second magnetic attraction part is arranged at the end part of the first end and is attracted to the tail end shaft flange of the robot through the second magnetic attraction part.
2. The calibration system for coupling a robot to an external shaft of claim 1, wherein a laser emitting module for emitting a light beam, a receiving module for receiving a reflected light beam, and a laser ranging module for performing distance detection from the received reflected light beam are disposed in the main body.
3. The calibration system for coupling of a robot to an external shaft of claim 1, wherein the body portion surface is provided with a first indication module for characterizing receipt of a reflected light beam by a steel needle calibrator.
4. The calibration system for coupling of a robot to an external shaft according to claim 1, wherein the body portion surface is provided with a second indication module for characterizing a distance value of a ranging result.
5. The calibration system for coupling a robot to an external shaft of claim 1, wherein the body portion is further provided with a communication interface.
6. Calibration method for a calibration system for coupling a robot with an external shaft according to any of the claims 1-5, characterized in that it comprises the following steps:
step 1, respectively coupling and connecting two end parts of an L-shaped bracket with a reflecting mirror surface and an external shaft;
step 2, enabling the reflecting mirror surface to be flush with the plane of the external shaft through adjusting the L-shaped support;
step 3, combining the foldable annular mounting plate with a steel needle type calibrator, namely: sleeving a foldable annular mounting plate on one end of a light beam emitting port of the steel needle type calibrator through a central hole of the foldable annular mounting plate, enabling the two to be in an orthogonal state, and coupling the other end of the steel needle type calibrator to a tail end shaft flange of the robot;
step 4, connecting the steel needle type calibrator with an upper computer, controlling the emitted light beam through the upper computer, performing distance measurement according to the returned light beam, and displaying the distance value of the distance measurement result in real time through a display on the surface of the steel needle type calibrator;
step 5, enabling fine and bright light spots emitted by the steel needle type calibrator to be aligned with the center of the orthogonal cross line mark of the reflecting mirror surface by moving and adjusting the tail end shaft of the robot;
step 6, when the light spot is aligned with the center of the orthogonal cross line mark of the reflecting mirror surface, the light spot of the reflected light beam of the reflecting mirror surface irradiates on the foldable annular mounting plate through the fine adjustment of the tail end shaft of the robot, and the light spot of the reflected light beam is positioned at the center of the foldable annular mounting plate, namely, the light spot of the reflected light beam returns to the steel needle type calibrator along the center hole of the foldable annular mounting plate and the direction opposite to the transmitting light path;
step 7, when all the following three conditions are met, completing one measurement: 1) The light spot generated by the emitted light beam is positioned at the center of the orthogonal cross line mark of the reflecting mirror surface; 2) The light spot of the reflected light beam returns to the steel needle type calibrator along the central hole of the foldable annular mounting plate and in the direction opposite to the transmitting light path; 3) The steel needle type calibrator receives the returned reflected light beam;
step 8, repeating the processes 2-7 by rotating or turning the external shaft by a certain angle to finish the second measurement;
and 9, repeating the processes 6 and 7 on the basis of the angle adjusted in the step 8, and completing the third and fourth times to realize final calibration.
7. The calibration method for the calibration system for coupling of a robot to an external shaft according to claim 6, further comprising the steps of, in step 6:
judging whether the foldable annular mounting plate and the tail end shaft/outer shaft of the robot are mechanically interfered according to the gesture of the robot, if the mechanical interference does not occur, all the fan-shaped folding plates are unfolded, and if an interference position exists between the tail end shaft/outer shaft of the robot and the foldable annular mounting plate, the fan-shaped folding plates at the interference position are folded.
