CN208575844U - Device is established for what six-joint robot shared coordinate system - Google Patents
Device is established for what six-joint robot shared coordinate system Download PDFInfo
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- CN208575844U CN208575844U CN201821086809.0U CN201821086809U CN208575844U CN 208575844 U CN208575844 U CN 208575844U CN 201821086809 U CN201821086809 U CN 201821086809U CN 208575844 U CN208575844 U CN 208575844U
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Abstract
Device is established for what six-joint robot shared coordinate system the utility model discloses a kind of, belong to a kind of six-joint robot and uses auxiliary device, including at least two six-joint robots, respective vision system is mounted on the arm end of six-joint robot, and calibration jig is fixedly installed between vision system, calibration jig is corresponding with the collection terminal of vision system respectively；Vision system includes at least ccd sensor camera and laser line generator, and the Laser emission angle of laser line generator is consistent with the shooting angle of ccd sensor camera, and ccd sensor camera also accesses control module.By installing vision system on the arm end of six-joint robot, and the posture by changing robot, calibration is scanned in calibration jig of the different direction to same position by vision system, further according to vision system in different location to the multiple calibration result of calibration jig, the shared coordinate of two six-joint robots can be established by carrying out processing in the control module.
Description
Technical field
The utility model relates to a kind of six-joint robots to use auxiliary device, more specifically, the utility model mainly relates to
And a kind of device is established for what six-joint robot shared coordinate system.
Background technique
During robot application, it need to be built according to the practical situations at scene sometimes between Liang Tai robot
When vertical shared coordinate system is to reach the work of Liang Tai robot under a coordinate system to solve more machine person cooperative works
Precision problem.The method for using jig and human eye to confirm when establishing the shared coordinate system of Liang Tai robot at present, specifically
To use dedicated jig, jig is mounted on the arm end of robot, and is directed at the tip of two jigs and (is directly affected shared
The precision of coordinate system), it needs to use human eye observation.In the case where jig alignment, the alignment point robot round jig is needed to want
The mobile several directions X/Y/Z, RX/RY/RZ, and to guarantee that alignment point cannot deviate on the move, main confirmation means
It is to use human eye observation.In practice, the precision for the shared coordinate system that such mode is established is low, and the time for establishing shared coordinate system is long,
The machining accuracy and installation accuracy of jig are high, big using difficulty.Thus it is necessary to for the shared coordinate for six-joint robot
The structure that system establishes device is further studied and is improved.
Utility model content
One of the purpose of this utility model is in view of the above deficiencies, to provide a kind of for the shared coordinate system of six-joint robot
Establish device, with it is expected solve same device establish six-joint robot share coordinate system precision it is low, consuming time is long, and controls
The installation accuracy of tool is high, uses the technical problems such as difficulty is big.
In order to solve the above technical problems, the utility model uses following technical scheme:
A kind of device of establishing sharing coordinate system for six-joint robot provided by the utility model, including at least two
Six-joint robot is mounted on respective vision system on the arm end of the six-joint robot, and solid between the vision system
Equipped with calibration jig, the calibration jig is corresponding with the collection terminal of vision system respectively for Dingan County；The vision system is at least
Including ccd sensor camera and laser line generator, the bat of the Laser emission angle of the laser line generator and the ccd sensor camera
It is consistent to take the photograph angle, the ccd sensor camera also accesses control module.
Preferably, further technical solution is: at least provided with three calibration points on the calibration jig, be used for by
Vision system on six-joint robot is demarcated.
Further technical solution is: it further include LED light source in the vision system, the shooting angle of the LED light source
It spends also consistent with the shooting angle of the ccd sensor camera.
Further technical solution is: the arm end of the six-joint robot is equipped with ring flange, the vision system
In ccd sensor camera and laser line generator pass through the ring flange and be mounted on the arm end of the six-joint robot.
Further technical solution is: comprising two identical six-joint robots of specification in described device, and two
A six-joint robot two sides for being mounted on the calibration jig symmetrical centered on demarcating jig.
Compared with prior art, the beneficial effects of the utility model first is that: by pacifying on the arm end of six-joint robot
Fill vision system, and the posture by changing robot, by vision system different direction to the calibration jig of same position into
Row scanning calibration carries out the multiple calibration result of calibration jig in different location further according to vision system in the control module
Processing can establish the shared coordinate of two six-joint robots, and operation is more convenient, and effectively shorten foundation and share coordinate
The time of system, it helps improve precision, the requirement to the installation accuracy and machining accuracy of calibration jig is relatively low, together
When it is provided by the utility model it is a kind of for six-joint robot share coordinate system to establish apparatus structure simple, be suitable for all kinds of
It is installed and used on the six-joint robot of specification, application range is wide.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for illustrating the utility model one embodiment；
In figure, 1 be six-joint robot, 2 be vision system, 3 be calibration jig.
Specific embodiment
The utility model is further elaborated with reference to the accompanying drawing.
Refering to what is shown in Fig. 1, one embodiment of the utility model is a kind of to share building for coordinate system for six-joint robot
Device, including at least two six-joint robots 1 are found, is mounted on respective vision system 2 on the arm end of the six-joint robot 1,
It needs to be fixedly installed with calibration jig 3 between these vision systems 2, and makes the position of the caliberating device 3 and six-joint robot 1 always
It remains unchanged, and keeps calibration jig 3 corresponding with the collection terminal of these vision systems 2 respectively；And the aforementioned vision system being previously mentioned
System 2 is actually a kind of acquisition module, wherein ccd sensor camera and laser line generator is at least arranged, and laser line generator
Laser emission angle need to be consistent with the shooting angle of ccd sensor camera；In addition, ccd sensor camera above-mentioned also needs
Access control module.Based on the present embodiment structure above-mentioned, above-mentioned six-joint robot is preferably directly disposed as two,
And the specification of two six-joint robots 1 is identical, as shown in the figures, two six-joint robots 1 are to demarcate during jig 3 is
The symmetrical two sides for being mounted on calibration jig 3 of the heart.
In the present embodiment, by installing vision system 2 on the arm end of six-joint robot 1, and by changing robot
Posture, calibration is scanned in calibration jig 3 of the different direction to same position by vision system 2, further according to vision system 2
In different location to the multiple calibration result of calibration jig, two six-joint robots can be established by carrying out processing in the control module
Shared coordinate, operate it is more convenient, and effectively shorten establish share coordinate system time, it helps improve precision,
Requirement to the installation accuracy and machining accuracy of calibration jig is relatively low.
Another embodiment according to the present utility model, for convenience of the laser line generator and CCD sensing in above-mentioned vision system
Some apparent labels can be also arranged in device camera calibration on above-mentioned calibration jig 3, as calibration point, such as by its
It is set as three, three points are closely located to, but are not overlapped, i.e., are adopted by the vision system 2 on six-joint robot 1
Collect any one in three points, that is, can be calibrated.Further, for convenient for influencing CCD in external dark
The Image Acquisition of sensor camera can also add again a LED light source, and the bat of the LED light source in above-mentioned vision system 2
It is also consistent with the shooting angle of above-mentioned ccd sensor camera to take the photograph angle；
It on the other hand, also can be first in six axis machines to be installed on six-joint robot convenient for the vision system of above structure
A ring flange is fixedly mounted on the arm end of people, then passes through the ccd sensor camera in vision system with laser line generator
The ring flange is mounted on the arm end of the six-joint robot 1；Based on same principle, LED light source is also mountable in the flange
On disk.And be preferably, ccd sensor camera, laser line generator and LED light source above-mentioned, an integral installation can be integrated into
In a shell, and then the vision system 1 of the entirety can be directly installed on to the arm end of six-joint robot, with lifting device
Overall structure.
As mentioned here above, the realization principle of device described in the utility model is the posture by changing robot,
It is scanned calibration in calibration jig 3 of the different direction to same position by vision system 2, further according to vision system 2 in difference
To the multiple calibration result of calibration jig, sharing for two six-joint robots can be established by carrying out processing in the control module for position
Coordinate；Control module compares operation in the calibration coordinate for knowing multiple and different orientation, finds out two vision system feedbacks
Calibration result in consistent coordinate part, using the coordinate part always as shared coordinate system, and according to shared seat
Mark system adjusts the posture of six-joint robot, and the shared establishment of coordinate system of the two is completed at this time.It should be noted that this is practical new
Control module employed in the scheme of type is that the coordinate based on six-joint robot control compares, and belonging to this field generally makes
A kind of algorithm, those skilled in the art can be based on the collected calibration coordinates of two vision systems as a result, with reference on the market
The technical purpose of the utility model can be realized in traditional industry control algorithm, and the purpose of this utility model does not lie in the algorithm sheet yet
Body, therefore be no longer described in detail.
" one embodiment " for being spoken of in the present specification, " another embodiment ", " embodiment " etc., refer to combining
Specific features, structure or the feature of embodiment description are included at least one embodiment generally described herein.
It is not centainly to refer to the same embodiment that statement of the same race, which occur, in multiple places in the description.Furthermore, it is understood that in conjunction with any
When embodiment describes a specific features, structure or feature, what is advocated is that this spy is realized in conjunction with other embodiments
Sign, structure or feature are also fallen in the scope of the utility model.
Although reference be made herein to the utility model is described in multiple explanatory embodiments of the utility model, still,
It should be understood that those skilled in the art can be designed that a lot of other modification and implementations, these modifications and implementations
It will fall within scope and spirit disclosed in the present application.More specifically, it discloses in the application, drawings and claims
In range, can building block to theme combination layout and/or layout carry out a variety of variations and modifications.In addition to building block
And/or outside the variations and modifications of layout progress, to those skilled in the art, other purposes also be will be apparent.
Claims (5)
1. a kind of device of establishing for sharing coordinate system for six-joint robot, including at least two six-joint robots (1), feature
It is: is mounted on respective vision system (2) on the arm end of the six-joint robot (1), and between the vision system (2)
It is fixedly installed with calibration jig (3), calibration jig (3) is corresponding with the collection terminal of vision system (2) respectively；The vision
System (2) includes at least ccd sensor camera and laser line generator, the Laser emission angle of the laser line generator and the CCD
The shooting angle of sensor camera is consistent；The ccd sensor camera also accesses control module.
2. according to claim 1 establish device for the shared coordinate system of six-joint robot, it is characterised in that: the mark
Determine at least provided with three calibration points on jig (3), for being demarcated by the vision system (2) on six-joint robot (1).
3. according to claim 1 establish device for the shared coordinate system of six-joint robot, it is characterised in that: the view
Feel system further includes LED light source in (2), the shooting angle of the LED light source also shooting angle with the ccd sensor camera
It is consistent.
4. according to claim 1 establish device for the shared coordinate system of six-joint robot, it is characterised in that: described
The arm end of six-joint robot (1) is equipped with ring flange, and the ccd sensor camera and laser line generator in the vision system (2) are equal
It is mounted on by the ring flange on the arm end of the six-joint robot (1).
5. according to claim 1 establish device for the shared coordinate system of six-joint robot, it is characterised in that: the dress
It include two identical six-joint robots of specification (1) in setting, and two six-joint robots (1) are to demarcate during jig (3) is
The symmetrical two sides for being mounted on calibration jig (3) of the heart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201821086809.0U CN208575844U (en) | 2018-07-10 | 2018-07-10 | Device is established for what six-joint robot shared coordinate system |
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| CN201821086809.0U CN208575844U (en) | 2018-07-10 | 2018-07-10 | Device is established for what six-joint robot shared coordinate system |
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| CN208575844U true CN208575844U (en) | 2019-03-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113245712A (en) * | 2021-06-28 | 2021-08-13 | 苏州赛腾精密电子股份有限公司 | Laser spot position correction method and chip scale wafer level marking equipment |
-
2018
- 2018-07-10 CN CN201821086809.0U patent/CN208575844U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113245712A (en) * | 2021-06-28 | 2021-08-13 | 苏州赛腾精密电子股份有限公司 | Laser spot position correction method and chip scale wafer level marking equipment |
| CN113245712B (en) * | 2021-06-28 | 2021-10-08 | 苏州赛腾精密电子股份有限公司 | Laser spot position correction method and device |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A device for establishing common coordinate system of six axis robot Effective date of registration: 20201112 Granted publication date: 20190305 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Tianhe branch Pledgor: GUANGZHOU SIRUITE INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2020440000356 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |