CN210100054U - Auxiliary calibrator for robot position - Google Patents
Auxiliary calibrator for robot position Download PDFInfo
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- CN210100054U CN210100054U CN201920704899.3U CN201920704899U CN210100054U CN 210100054 U CN210100054 U CN 210100054U CN 201920704899 U CN201920704899 U CN 201920704899U CN 210100054 U CN210100054 U CN 210100054U
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- 238000003466 welding Methods 0.000 claims abstract description 19
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229910001369 Brass Inorganic materials 0.000 claims description 3
- 239000010951 brass Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 238000004088 simulation Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000011900 installation process Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000007792 addition Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 1
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Abstract
The utility model provides a robot position auxiliary calibrator, which comprises a fixed bracket part and a position fine positioning module used for positioning a robot welding gun central point; one end of the position fine positioning module is connected with the fixed support part through a rotary connecting mechanism, and the other end of the position fine positioning module is provided with a U-shaped groove. When the device is used, the position relation between the robot and the tool is measured by using the high precision of the robot and taking the robot as a three-coordinate. In the process, the robot and the tool are accurately butted by the auxiliary calibrator for the position of the robot. The utility model provides a supplementary calibrator in robot position can calibrate out the actual position of robot for the frock simply, conveniently. After the robot and the welding gun are installed and the corresponding tool is installed and positioned, the working procedure can be quickly completed without any other measuring tool, the use is convenient, the cost is low, the working efficiency can be greatly improved, and the universality is very strong.
Description
Technical Field
The utility model relates to a calibrator especially relates to a supplementary calibrator of robot position.
Background
In an automobile welding workshop, the percentage of welding robots is about 80%, and in order to improve the track debugging efficiency of field welding robots, simulation off-line debugging is generally adopted.
However, due to the installation error in the field, in order to ensure the accuracy and the practicability of the offline program position, before using the simulation offline debugging, the installation error in the field is usually measured and then input into the simulation software. Therefore, the consistency of the position of the robot relative to the tool in the simulation software and the site is ensured, and the accurate off-line program is exported again.
The traditional measuring method adopts three coordinates to measure, corresponding manpower and material resources are needed to be allocated, meanwhile, the precious time of field reconstruction is consumed for measuring each robot, and the cost is high.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is how to realize the measurement of the position relation of robot and frock convenient, with low costs.
In order to solve the technical problem, the technical scheme of the utility model provide a calibrator is assisted to robot position, its characterized in that: the device comprises a fixed support part and a position fine positioning module for positioning the central point of a welding gun of the robot; one end of the position fine positioning module is connected with the fixed support part through a rotary connecting mechanism, and the other end of the position fine positioning module is provided with a U-shaped groove.
Preferably, the fixing bracket part is an aluminum alloy bracket.
Preferably, the fixed bracket part comprises a horizontal base and a vertical bracket plate, and the horizontal base is vertically connected with the vertical bracket plate; the vertical support plate is provided with at least two position fine positioning module mounting positions; one end of the position fine positioning module is connected with the position fine positioning module mounting position on the vertical support plate through the rotary connecting mechanism.
More preferably, the vertical support plate is provided with lightening holes.
More preferably, the bottom center of the horizontal base is provided with a positioning hole, and two sides of the positioning hole are provided with assembling holes.
More preferably, the two sides of the horizontal base are provided with central line grooves used for aligning and positioning with the datum line of the tooling foundation plate.
Preferably, the fine positioning module is a module made of brass.
Preferably, one end of the position fine positioning module is provided with a mounting hole for connecting the rotary connecting mechanism, and a bushing is arranged in the mounting hole.
More preferably, the inner diameters of the mounting hole and the bushing are respectively equal to the diameters of the two electrode caps.
Preferably, the rotary connecting mechanism includes a first connecting pin provided in the mounting hole, and a second connecting pin provided on the fixed bracket portion, the first connecting pin and the second connecting pin being rotatably connected by a screw.
When the device is used, the position relation between the robot and the tool is measured by using the high precision of the robot and taking the robot as a three-coordinate. In the process, the robot and the tool are accurately butted by the auxiliary calibrator for the position of the robot. Fixing the calibrator to a reference hole of the tooling foundation plate by using a positioning pin and two screws; positioning a positioning hole in the center of the bottom of the horizontal base and a reference hole of the tooling foundation plate by using a positioning pin, and inserting two screws into assembly holes on two sides of the positioning hole; then, rotating the calibrator to enable the central wire grooves on the two sides of the calibrator to be leveled with the datum line of the tooling foundation plate; and finally, locking the two screws to fix the calibrator.
The utility model provides a supplementary calibrator in robot position has overcome the not enough of prior art, can calibrate out the actual position of robot for the frock simply, conveniently. After the robot and the welding gun are installed and the corresponding tool is installed and positioned, the working procedure can be quickly completed without any other measuring tool, the use is convenient, the cost is low, the working efficiency can be greatly improved, and the universality is very strong.
Drawings
The drawings illustrate, by way of example, the invention and do not limit the invention. Like reference numerals refer to like elements.
Fig. 1 is a schematic structural diagram of a robot position auxiliary calibrator provided in this embodiment;
FIG. 2 is a schematic bottom structure of the horizontal base;
FIG. 3 is a schematic view of a bushing configuration;
FIG. 4 is a schematic diagram of a robot position assisted aligner installation process step 1;
FIG. 5 is a schematic diagram of a robot position assisted aligner installation process step 2;
FIG. 6 is a schematic diagram of the robot position assisted aligner installation process step 3;
FIG. 7 is a schematic diagram of a robot position assisted aligner;
fig. 8 is a partially enlarged view of fig. 7.
Detailed Description
The disclosure may best be understood by reference to the detailed drawings and description set forth herein.
The embodiment measures the position relation between the robot and the tool by using the high precision of the robot (regarding the robot as three coordinates). In the process, the robot and the tool are accurately butted by the auxiliary calibrator for the position of the robot.
Fig. 1 is a schematic structural diagram of the robot position auxiliary calibrator provided in this embodiment, the robot position auxiliary calibrator includes a fixed support portion 1 and a position fine positioning module 2 of a welding gun central point (TCP), and the fixed support portion 1 and the position fine positioning module 2 are connected by two pins and one nail, so that the position accuracy of the position fine positioning module 2 can be ensured.
Wherein, fixed bolster part 1 is used for guaranteeing the accurate butt joint of supplementary calibrator of robot position and frock. The fixed bracket part 1 is made of aluminum alloy and comprises a horizontal base 11 and a vertical bracket plate 12, and the horizontal base 11 is vertically connected with the vertical bracket plate 12. Lightening holes 13 are formed in the vertical support plate 12, and the lightening holes 13 can reduce the overall weight of the fixed support part 1.
Referring to fig. 2, a positioning hole 111 is formed in the center of the bottom of the horizontal base 11, and assembling holes 112 are formed on both sides of the positioning hole 111. And central line grooves are formed in two sides of the horizontal base 11 and are used for aligning and positioning the datum lines of the tooling foundation plate.
The position fine positioning module 2 is used for ensuring the uniqueness of a welding gun central point with 6 degrees of freedom. The position fine positioning module 2 is made of brass, so that the collision of the electrode cap can be avoided. And one end of the position fine positioning module 2 is provided with a mounting hole 21, and the other end of the position fine positioning module 2 is provided with a U-shaped groove 22. The mounting hole 21 is internally provided with a first connecting pin, the fixed support part 1 is provided with a second connecting pin, the first connecting pin and the second connecting pin are connected through a screw, the second connecting pin can rotate relative to the first connecting pin, namely, the position fine positioning module 2 can rotate relative to the fixed support part 1.