8. The calibration method for the calibration system for coupling of a robot to an external shaft according to claim 6, further comprising the steps of:
when all of said conditions 1) -3) are satisfied, a visual characterization is performed on the steel needle calibrator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162778.9A CN113916200B (en) | 2021-09-30 | 2021-09-30 | Calibration system and method for coupling robot with external shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162778.9A CN113916200B (en) | 2021-09-30 | 2021-09-30 | Calibration system and method for coupling robot with external shaft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113916200A CN113916200A (en) | 2022-01-11 |
| CN113916200B true CN113916200B (en) | 2024-01-23 |
Family
ID=79237554
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111162778.9A Active CN113916200B (en) | 2021-09-30 | 2021-09-30 | Calibration system and method for coupling robot with external shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113916200B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1829899A (en) * | 2003-07-28 | 2006-09-06 | 莱卡地球***公开股份有限公司 | Method for checking or calibrating the angle-dependent alignment of a high-precision test piece |
| CN101726289A (en) * | 2009-12-23 | 2010-06-09 | 王鹏飞 | Leveling instrument for rapidly and automatically leveling |
| CN102601684A (en) * | 2012-04-06 | 2012-07-25 | 南京航空航天大学 | Indirect measurement method based tool parameter calibration method for high-precision drilling robot |
| CN106113035A (en) * | 2016-06-16 | 2016-11-16 | 华中科技大学 | A kind of Six-DOF industrial robot end-of-arm tooling coordinate system caliberating device and method |
| CN107702664A (en) * | 2017-10-24 | 2018-02-16 | 北京信息科技大学 | A kind of reflective system for detecting verticality and method based on semiconductor laser alignment |
| CN109129445A (en) * | 2018-09-29 | 2019-01-04 | 先临三维科技股份有限公司 | Hand and eye calibrating method, scaling board, device, equipment and the storage medium of mechanical arm |
| CN109434830A (en) * | 2018-11-07 | 2019-03-08 | 宁波赛朗科技有限公司 | A kind of industrial robot platform of multi-modal monitoring |
| CN211085268U (en) * | 2020-01-10 | 2020-07-24 | 合肥富煌君达高科信息技术有限公司 | Adjusting system for optical guide rail distance measuring device |
| CN112917513A (en) * | 2021-01-06 | 2021-06-08 | 徐礼达 | TCP calibration method of three-dimensional dispensing needle head based on machine vision |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2878920A1 (en) * | 2013-11-28 | 2015-06-03 | Hexagon Technology Center GmbH | Calibration of a coordinate measuring machine using a calibration laser head at the tool centre point |
-
2021
- 2021-09-30 CN CN202111162778.9A patent/CN113916200B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1829899A (en) * | 2003-07-28 | 2006-09-06 | 莱卡地球***公开股份有限公司 | Method for checking or calibrating the angle-dependent alignment of a high-precision test piece |
| CN101726289A (en) * | 2009-12-23 | 2010-06-09 | 王鹏飞 | Leveling instrument for rapidly and automatically leveling |
| CN102601684A (en) * | 2012-04-06 | 2012-07-25 | 南京航空航天大学 | Indirect measurement method based tool parameter calibration method for high-precision drilling robot |
| CN106113035A (en) * | 2016-06-16 | 2016-11-16 | 华中科技大学 | A kind of Six-DOF industrial robot end-of-arm tooling coordinate system caliberating device and method |
| CN107702664A (en) * | 2017-10-24 | 2018-02-16 | 北京信息科技大学 | A kind of reflective system for detecting verticality and method based on semiconductor laser alignment |
| CN109129445A (en) * | 2018-09-29 | 2019-01-04 | 先临三维科技股份有限公司 | Hand and eye calibrating method, scaling board, device, equipment and the storage medium of mechanical arm |
| CN109434830A (en) * | 2018-11-07 | 2019-03-08 | 宁波赛朗科技有限公司 | A kind of industrial robot platform of multi-modal monitoring |
| CN211085268U (en) * | 2020-01-10 | 2020-07-24 | 合肥富煌君达高科信息技术有限公司 | Adjusting system for optical guide rail distance measuring device |
| CN112917513A (en) * | 2021-01-06 | 2021-06-08 | 徐礼达 | TCP calibration method of three-dimensional dispensing needle head based on machine vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113916200A (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6101268A (en) | Method and apparatus for determining the configuration of a workpiece | |
| US5741096A (en) | Line-laser assisted alignment apparatus | |
| CN114311346B (en) | Wafer and workbench alignment identification method | |
| CN109668530B (en) | Shaft and shaft hole centering detection method and centering detection device | |
| US6710929B2 (en) | Method of forming and using laser light columns | |
| CN105292304B (en) | The semi-automatic loading system of windshield and loading method of automobile | |
| CN101466504A (en) | Hand-held machine tool with means for perpendicular alignment | |
| CN113916200B (en) | Calibration system and method for coupling robot with external shaft | |
| CN110608872A (en) | Optical detection equipment and detection method | |
| KR20200135725A (en) | Optical imaging and scanning of holes | |
| CN109848595A (en) | Welding system and method | |
| WO2013108476A1 (en) | Laser processing device | |
| CN108196133B (en) | System and method for adjusting space alignment of three-axis turntable and spherical scanning device | |
| CN216012112U (en) | Calibration system for coupling robot and external shaft | |
| CN212367282U (en) | Wireless performance testing device and testing system | |
| CN110560976B (en) | Steel coil welding method and system | |
| CN108857134A (en) | A kind of automatic soldering device of boiler inner wall round tube ring fillet weld | |
| CN107479226A (en) | Portable defect detector | |
| CN108098746B (en) | Mechanical arm and mechanical arm bootstrap operating method | |
| CN110849319A (en) | Calibration device and method for Lycra base plummet device | |
| CN111988094A (en) | Wireless performance testing device, system, method, equipment and storage medium | |
| JPH04365586A (en) | Optical axis aligning method and orthogonal axis aligning method for hand eye | |
| CN213582248U (en) | Radar and camera calibration device | |
| CN109093054A (en) | Car body of aluminum alloy stream bores tightening device debugging positioning method and laser debugging system | |
| CN207858834U (en) | Mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |