CN211626422U - Positioning device based on auxiliary industrial robot calibration coordinate system - Google Patents
Positioning device based on auxiliary industrial robot calibration coordinate system Download PDFInfo
- Publication number
- CN211626422U CN211626422U CN202020795625.2U CN202020795625U CN211626422U CN 211626422 U CN211626422 U CN 211626422U CN 202020795625 U CN202020795625 U CN 202020795625U CN 211626422 U CN211626422 U CN 211626422U
- Authority
- CN
- China
- Prior art keywords
- point location
- connecting rod
- calibration
- point position
- calibration point
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
A positioning device based on an auxiliary industrial robot calibration coordinate system belongs to the technical field of robot coordinate positioning. The positioning device comprises a basic point position tip, a pair of first calibration point position tips and a second calibration point position tip, wherein the first calibration point position tips are respectively arranged on the left side and the right side of the basic point position tip, the second calibration point position tip is arranged in front of the basic point position tip, the basic point position tip and the pair of first calibration point position tips on the two sides are fixedly connected through a first connecting rod respectively, the basic point position tip and the second calibration point position tip are fixedly connected through a second connecting rod, the second connecting rod and the first connecting rod are vertically arranged, and a positioning column is respectively formed downwards at positions corresponding to the basic point position tip, the first calibration point position tip and the second calibration point position tip below the first connecting rod and the second connecting rod. The advantages are that: the structure is simplified, the production cost is reduced, and the positioning efficiency is improved; the installation difficulty is reduced.
Description
Technical Field
The utility model belongs to the technical field of the robot coordinate location, concretely relates to positioner based on supplementary industrial robot demarcation coordinate system.
Background
In the production line of the traditional manufacturing industry or the emerging industry, the tendency of replacing manual operation by industrial robots is great, and the use of the robots is an important mark of the automation level of the future manufacturing industry. The industrial robot replaces manual operation, so that the production cost is greatly reduced, the production efficiency is effectively improved, before a program is written, the industrial robot must calibrate a basic coordinate system and a tool coordinate system of a workpiece relative to the robot, a tool mounted on the industrial robot needs to be calibrated with a tip respectively and determines the basic coordinate system and the tool coordinate system, the tool head does not leave a calibrated coordinate range when the tool performs multi-axis motion, the phenomenon that the robot deviates from a calibration point position due to the fact that an off-line programming software program cannot accurately reach a specified position after being exported is avoided, the fixation of a single tip is troublesome, the accuracy of the calibration coordinate system of the robot is low, and if the data of the basic coordinate system and the tool coordinate system calibrated by the industrial robot are not accurate, the robot deviates from a track during operation and causes unnecessary troubles, and even threatens the life safety of the staff.
The device to industrial robot location is various in the existing market, but mostly realizes the location effect based on single top location, though can improve the accuracy of location, the cost is also very high, need install fixedly through auxiliaries such as screw moreover, and the operation is more loaded down with trivial details, takes a lot of work and takes time.
In view of the above, there is a need for a positioning device based on an auxiliary industrial robot calibration coordinate system, which has a simple structure, low cost, fast installation and high accuracy. The applicant has therefore made an advantageous design, in the context of which the solution to be described below is made.
SUMMERY OF THE UTILITY MODEL
The task of the utility model is to provide a positioner based on supplementary industrial robot marks coordinate system helps integrating the top structure of maring basic coordinate system and instrument coordinate system and simplifies positioner and reduction in production cost and improvement positioning efficiency, is favorable to improving positioner's fixed knot structure and comes further reduction in production cost and the installation degree of difficulty.
The utility model discloses a task is accomplished like this, a positioner based on supplementary industrial robot calibration coordinate system, its characterized in that: the positioning device comprises a basic point position tip, a pair of first calibration point position tips and a second calibration point position tip, wherein the first calibration point position tips are respectively arranged on the left side and the right side of the basic point position tip, the second calibration point position tip is arranged in front of the basic point position tip, the basic point position tip and the pair of first calibration point position tips on the two sides are fixedly connected through a first connecting rod respectively, the basic point position tip and the second calibration point position tip are fixedly connected through a second connecting rod, the second connecting rod and the first connecting rod are vertically arranged, and a positioning column is respectively formed downwards at positions corresponding to the basic point position tip, the first calibration point position tip and the second calibration point position tip below the first connecting rod and the second connecting rod.
In a specific embodiment of the present invention, the top ends of the base point location tip, the first calibration point location tip and the second calibration point location tip are respectively formed with an upward conical structure.
In another specific embodiment of the present invention, the base point location center, the first calibration point location center and the second calibration point location center have the same shape and size.
In another specific embodiment of the present invention, the positioning column is a truncated cone structure gradually decreasing from top to bottom.
In another specific embodiment of the present invention, a T-shaped structure is formed between the first connecting rod and the second connecting rod.
The utility model discloses owing to adopt behind the above-mentioned structure, beneficial effect who has: firstly, as the basic point location tip, the first calibration point location tip and the second calibration point location tip are respectively arranged on the T-shaped connecting rod, the structure of the positioning device is greatly simplified, the production cost is effectively reduced and the positioning efficiency is improved; secondly, because the below at the connecting rod is provided with the reference column structure that is the frustum of a cone shape, this reference column can be directly pegged graft with the jack that corresponds on the table surface, therefore has abandoned traditional auxiliaries such as screw fastening connection mode, has further reduced manufacturing cost and has effectively reduced positioner's the installation degree of difficulty.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
In the figure: 1. a base point location center; 2. a first calibration point location tip; 3. a second calibration point position center; 4. a first connecting rod; 5. a second connecting rod; 6. and a positioning column.
Detailed Description
The following is a detailed description by way of example, but the description of the example is not intended to limit the scope of the present invention, and any equivalent changes made according to the present invention, which are merely formal and insubstantial, should be considered as technical solutions of the present invention.
In the following description, all the concepts related to the directions or orientations of up, down, left, right, front and rear are based on the position shown in fig. 1, and thus, should not be interpreted as a specific limitation to the technical solution provided by the present invention.
Referring to fig. 1, the present invention relates to a positioning device based on an auxiliary industrial robot calibration coordinate system, which comprises a base point location center 1, a pair of first calibration point location centers 2 respectively disposed at the left and right sides of the base point location center 1, and a second calibration point location center 3 disposed in front of the base point location center 1, wherein the base point location center 1 and the pair of first calibration point location centers 2 disposed at the two sides are respectively fixedly connected by a first connecting rod 4, the base point location center 1 and the second calibration point location center 3 are fixedly connected by a second connecting rod 5, the second connecting rod 5 and the first connecting rod 4 are vertically disposed, and a positioning column 6 is respectively formed downwards below the first connecting rod 4 and the second connecting rod 5 at the positions corresponding to the base point position center 1, the first calibration point position center 2 and the second calibration point position center 3. A T-shaped structure is formed between the first connecting rod 4 and the second connecting rod 5.
Further, the top ends of the base point location center 1, the first calibration point location center 2 and the second calibration point location center 3 respectively form an upward conical structure. The base point location center 1, the first calibration point location center 2, and the second calibration point location center 3 have the same shape and size.
Further, the positioning post 6 is a truncated cone structure that gradually tapers from top to bottom.
Referring to fig. 1, when the robot needs to be positioned, the positioning device is inserted into a corresponding insertion hole on the working table through a positioning column 6 below the connecting rod, then the tool of the robot is calibrated with the base point location center 1 to determine a base coordinate origin, then the tool of the robot is calibrated with the first calibration point location center 2 and the second calibration point location center 3, respectively, the tool of the robot corrects the X-axis coordinate system in the moving process between the base point location center 1 and the first calibration point location centers 2 at two sides, and corrects the Y-axis coordinate system in the moving process between the base point location center 1 and the second calibration point location centers 3, so that the base coordinate system of the robot is positioned. When the tool coordinate is to be positioned, one basic point location center 1, one first calibration point location center 2 and one second calibration point location center 3 are selected at will, then the center position of the tool head of the robot is moved to the position above the centers, the posture of the robot is changed, the tool head is always kept at the current position, the tool coordinate system of the robot is positioned, the center point of the tool head of the robot does not deviate from the centers when the robot moves under the tool coordinate system, the motion track of the tool of the robot is more accurate, and the accident of the deviation track is prevented.
