Industrial robot instrument coordinate system calibration deviceTechnical Field
The invention relates to the technical field of industrial robots, in particular to a coordinate system calibration device for an industrial robot tool.
Background
The tool coordinate system is an important coordinate system in the industrial robot, the origin of the default tool coordinate system is located at the center of the robot mounting flange, and when the industrial robot is used for receiving different tools (such as welding guns), the tools need to obtain a rectangular coordinate system defined by a user. The industrial robot must go through the step of teaching the tool coordinate system, that is, TCP teaching, which is an important part of the industrial robot operation teaching, before using the end tool, and the accuracy of the tool coordinate system teaching directly affects the trajectory accuracy of the robot. But it is difficult to intuitively find how the teaching result of the robot tool coordinate system is found in the current industrial robot operation teaching.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the industrial robot tool coordinate system calibration device which can intuitively display the teaching result of the robot tool coordinate system.
The technical scheme adopted for solving the technical problems is as follows: an industrial robot tool coordinate system calibration device comprises a first flange plate and a calibration flange plate which are overlapped and fixed together, wherein the first flange plate and a mounting flange plate at the execution tail end of a robot are overlapped and fixed together, an X-axis calibration ruler and a Y-axis calibration ruler are fixed on the peripheral surface of the calibration flange plate, the X-axis calibration ruler and the Y-axis calibration ruler are rod-shaped, the rod lengths of the X-axis calibration ruler and the Y-axis calibration ruler point to the center of the calibration flange plate, a Z-axis calibration ruler is vertically fixed in the middle of the bottom surface of the calibration flange plate, a first sliding rail is fixed on one side of the X-axis calibration ruler, the length directions of the first sliding rail and the second sliding rail are consistent, a first moving rod, a second moving rod and a calibration rod are also included, one end of the first movable rod forms sliding fit through a first sliding block and a first sliding rail, the first movable rod is perpendicular to the first sliding rail, one end of the second movable rod forms sliding fit through a second sliding block and a second sliding rail, the second movable rod is perpendicular to the second sliding rail, the Z-axis calibration ruler, the first movable rod, the calibration rod and the second movable rod are arranged at four vertexes of the quadrangle and are perpendicular to the plane of the quadrangle, the Z-axis calibration ruler, the first movable rod, the calibration rod and the second movable rod are sequentially connected through telescopic rods to achieve the adjustment of the distance between every two parts, and the four telescopic rods enclose into the quadrangle.
The telescopic rod comprises a large-diameter rod and a small-diameter rod, one end of the small-diameter rod is inserted into the large-diameter rod and can freely stretch out and draw back, and the end of the small-diameter rod is provided with a flange for preventing the small-diameter rod and the large-diameter rod from being separated.
The first connecting ring is sleeved on the rod bodies of the first moving rod and the second moving rod respectively, two connecting pipes are fixed on the outer peripheral surface of the first connecting ring, internal threads are arranged in the connecting pipes, an included angle of 90 degrees is formed between the two connecting pipes, the connecting pipes and the external threads of the small-diameter rod ends of the telescopic rods form threaded connection, the first connecting ring is fixed on the first moving rod and the second moving rod through a first set screw, the second connecting ring is sleeved on the rod bodies of the Z-axis calibration ruler and the calibration rod respectively, two connecting columns are fixed on the outer peripheral surface of the second connecting ring, the overhanging ends of the connecting columns are provided with external threads, an included angle of 90 degrees is formed between the two connecting columns, the connecting columns and the internal threads of the large-diameter rod ends of the telescopic rods form threaded connection, and the second connecting ring is fixed on the Z-axis calibration ruler and the calibration rod through a second set screw.
The one end of demarcation pole is equipped with spacing bulge loop, the other end is conical tip, and the second go-between cover is established on the pole body of demarcation pole and spacing bulge loop is arranged in the outside of second go-between in the subsides.
The distance from the conical tip of the calibration rod to the plane of the quadrangle is greater than the distance from the suspension end of the first moving rod to the plane of the quadrangle.
The first sliding rail and the second sliding rail are cylindrical, semicircular arc grooves are formed in the first sliding block and the second sliding block, the semicircular arc grooves of the first sliding block are wrapped on the outer wall of the first sliding rail, the first sliding block is locked and fixed with the first sliding rail through a third set screw, the semicircular arc grooves of the second sliding block are wrapped on the outer wall of the second sliding rail, and the second sliding block is locked and fixed with the second sliding rail through a fourth set screw.
The beneficial effects are that: in the application, an X-axis calibration ruler, a Y-axis calibration ruler and a Z-axis calibration ruler are respectively used as measuring rulers in the X-axis direction, the Y-axis direction and the Z-axis direction in a coordinate system, namely scales are marked on the X-axis calibration ruler, the Y-axis calibration ruler and the Z-axis calibration ruler, wherein the origin of the coordinate system is the center of a mounting flange at the execution tail end of a robot. When the teaching tool is specifically used, the first moving rod and the first moving rod are pushed and pulled to a certain position by the push-pull telescopic rod, an operator manually records the current X, Y, Z-axis scale value, wherein the X-axis scale value is the scale value of the position where the first sliding block is located, the Y-axis scale value is the scale value of the position where the second sliding block is located, the Z-axis scale value is the scale value of the position where the quadrilateral plane is located plus the fixed length of the calibration ruler, the industrial robot is connected with the demonstrator, and the result after the teaching is checked in the demonstrator is compared with the manually recorded current X, Y, Z-axis scale value, so that the teaching learning result of the user can be found out, and the teaching tool is more visual and convenient to use.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of another angle of the present invention;
Fig. 3 is an exploded view of a part of the structure of the present invention.
Detailed Description
The invention is further described below in connection with fig. 1-3.
The utility model provides an industrial robot instrument coordinate system calibration device, including first ring flange 10 and calibration ring flange 20 and the coincide of the two are fixed together, first ring flange 10 and the terminal installation ring flange 30 coincide of robot execution are fixed together, fix X axle calibration chi 40 on the outer peripheral face of calibration ring flange 20, Y axle calibration chi 50, X axle calibration chi 40 and Y axle calibration chi 50 are the center that the pole length of shaft-like and the two all points to calibration ring flange 20, the bottom surface middle part vertical fixation Z axle calibration chi 60 of calibration ring flange 20, the fixed first slide rail 41 of one side of X axle calibration chi 40 and the length direction of the two are unanimous, the fixed second slide rail 51 of one side of Y axle calibration chi 50 and the length direction of the two are unanimous, still include first movable rod 70, second movable rod 80 and calibration rod 90, the one end of first movable rod 70 constitutes sliding fit through first slider and first slide rail 41 looks is perpendicular, the one end of second movable rod 80 constitutes sliding fit through second slider and second slide rail 51 and second movable rod 80 looks perpendicular to each other, the square top is realized through the square top of second movable rod 80 and second movable rod 80, the perpendicular to each other is perpendicular to Z axle calibration rod 60, the four-dimensional top is realized between the square top and the square telescopic rod is perpendicular to the telescopic rod 80.
In the application, the X-axis calibration scale 40, the Y-axis calibration scale 50 and the Z-axis calibration scale 60 are respectively used as measuring scales in the X-axis direction, the Y-axis direction and the Z-axis direction in a coordinate system, namely scales are marked on the X-axis calibration scale 40, the Y-axis calibration scale 50 and the Z-axis calibration scale 60, wherein the origin of the coordinate system is the center of the mounting flange 30 at the execution tail end of the robot. When the teaching tool is specifically used, the first moving rod 70 and the first moving rod 80 are pushed and pulled to a certain position by the push-pull telescopic rod, an operator manually records the current X, Y, Z-axis scale value, wherein the X-axis scale value is the scale value of the position where the first sliding block is located, the Y-axis scale value is the scale value of the position where the second sliding block is located, the Z-axis scale value is the scale value of the position where the quadrilateral plane is located plus the fixed length of the calibration ruler 90, the industrial robot is connected with the demonstrator, and the result after the teaching is checked in the demonstrator is compared with the manually recorded current X, Y, Z-axis scale value to find out how the result of teaching learning is relatively visual and convenient to use.
Preferably, the telescopic rod includes a large diameter rod 101 and a small diameter rod 102, one end of the small diameter rod 102 is inserted into the large diameter rod 101 to be freely telescopic, and the end of the small diameter rod 102 is provided with a flange 103 for preventing the small diameter rod 102 from being separated from the large diameter rod 101. The telescopic rod has simple structure and convenient use.
Further, the shafts of the first moving rod 70 and the second moving rod 80 are respectively sleeved with a first connecting ring 110, two connecting pipes are fixed on the outer circumferential surface of the first connecting ring 110, an internal thread is arranged in each connecting pipe, an included angle of 90 degrees is formed between the two connecting pipes, external threads of the small diameter rod 102 rod ends of the connecting pipes and the telescopic rods form threaded connection, the first connecting ring 110 is fixed on the first moving rod 70 and the second moving rod 80 through a first set screw 120, the shafts of the Z-axis calibration ruler 60 and the calibration rod 90 are respectively sleeved with a second connecting ring 130, two connecting columns are fixed on the outer circumferential surface of the second connecting ring 130, the overhanging ends of the connecting columns are provided with external threads, an included angle of 90 degrees is formed between the two connecting columns, internal threads of the large diameter rod 101 rod ends of the connecting columns and the telescopic rods form threaded connection, and the second connecting ring 130 is fixed on the Z-axis calibration ruler 60 and the calibration rod 90 through a second set screw 140. The Z-axis coordinate value may be adjusted using the first set screw 120 and the second set screw 140.
Preferably, one end of the calibration rod 90 is provided with a limiting convex ring 91, the other end is a conical tip, the second connecting ring 130 is sleeved on the rod body of the calibration rod 90, and the limiting convex ring 91 is arranged on the outer side of the second connecting ring 130 in a leaning manner. The positioning of the stop collar 91 prevents the calibration rod 90 from disengaging from the second coupling ring 130.
Further, the suspension ends of the Z-axis calibration ruler 60, the first moving rod 70 and the second moving rod 80 are on the same plane, and the distance from the conical tip of the calibration rod 90 to the plane of the quadrangle is greater than the distance from the suspension end of the first moving rod 70 to the plane of the quadrangle, so as to achieve the avoidance function.
Still further, the first sliding rail 41 and the second sliding rail 51 are both cylindrical, the semicircular arc grooves are formed in the first sliding block and the second sliding block, the semicircular arc grooves of the first sliding block are wrapped on the outer wall of the first sliding rail 41, the first sliding block is locked and fixed with the first sliding rail 41 through the third set screw, the semicircular arc grooves of the second sliding block are wrapped on the outer wall of the second sliding rail 51, and the second sliding block is locked and fixed with the second sliding rail 51 through the fourth set screw. When the first sliding block slides to a proper position on the first sliding rail 51 and the second sliding block slides to a proper position on the second sliding rail 51, the third set screw and the fourth set screw are manually screwed down so as to carry out subsequent teaching, and the novel teaching machine is simple in structure and convenient to use.
It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.