CN210081735U - Industrial robot clamping jaw instrument coordinate system teaching auxiliary device - Google Patents
Industrial robot clamping jaw instrument coordinate system teaching auxiliary device Download PDFInfo
- Publication number
- CN210081735U CN210081735U CN201920893800.9U CN201920893800U CN210081735U CN 210081735 U CN210081735 U CN 210081735U CN 201920893800 U CN201920893800 U CN 201920893800U CN 210081735 U CN210081735 U CN 210081735U
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- direction adjusting
- clamping jaw
- coordinate system
- adjusting rod
- auxiliary device
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Abstract
The utility model provides an industrial robot clamping jaw instrument coordinate system teaching auxiliary device, this application coordinate system teaching auxiliary device suit is on the clamping jaw of robot, X direction regulating block has two pairs, every two X direction regulating block symmetries of pair set up, X direction regulating block passes through locking mechanism and connects fixedly, two Y direction adjusting rod pass the base of the X direction regulating block of side and lock through screw locking retaining ring, two tip of the telescopic link group of one side all link there is the slip ring, the slip ring passes through the outside and presss from both sides tight retaining ring and fix on the Y direction adjusting rod that corresponds, mark the pin upper end and pass through the fastener and fix the node below at telescopic link group middle part, an indicator needle is respectively installed to telescopic link group both ends middle part node, the directional corresponding Y direction adjusting rod of needle portion of indicator needle. This application can be adorned on the clamping jaw, supplementary demonstrator can be successful with the teaching of instrument coordinate system to the clamping jaw snatchs center department, convenient and fast finds the teach point of clamping jaw.
Description
Technical Field
The utility model relates to a robot clamping jaw teaching auxiliary device field especially relates to an industrial robot clamping jaw instrument coordinate system teaching auxiliary device.
Background
The Tool coordinate system (Tool coordinates) is a coordinate system necessary for the robot to perform a work. The Tool working Point of the industrial robot is also called a Tool Center Point (TCP), which is a trajectory object of a robot motion command and is also an origin of a Tool coordinate system, and a position of a robot target Point in space is a position value of the TCP on a specified coordinate system. The purpose of establishing the tool coordinate system is to determine the TCP position and mounting pose of the tool. The tool mounting flange surface and the central point on the 6 th axis of the robot are the calibration reference of the tool coordinate system. For tools with TCP protruding outwards and physical working points such as a welding gun and the like, teaching can be directly carried out, and for actual working points such as clamping jaws in a clamping jaw grabbing center, a method for teaching the clamping jaw center is difficult to find, so that the applicant designs an industrial robot clamping jaw tool coordinate system teaching auxiliary device.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model provides an industrial robot clamping jaw tool coordinate system teaching auxiliary device which can be arranged on a clamping jaw and can assist a demonstrator to successfully teach a tool coordinate system to a clamping jaw grabbing center indirectly and find teaching points of the clamping jaw conveniently and quickly, and for achieving the purpose, the utility model provides an industrial robot clamping jaw tool coordinate system teaching auxiliary device which comprises an X-direction adjusting block, a Y-direction adjusting rod, a locking mechanism, a screw locking check ring, a calibration pin, a telescopic rod group, a sliding ring, a clamping check ring and an indicating needle, wherein the coordinate system teaching auxiliary device is sleeved on the clamping jaw of a robot, the X-direction adjusting block is in two pairs, the X-direction adjusting block is in an L shape, the two X-direction adjusting blocks in each pair are symmetrically arranged, the upper edge of the X-direction adjusting block is connected and fixed through the locking mechanism, y direction adjustment pole has a pair ofly to be Y direction adjustment pole one and Y direction adjustment pole two respectively, Y direction adjustment pole passes the base that corresponds X direction regulating block and locks through screw locking retaining ring, the telescopic link group is formed by at least 2 links to each other to the telescopic link tip of crisscross setting, and two tip of the telescopic link group of one side all link there is the slip ring, the slip ring presss from both sides tight retaining ring through the outside and fixes on the Y direction adjustment pole that corresponds, mark the pin upper end and fix the node below at telescopic link group middle part through the fastener, a pointer is respectively installed to telescopic link group both ends middle part node, mark the directional Y direction adjustment pole that corresponds of needle portion of pin.
The utility model discloses a further improvement, locking mechanism is two nut locking mechanism, two nut locking mechanism include that hex bolts and two nuts lock through two nuts, and it is fixed to lock through two nut modes, and stability is good, convenient operation.
The utility model discloses a further improvement, there is the scale on the Y direction adjusting lever, and the pointer is aimed at the scale and is convenient for judge the device position.
The utility model discloses a further improvement, the base of X direction regulating block is opened slottedly, Y direction regulation pole one passes from the groove on X direction regulating block base, and the Y direction regulation pole installation of being convenient for of design is fixed like this.
The utility model provides an industrial robot clamping jaw instrument coordinate system teaching auxiliary device, this robot clamping jaw instrument coordinate system teaching auxiliary device cover is on the clamping jaw, and the centre of adjusting device Z direction (plane on the instruction block promptly) is aimed at clamping jaw Z direction and is snatched some department, and hexagon bolt and two nuts on the locking X direction regulating block lock the locking screw in the locking retaining ring on the Y direction regulation pole. Its demarcation pin is in the center department of telescopic link, because the characteristic of telescopic link structure, when the device is fixed, the demarcation pin just is located clamping jaw X direction automatically and grabs the point. The maximum distance in the Y direction of the clamping jaw is read out through the scale value on the Y direction adjusting rod, the distance is divided by 2 to obtain the position of a grabbing point in the Y direction of the clamping jaw, the sliding ring is adjusted to enable the indicating block to point to the position of the grabbing point in the Y direction of the clamping jaw, and the sliding ring is fixed through the clamping check ring. Just can use robot demonstrator to carry out the teaching of instrument coordinate system to the calibration pin teach point on the device this moment, supplementary demonstrator can be successful like this with instrument coordinate system direct teaching to calibration pin teach point department, the rethread will teach out instrument coordinate system position data subtract calibration pin teach point and clamping jaw grasp point's Z direction distance in the Z direction just can obtain the instrument coordinate system position data of correct clamping jaw grasp point to can convenient and fast teach the teaching point of clamping jaw.
Drawings
FIG. 1 is a first schematic view of the present invention;
FIG. 2 is a second schematic view of the present invention;
fig. 3 is a cross-sectional view of the present invention;
FIG. 4 is a partial schematic view of the present invention;
fig. 5 is a schematic diagram of the coordinates of the present invention;
part name:
1. a clamping jaw; 2. an X-direction adjusting block; 3. a first Y-direction adjusting rod; 4. a second Y-direction adjusting rod; 5. a double nut locking mechanism; 6. the screw locks the retaining ring; 7. calibrating a pin; 8. a telescopic rod; 9. a slip ring; 10. clamping a retainer ring; 11. and an indicator needle.
Detailed Description
The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
the utility model provides an industrial robot clamping jaw instrument coordinate system teaching auxiliary device, can adorn on the clamping jaw, supplementary demonstrator is successful with the indirect teaching of instrument coordinate system demarcation pin teach some department, the rethread will teach instrument coordinate system position data that comes out subtract the Z direction distance of demarcation pin teach point and clamping jaw grasp point in the Z direction just can obtain the instrument coordinate system position data of the accurate clamping jaw grasp point to the teaching point of teaching clamping jaw that can convenient and fast.
As an embodiment of the utility model, the utility model provides an industrial robot clamping jaw tool coordinate system teaching auxiliary device, including X direction regulating block 2, Y direction adjusting rod, locking mechanism, screw locking retaining ring 6, calibration pin 7, telescopic link group, slip ring 9, clamping retaining ring 10 and pointer 11, coordinate system teaching auxiliary device suit is on the clamping jaw 1 of robot, X direction regulating block 2 has two pairs, X direction regulating block 2 is L-shaped, two X direction regulating blocks 2 of each pair are symmetrically arranged, the upper edge of X direction regulating block 2 is connected and fixed through locking mechanism, Y direction adjusting rod has a pair of Y direction regulating rod one 3 and Y direction regulating rod two 4 respectively, Y direction regulating rod passes through the base edge corresponding to X direction regulating block 2 and is locked through screw locking retaining ring 6, telescopic link group is formed by connecting at least 2 pairs of telescopic link 8 tip that set up alternately, two end parts of the telescopic rod group on one side are connected with sliding rings 9, the sliding rings 9 are fixed on corresponding Y-direction adjusting rods through outer clamping check rings 10, the upper ends of the calibration pins 7 are fixed below nodes in the middle of the telescopic rod group through fasteners, the middle nodes at two ends of the telescopic rod group are respectively provided with an indicating needle 11, and the needle parts of the indicating needles 11 point to the corresponding Y-direction adjusting rods.
As a specific embodiment of the present invention, the present invention provides an auxiliary device for teaching a coordinate system of a clamping jaw tool of an industrial robot as shown in fig. 1-4, which comprises an X-direction adjusting block 2, a Y-direction adjusting rod, a locking mechanism, a screw locking retainer ring 6, a calibration pin 7, a telescopic rod set, a slip ring 9, a clamping retainer ring 10 and an indicating needle 11, wherein the auxiliary device for teaching a coordinate system is sleeved on a clamping jaw 1 of a robot, the X-direction adjusting block 2 has two pairs, the X-direction adjusting block 2 is L-shaped, the two X-direction adjusting blocks 2 of each pair are symmetrically arranged, the upper edge of the X-direction adjusting block 2 is connected and fixed through the locking mechanism, the locking mechanism is a double-nut locking mechanism 5, the double-nut locking mechanism 5 comprises a hexagon bolt and double nuts, and is locked and fixed through the double nuts, the stability is good, the operation is convenient, the bottom edge of the X-direction adjusting block 2 is provided with a groove, the Y-direction adjusting rod penetrates through the groove on the bottom edge of the X-direction adjusting block 2, the Y-direction adjusting rod is provided with a pair of a first Y-direction adjusting rod 3 and a second Y-direction adjusting rod 4, the Y-direction adjusting rod penetrates through the bottom edge of the corresponding X-direction adjusting block 2 and is locked through a screw locking check ring 6, the Y-direction adjusting rod is designed to be convenient to mount and fix, the Y-direction adjusting rod penetrates through the bottom edge of the X-direction adjusting block 2 and is locked through the screw locking check ring 6, the telescopic rod group is formed by connecting at least 2 pairs of staggered telescopic rod 8 end portions, two end portions of the telescopic rod group on one side are both connected with a sliding ring 9, the sliding ring 9 is fixed on the corresponding Y-direction adjusting rod through an outer clamping check ring 10, the middle nodes of the two ends of the telescopic rod group are respectively provided with an indicating needle 11, the needle part of the indicating needle 11 points to the corresponding Y-direction adjusting rod, the Y-direction adjusting rod I3 is provided with scales, and the indicating needle is aligned to the scales so as to conveniently judge the position of the device.
The clamping motion direction of the clamping jaw of the industrial robot is defined to be the Y axis as shown in figure 5, the X axis is perpendicular to the clamping motion direction, and the up-down motion direction is the Z axis.
When the application works; the robot clamping jaw tool coordinate system teaching auxiliary device is sleeved on a clamping jaw, the center of the Z direction of the device (namely the upper plane of an indicating block) is adjusted to be aligned to the grabbing point of the Z direction of the clamping jaw, a hexagon bolt and a double nut on an X direction adjusting block are locked, a locking screw in a locking check ring on a Y direction adjusting rod is locked, and the device is fixed on the clamping jaw. The maximum distance in the Y direction of the clamping jaw is read out through the scale value on the Y direction adjusting rod, the distance is divided by 2 to obtain the position of a grabbing point in the Y direction of the clamping jaw, the sliding ring is adjusted to enable the indicating block to point to the position of the grabbing point in the Y direction of the clamping jaw, and the sliding ring is fixed through the clamping check ring. Because the calibration pin is arranged at the center of the telescopic rod, and due to the characteristic of the telescopic rod structure, when the device is fixed, the calibration pin is automatically positioned at the grabbing point of the clamping jaw in the X direction. At the moment, a robot demonstrator can be used for teaching a tool coordinate system to a calibration pin teaching point on the device, so that the taught tool coordinate system origin is located at the calibration pin teaching point, and the X direction and the Y direction are both located at the clamping jaw grabbing point, and since the distance between the teaching point of the calibration pin and the clamping jaw grabbing point in the Z direction is certain (30 mm in the example), the correct tool coordinate system position data of the clamping jaw grabbing point can be obtained only by subtracting 30mm from the taught tool coordinate system position data in the Z direction.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but also to cover any modifications or equivalent changes made in the technical spirit of the present invention, which fall within the scope of the present invention.
Claims (4)
1. The utility model provides an industrial robot clamping jaw instrument coordinate system teaching auxiliary device, includes X direction regulating block (2), Y direction adjusting rod, locking mechanism, screw locking retaining ring (6), demarcation pin (7), telescopic link group, slip ring (9), presss from both sides tight retaining ring (10) and pointer (11), coordinate system teaching auxiliary device suit is on clamping jaw (1) of robot, its characterized in that: the X-direction adjusting blocks (2) are two pairs, the X-direction adjusting blocks (2) are L-shaped, every two X-direction adjusting blocks (2) are symmetrically arranged, the upper edges of the X-direction adjusting blocks (2) are connected and fixed through a locking mechanism, the Y-direction adjusting rods are provided with a pair of a first Y-direction adjusting rod (3) and a second Y-direction adjusting rod (4), the first Y-direction adjusting rods penetrate through the bottom edges of the corresponding X-direction adjusting blocks (2) and are locked through screw locking check rings (6), the telescopic rod group is formed by connecting at least 2 pairs of staggered telescopic rod (8) end parts, two end parts of the telescopic rod group on one side are both connected with sliding rings (9), the sliding rings (9) are fixed on the corresponding Y-direction adjusting rods through outer clamping check rings (10), and the upper ends of the calibration pins (7) are fixed below the middle nodes of the telescopic rod group through fasteners, and the middle nodes at the two ends of the telescopic rod group are respectively provided with an indicating needle (11), and the needle part of the indicating needle (11) points to the corresponding Y-direction adjusting rod.
2. An industrial robot gripper tool coordinate system teaching aid according to claim 1, characterized in that: the locking mechanism is a double-nut locking mechanism (5), and the double-nut locking mechanism (5) comprises a hexagon bolt and double nuts which are locked through the double nuts.
3. An industrial robot gripper tool coordinate system teaching aid according to claim 1, characterized in that: the Y-direction adjusting rod is provided with scales.
4. An industrial robot gripper tool coordinate system teaching aid according to claim 1, characterized in that: the bottom edge of the X-direction adjusting block (2) is provided with a groove, and the Y-direction adjusting rod penetrates through the groove corresponding to the bottom edge of the X-direction adjusting block (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920893800.9U CN210081735U (en) | 2019-06-14 | 2019-06-14 | Industrial robot clamping jaw instrument coordinate system teaching auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920893800.9U CN210081735U (en) | 2019-06-14 | 2019-06-14 | Industrial robot clamping jaw instrument coordinate system teaching auxiliary device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210081735U true CN210081735U (en) | 2020-02-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920893800.9U Expired - Fee Related CN210081735U (en) | 2019-06-14 | 2019-06-14 | Industrial robot clamping jaw instrument coordinate system teaching auxiliary device |
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| CN (1) | CN210081735U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421542A (en) * | 2020-04-03 | 2020-07-17 | 重庆固高科技长江研究院有限公司 | Tool center point pose calculation method and control method of robot end clamp |
-
2019
- 2019-06-14 CN CN201920893800.9U patent/CN210081735U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421542A (en) * | 2020-04-03 | 2020-07-17 | 重庆固高科技长江研究院有限公司 | Tool center point pose calculation method and control method of robot end clamp |
| CN111421542B (en) * | 2020-04-03 | 2023-02-10 | 重庆固高科技长江研究院有限公司 | Tool center point pose calculation method and control method of robot end clamp |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200218 |