Claims (5)
1. The utility model provides a positioner based on supplementary industrial robot marks coordinate system which characterized in that: comprises a basic point location centre (1), a pair of first calibration point location centres (2) respectively arranged at the left side and the right side of the basic point location centre (1) and a second calibration point location centre (3) arranged in front of the basic point location centre (1), the basic point location centre (1) and a pair of first calibration point location centres (2) at two sides are respectively and fixedly connected through a first connecting rod (4), the base point location centre (1) and the second calibration point location centre (3) are fixedly connected through a second connecting rod (5), the second connecting rod (5) and the first connecting rod (4) are vertically arranged, and a positioning column (6) is respectively formed downwards at the positions corresponding to the base point position tip (1), the first calibration point position tip (2) and the second calibration point position tip (3) below the first connecting rod (4) and the second connecting rod (5).
2. The positioning device based on the auxiliary industrial robot calibration coordinate system of claim 1, characterized in that the top ends of the base point location center (1), the first calibration point location center (2) and the second calibration point location center (3) are respectively formed with an upward conical structure.
3. A positioning device based on a calibration coordinate system of an auxiliary industrial robot according to claim 1, characterized in that the basic point location centre (1), the first calibration point location centre (2) and the second calibration point location centre (3) are identical in shape and size.
4. A positioning device based on an auxiliary industrial robot calibration coordinate system according to claim 1, characterized in that the positioning column (6) is a truncated cone structure which gradually tapers from top to bottom.
5. A positioning device based on a calibration coordinate system of an auxiliary industrial robot according to claim 1, characterized in that a T-shaped structure is formed between the first connecting rod (4) and the second connecting rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020795625.2U CN211626422U (en) | 2020-05-14 | 2020-05-14 | Positioning device based on auxiliary industrial robot calibration coordinate system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020795625.2U CN211626422U (en) | 2020-05-14 | 2020-05-14 | Positioning device based on auxiliary industrial robot calibration coordinate system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211626422U true CN211626422U (en) | 2020-10-02 |
Family
ID=72623242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020795625.2U Active CN211626422U (en) | 2020-05-14 | 2020-05-14 | Positioning device based on auxiliary industrial robot calibration coordinate system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211626422U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012232A (en) * | 2021-03-01 | 2021-06-22 | 重庆工程职业技术学院 | Positioning system and method used in mine |
-
2020
- 2020-05-14 CN CN202020795625.2U patent/CN211626422U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012232A (en) * | 2021-03-01 | 2021-06-22 | 重庆工程职业技术学院 | Positioning system and method used in mine |
| CN113012232B (en) * | 2021-03-01 | 2023-10-27 | 重庆工程职业技术学院 | Positioning system and method for mine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8229594B2 (en) | Automatic finishing machine and control method thereof | |
| CN211626422U (en) | Positioning device based on auxiliary industrial robot calibration coordinate system | |
| CN110009685A (en) | A kind of laser camera hand and eye calibrating method increasing material applied to electric arc | |
| CN207824449U (en) | A kind of orthodrome sheet type amplifier part clamp for cutting | |
| CN111409067A (en) | Automatic calibration system and calibration method for robot user coordinates | |
| CN112762822B (en) | Mechanical arm calibration method and system based on laser tracker | |
| CN107718049B (en) | Detection mechanism and detection method for deviation of working position of manipulator | |
| CN114161418B (en) | Calibration method and device for tool coordinates of robot, robot and storage medium | |
| CN116276910A (en) | Relative pose calibration method and system of robot and workbench and robot | |
| JPS624522A (en) | Reference member | |
| CN205219118U (en) | Robot calibration device and robot calibration system that makes zero point | |
| CN211373530U (en) | Calibration device for laser sensor mounting position | |
| CN114290330A (en) | Calibration method and calibration device for robot, robot and readable storage medium | |
| CN114055475B (en) | Calibration method and calibration device for robot, robot and readable storage medium | |
| CN220972390U (en) | Gun type calibration tool based on intelligent oiling robot three-dimensional vision system | |
| CN213225360U (en) | Automatic cutting machine | |
| CN218440356U (en) | Special drawing clamp for industrial robot | |
| CN219916548U (en) | Robot teaching tool seat capable of realizing quick tool replacement | |
| CN218979234U (en) | Probe calibration device | |
| CN217442423U (en) | Calibration jig | |
| CN219379434U (en) | Calibration plate for rapidly calibrating welding working position of welding robot | |
| CN215789838U (en) | Connecting rod supporting mechanism with automatic parallelism correcting function | |
| CN213102952U (en) | Glue dispensing device | |
| CN110103245B (en) | Automatic chamfering tool for robot | |
| CN210909108U (en) | Precision clamp |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |