CN211590195U - Robot positioning and calibrating device - Google Patents
Robot positioning and calibrating device Download PDFInfo
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- CN211590195U CN211590195U CN202020063092.9U CN202020063092U CN211590195U CN 211590195 U CN211590195 U CN 211590195U CN 202020063092 U CN202020063092 U CN 202020063092U CN 211590195 U CN211590195 U CN 211590195U
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Abstract
The utility model relates to a parts machining makes the field, and more specifically the theory says, relates to a robot location calibrating device. This robot location calibrating device includes: the main board is arranged on the temporary storage rack supporting plate and simulates the positioning position of a part; the standard block is arranged on calipers of the robot and simulates the running position and posture of the robot; the positioning table is arranged on the main board, measures the relative distance between the standard block and the main board and limits the relative position between the standard block and the main board; one part of the robot calipers clamps the standard block, the other part of the robot calipers clamps the main board, and the position and the posture of the robot are adjusted and calibrated according to the measured value of the positioning table until the measured value of the positioning table reaches a specified set value. The utility model discloses in robot loading and unloading part positioning process to quantization, standardized method replace the observation of visualing, promote the reliability and the accuracy nature of calibration by a wide margin, effectively reduce the adjustment time, are showing and are promoting maintenance efficiency and equipment power.
Description
Technical Field
The utility model relates to a parts machining makes the field, and more specifically the theory says, relates to a robot location calibrating device.
Background
At present, in the process of manufacturing large-batch parts, the robot technology is introduced in a large amount in the transportation of the parts, so that the working beat is improved, and the transportation precision is improved.
However, the use of advanced technology brings higher requirements for maintenance and debugging. Particularly, when the robot is used for loading and unloading cylinder parts, the robot is required to be positioned more accurately, and slight deviation can cause the problems of workpiece inclination, clamping failure, robot collision alarm and the like.
At present, the positioning and calibrating method when the robot loads and unloads cylinder body parts is mainly assisted by some universal measuring tools and visually observed and aligned, and the following positioning and calibrating method is specifically adopted:
the cylinder body type parts are placed on the temporary storage frame, the robot clamp is slowly close to the bottom surfaces of the parts during loading and unloading, a technician adjusts the pose of the robot through the measurement of the gauge blocks at three points, so that the positioning plane of the robot clamp is parallel to the bottom plane of the cylinder body type parts, then the pose of the robot is adjusted through visual observation, and two positioning pins on the clamp are aligned with the positioning holes of the cylinder body type parts, so that the positioning and calibration of the robot are completed.
Because the clearance between hole and the round pin is very little, usually only about 0.2mm, rely on visual observation difficult accurate positioning, need relapse many times, inefficiency, positioning effect is poor, and it is high to the technical worker operation requirement simultaneously, is difficult to realize standardized operation.
The Chinese invention CN105345585A discloses a robot carrying clamp of an engine cylinder block based on vision, which comprises a clamp body used for clamping the cylinder block, wherein the clamp body is connected with the carrying robot body, the clamp body is provided with a vision system used for identifying the cylinder block and obtaining the position coordinate of the cylinder block, a detection system used for judging whether the clamp body is in place before carrying the cylinder block, and an air control system used for controlling the clamp body to clamp the cylinder block; the vision system, the detection system and the pneumatic control system are all connected with a control system of the transfer robot. According to the visual system, the cylinder body needs to be photographed and coordinate-positioned, the positioning coordinate data is sent to the robot control system, the posture of the robot is adjusted through calculation, and the detection system also needs to transmit the detection data of whether the cylinder body is in place to the robot control system for judgment.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a robot location calibrating device, the inefficiency of location calibration when solving among the prior art robot loading and unloading part, fixes a position unsafe technical problem, and installs simple structure, easily realizes.
In order to achieve the above object, the utility model provides a robot positioning and calibrating device, include:
the main board is arranged on the temporary storage rack supporting plate and simulates the positioning position of a part;
the standard block is arranged on calipers of the robot and simulates the running position and posture of the robot;
the positioning table is arranged on the main board, measures the relative distance between the standard block and the main board and limits the relative position between the standard block and the main board;
one part of the robot calipers clamps the standard block, the other part of the robot calipers clamps the main board, and the position and the posture of the robot are adjusted and calibrated according to the measured value of the positioning table until the measured value of the positioning table reaches a specified set value.
In one embodiment, the location table is 6:
1 positioning meter measures and limits the upper surface of the main board;
2 positioning tables measure and define the upper surface of the standard block;
2 positioning tables measure the side faces of the defined standard blocks;
the 1 orientation table measures the end face defining the standard block.
In one embodiment, the positioning table is a dial indicator.
In one embodiment, the robot positioning calibration device further comprises a connecting block, and the positioning meter is fixedly connected to the main board.
In one embodiment, the connecting block is provided with a mounting hole, a mounting shaft at the lower part of the positioning meter is inserted into the mounting hole, and the mounting surface of the positioning meter is clamped on the main board.
In one embodiment, the main board is provided with a limit pin hole for limiting the movement of the main board in the X direction;
the main board is provided with a positioning pin hole for limiting the Y-direction movement and the Z-direction rotation of the main board;
the bottom surface of the main board limits the Z-direction movement and X, Y-direction rotation of the main board.
In one embodiment, the positioning pin holes are circular holes, are arranged in the main board and are matched with the positioning pins of the temporary storage rack supporting plate in size.
In one embodiment, the number of the limiting pin holes is 2;
the first limiting pin hole is a circular hole, is formed in the main board and is larger than a limiting pin of the temporary storage rack supporting plate in diameter;
the second limiting pin hole is a semicircular hole, is formed in the edge of the main board and is matched with the limiting pin of the temporary storage rack supporting plate in size.
In one embodiment, the specified set value of the positioning table is set according to the size of the actual part;
the shape and the mounting and clamping mode of the main board correspond to actual parts.
In one embodiment, the positioning gauge is a dial gauge.
The utility model provides a robot calibration positioner at robot loading and unloading part positioning process to quantization, standardized method replace the observation of visualing, have promoted the reliability and the accuracy nature of calibration by a wide margin, have effectively reduced the adjust time, are showing maintenance efficiency and the rate of equipment drive that has promoted, and simple structure, easily low-cost realization are favorable to forming standardized operation method, make the staff of general skill also can easily master the operation.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings, in which like reference numerals refer to like features throughout, and in which:
fig. 1 discloses a schematic structural diagram of a robot positioning calibration apparatus according to an embodiment of the present invention;
fig. 2 discloses a schematic structural diagram of a robot positioning calibration apparatus according to an embodiment of the present invention;
fig. 3 discloses a schematic diagram of a dial indicator mounting structure of a robot positioning and calibrating device according to an embodiment of the present invention;
fig. 4a discloses a front view of a robot positioning calibration device according to an embodiment of the invention;
fig. 4b discloses a left side view of the robot positioning calibration device according to an embodiment of the present invention;
fig. 4c discloses a top view of the robot positioning calibration device according to an embodiment of the invention.
The meanings of the reference symbols in the figures are as follows:
1, a main board;
11 mounting holes;
12 limiting pin holes;
13 positioning pin holes;
2 percent table;
21 mounting the shaft;
22 mounting surfaces;
2A dial indicator;
2B a dial indicator;
2C dial indicator;
2D dial indicators;
2E dial indicator;
2F dial indicator;
3, standard blocks;
32 an upper surface;
33 end faces;
4, connecting blocks;
5 temporarily storing a support plate of the rack;
6 calipers.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The location calibration inefficiency during for overcoming robot loading and unloading part, location inaccuracy scheduling problem, the utility model provides a robot location calibrating device. The robot positioning and calibrating device is mainly used for positioning and calibrating the cylinder part assembling and disassembling process, but is also suitable for positioning and calibrating the box part assembling and disassembling process. In the following examples, a cylinder-type component will be described as an example.
Fig. 1 and fig. 2 respectively disclose a schematic structural diagram of a robot positioning calibration device according to an embodiment of the present invention, and in the embodiment shown in fig. 1-fig. 2, the present invention provides a robot positioning calibration device including: mainboard 1, several percentage table 2, standard block 3, connecting block 4 and temporary storage frame layer board 5.
The main board 1 is a main body part of the positioning and calibrating device, is arranged on the temporary storage rack supporting plate 5 and is used for simulating the positioning position of cylinder body parts.
Furthermore, the main board 1 is mounted on the temporary storage rack supporting plate 5 in a positioning mode of one surface and two pins.
In the coordinate system shown in fig. 2, the positioning manner of the two pins on one side is as follows:
the bottom surface of the main board 1 limits the Z-direction movement and X, Y-direction rotation of the main board 1;
the main board 1 is provided with a limit pin hole 12 for limiting the X-direction movement of the main board 1;
the main plate 1 is provided with a positioning pin hole 13 for limiting the Y-direction movement and the Z-direction rotation of the main plate 1.
The number of the limiting pin holes 12 is 2.
First spacing pinhole is the circular port, sets up in the inside of mainboard 1, and the diameter is greater than the spacer pin of keeping in a frame layer board 5.
The second limit pin hole is a semicircular hole, is formed in the edge of the main board 1 and is matched with the limit pin of the temporary storage rack supporting plate 5 in size.
The positioning pin hole 13 is a circular hole, is arranged in the main board 1, and is matched with the positioning pin of the temporary storage rack supporting plate 5 in size.
Because the main board 1 is used for simulating the loading and unloading of cylinder body parts, when different types of cylinder body parts are simulated, the main board 1 is correspondingly changed, so that the shape and the mounting and clamping mode of the main board 1 correspond to the actual cylinder body parts.
In this embodiment, the positioning gauge is a dial gauge 2, and in other embodiments, the positioning gauge may be a dial gauge or other precision length measuring instrument.
The dial indicator 2 is installed on the main board 1 through the connecting block 4, measures the relative distance between the robot and the main board 1, and limits the relative position relation between the robot and the main board 1.
And adjusting the position and the posture of the robot according to the measured value of the dial indicator 2, wherein when the dial indicator 2 reaches a set value, the current position of the robot is the optimal accurate position when the robot loads and unloads parts for positioning.
In this embodiment, the dial indicators 2 are 6 in number, and are mounted according to the six-point positioning principle to measure the relative positional relationship between the robot and the main board 1.
The six-point positioning principle is as follows:
a dial gauge 2A for measuring and defining the upper surface of the main board 1;
and a dial indicator 2F for measuring and defining the end face 33 of the standard block 3.
And the standard block 3 is arranged on a caliper 6 of the robot clamp and used for simulating the operation position and the operation posture of the robot. The position and the posture between the robot and the main board 1 are adjusted through adjusting the position and the posture between the standard block 3 and the main board 1, and then the position and the posture between the robot and the main board 1 are adjusted, and the relative position and the posture between the robot and a part are simulated.
And the connecting block 4 is used for installing six dial indicators 2 on the main board 1.
Furthermore, the connecting block 4 is provided with a mounting hole 11.
Fig. 3 discloses according to the utility model discloses a robot positioning calibrating device's percentage table mounting structure sketch map, as shown in fig. 3, the lower part of percentage table 2 is installation axle 21, inserts the installation axle 21 of percentage table 2 into mounting hole 11, makes installation face 22 card on mainboard 1.
The caliper 6 is a part for attaching and detaching cylinder parts to and from the robot.
A part of the caliper 6 holds the standard block 3 for simulating the position and attitude of the robot operation.
The other part of the caliper 6 clamps the main plate 1.
Fig. 4a discloses a front view of the robot positioning calibration device according to an embodiment of the present invention, fig. 4b discloses a left side view of the robot positioning calibration device according to an embodiment of the present invention, fig. 4c discloses a top view of the robot positioning calibration device according to an embodiment of the present invention, and the method of positioning calibration of the robot positioning calibration device is described in detail below with reference to fig. 4a to 4 c.
The utility model discloses a method of robot positioning calibration device's location calibration includes following step:
s101, adjusting the six dial indicators 2 to zero positions;
s102, placing the main board 1 on a temporary storage rack supporting plate 5, and installing the standard block 3 on the robot calipers 6;
s103, controlling the operation robot, gradually moving the robot provided with the standard block 3 to a loading and unloading position, obtaining the measured values of 6 dial indicators 2, and continuously adjusting the position and the posture of the robot according to the measured values of the dial indicators 2 until the measured values of the 6 dial indicators 2 reach the specified set values.
The specified set value is set according to the size of the actual cylinder part.
In step S103, the position of the robot is continuously adjusted according to the measured value of the dial indicator 2, wherein the specific adjustment method of the robot is as follows:
s201, adjusting the position and the posture of the robot according to the measured values of the dial indicators 2A, 2B and 2C, adjusting the three dial indicators 2A, 2B and 2C to be consistent and basically reach the specified set values, namely completing the adjustment of the upper surface of the main board 1 and the upper surface 32 of the standard block 3 in three freedom directions;
s202, adjusting the position and the posture of the robot according to the measured values of the dial indicators 2D and 2E, and adjusting the dial indicators 2D and 2E to specified set values, namely completing the adjustment of the two freedom directions on the side surface 31 of the standard block 3;
s203, adjusting the position and the posture of the robot according to the measured value of the dial indicator 2F, and adjusting the dial indicator 2F to a specified set value, namely completing the adjustment of one degree of freedom direction on the end face 33 of the standard block 3;
and S204, recording the point position corresponding to the current position and the posture of the robot.
The method for adjusting the robot according to the sequence of the 6 dial indicators 2 is a preferred embodiment, wherein the 3 dial indicators 2A, 2B, and 2C are respectively used for positioning the upper surface of the main board 1 and the upper surface 32 of the standard block 3, the 2 dial indicators 2D and 2E are used for positioning the side surface 31 of the standard block 3, and the 1 dial indicator 2F is used for positioning the end surface 33 of the standard block 3, so that the positioning sequence is convenient, efficient, and easy to operate.
The utility model provides a robot calibration positioner at robot loading and unloading part positioning process to quantization, standardized method replace the observation of visualing, have promoted the reliability and the accuracy nature of calibration by a wide margin, have effectively reduced the adjust time, are showing maintenance efficiency and the rate of equipment drive that has promoted, and simple structure, easily low-cost realization are favorable to forming standardized operation method, make the staff of general skill also can easily master the operation.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
The above-described embodiments are provided to enable persons skilled in the art to make or use the invention, and many modifications and variations may be made to the above-described embodiments by persons skilled in the art without departing from the inventive concept of the present invention, so that the scope of the invention is not limited by the above-described embodiments, but should be accorded the widest scope consistent with the innovative features set forth in the claims.
Claims (10)
1. A robot positioning calibration device, comprising:
the main board is arranged on the temporary storage rack supporting plate and simulates the positioning position of a part;
the standard block is arranged on calipers of the robot and simulates the running position and posture of the robot;
the positioning table is arranged on the main board, measures the relative distance between the standard block and the main board and limits the relative position between the standard block and the main board;
one part of the robot calipers clamps the standard block, the other part of the robot calipers clamps the main board, and the position and the posture of the robot are adjusted and calibrated according to the measured value of the positioning table until the measured value of the positioning table reaches a specified set value.
2. The robot positioning calibration device of claim 1, wherein the positioning table is 6:
1 positioning meter measures and limits the upper surface of the main board;
2 positioning tables measure and define the upper surface of the standard block;
2 positioning tables measure the side faces of the defined standard blocks;
the 1 orientation table measures the end face defining the standard block.
3. The robot positioning calibration device according to claim 1 or claim 2, characterized in that:
the positioning meter is a dial indicator.
4. The robot positioning calibration device according to claim 1 or claim 2, characterized in that:
the positioning meter is fixedly connected to the main board through a connecting block.
5. The robot positioning calibration device of claim 4, wherein:
the connecting block is provided with a mounting hole, a mounting shaft at the lower part of the positioning meter is inserted into the mounting hole, and the mounting surface of the positioning meter is clamped on the main board.
6. The robot positioning calibration device of claim 1, wherein:
the main board is provided with a limiting pin hole for limiting the X-direction movement of the main board;
the main board is provided with a positioning pin hole for limiting the Y-direction movement and the Z-direction rotation of the main board;
the bottom surface of the main board limits the Z-direction movement and X, Y-direction rotation of the main board.
7. The robot positioning calibration device of claim 6, wherein:
the locating pin hole is a circular hole, is arranged inside the main board and is matched with the size of the locating pin of the temporary storage rack supporting plate.
8. The robot positioning calibration device of claim 6, wherein:
the number of the limiting pin holes is 2;
the first limiting pin hole is a circular hole, is formed in the main board and is larger than a limiting pin of the temporary storage rack supporting plate in diameter;
the second limiting pin hole is a semicircular hole, is formed in the edge of the main board and is matched with the limiting pin of the temporary storage rack supporting plate in size.
9. The robot positioning calibration device of claim 1, wherein:
the specified set value of the positioning table is set according to the size of an actual part;
the shape and the mounting and clamping mode of the main board correspond to actual parts.
10. The robot positioning calibration device according to claim 1 or claim 2, characterized in that:
the positioning gauge is a dial gauge.
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| CN202020063092.9U CN211590195U (en) | 2020-01-13 | 2020-01-13 | Robot positioning and calibrating device |
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| CN202020063092.9U CN211590195U (en) | 2020-01-13 | 2020-01-13 | Robot positioning and calibrating device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112665476A (en) * | 2020-12-29 | 2021-04-16 | 东风模具冲压技术有限公司 | Precision detection device for gripper of welding robot |
| CN113589759A (en) * | 2021-09-30 | 2021-11-02 | 杭州数途信息科技有限公司 | Intelligent debugging method and system based on handshake protocol |
| CN114353618A (en) * | 2022-03-22 | 2022-04-15 | 上海陛通半导体能源科技股份有限公司 | PVD process cavity assembly auxiliary calibration jig and method |
| CN115556096A (en) * | 2022-09-27 | 2023-01-03 | 广州市阳普机电工程有限公司 | Automatic calibration method for joint zero point of multi-axis robot and robot |
-
2020
- 2020-01-13 CN CN202020063092.9U patent/CN211590195U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112665476A (en) * | 2020-12-29 | 2021-04-16 | 东风模具冲压技术有限公司 | Precision detection device for gripper of welding robot |
| CN113589759A (en) * | 2021-09-30 | 2021-11-02 | 杭州数途信息科技有限公司 | Intelligent debugging method and system based on handshake protocol |
| CN113589759B (en) * | 2021-09-30 | 2021-12-14 | 杭州数途信息科技有限公司 | Intelligent debugging method and system based on handshake protocol |
| CN114353618A (en) * | 2022-03-22 | 2022-04-15 | 上海陛通半导体能源科技股份有限公司 | PVD process cavity assembly auxiliary calibration jig and method |
| CN114353618B (en) * | 2022-03-22 | 2022-06-03 | 上海陛通半导体能源科技股份有限公司 | PVD process cavity assembly auxiliary calibration jig and method |
| CN115556096A (en) * | 2022-09-27 | 2023-01-03 | 广州市阳普机电工程有限公司 | Automatic calibration method for joint zero point of multi-axis robot and robot |
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