In this embodiment, the inner diameter of the mounting hole 21 is 16mm, and a bushing 23 with an inner diameter of 13mm may be disposed in the mounting hole 21, as shown in fig. 3, an electrode cap with a diameter of 13mm may be measured by installing the bushing 23, and an electrode cap with a diameter of 16mm may be measured by removing the bushing 23, so that two common electrode caps with diameters of 13mm and 16mm may be measured.
In this embodiment, the fixing bracket part 1 has a height of 416mm and a width of 60 mm.
The position fine positioning module 2 has 3 different heights on the fixed bracket part 1 to be selectively installed.
The installation method of the robot position auxiliary calibrator provided by the embodiment is as follows:
step 1: fixing the calibrator to a reference hole of the tooling foundation plate by using a positioning pin and two screws; a positioning pin positions a positioning hole 111 in the center of the bottom of the horizontal base 11 and a reference hole of the tooling base plate, and two screws are inserted into assembly holes 112 on two sides of the positioning hole 111; as shown in fig. 4;
step 2: rotating the calibrator to enable the central wire grooves on the two sides of the calibrator to be leveled with the datum line of the tooling foundation plate; as shown in fig. 5;
and step 3: two screws are tightened to secure the aligner as shown in figure 6.
The use method of the robot position auxiliary calibrator provided by the embodiment is as follows:
step 1: with reference to fig. 7, the Z-direction rotation of the torch TCP is fixed first;
step 1.1: with reference to fig. 8, the robot engineer manually walks the welding gun static electrode cap to the opening a1 point of the U-shaped groove through the demonstrator;
step 1.2: the robot engineer manually adjusts the Z-direction angle of the welding gun TCP through the demonstrator, and under the condition that the same angle is ensured, the welding gun can walk to the bottom A2 point of the U-shaped groove along the x-direction straight line.
Step 2: the other 5 degrees of freedom (x-direction movement, y-direction movement, z-direction movement, x-direction rotation, y-direction rotation) of the torch TCP are fixed: the robot engineer manually enables the welding gun to translate along the three directions of X, Y and Z of the welding gun TCP after the previous point A2 through the demonstrator, so that the static electrode cap moves to the first connecting pin on the position fine positioning module 2, as shown in a point C in fig. 8, the top end of the electrode cap is flush with the upper plane of the calibrator, and the other 5 degrees of freedom of the welding gun are limited at the moment. At this point the 6 degrees of freedom of the torch are fixed.
And step 3: and taking a robot posture photo of the field robot at the point C.
And 4, step 4: and simultaneously, recording the axis values of 6 joint axes of the robot in the robot demonstrator when the static electrode cap of the actual welding gun on the robot site is at the position of the C point by using a table.
And 5: and (4) inputting the values recorded in the step (4) into the virtual robot corresponding to the simulation, locking 6 joints of the simulation virtual robot, and integrally translating the simulation virtual robot and the welding gun to a central check point of a virtual calibrator in the simulation. The position of the virtual robot relative to the virtual calibrator in the simulation is the same as the position of the robot and the actual calibrator actually installed on site.
Step 6: and finally, the off-line program is exported again by using the adjusted position of the simulation virtual robot. The off-line program eliminates the installation error of the robot on site, and leads the derived off-line program to be consistent with the actual situation on site.
The supplementary calibrator in robot position that this embodiment provided can be simple, convenient calibrate out the actual position of robot relative frock. After the robot and the welding gun are installed and the corresponding tool is installed and positioned, any other measuring tool is not needed, and the robot debugging engineer is only needed to cooperate in each area to quickly complete the sequence operation, so that the use is convenient, and the cost is low.
And the simulation engineer modifies the position of the robot in the simulation according to the measured numerical value on the site and then derives the off-line for the debugging of the robot on the site for direct use, so that the working efficiency of the robot engineer can be greatly improved.
When the auxiliary calibrator for the robot position provided by the embodiment is used, the auxiliary calibrator for the robot position is directly assembled with the measuring hole on the tooling foundation plate, and does not need to be changed, so that the mounting precision is ensured. And the standard of the measurement reference of the same host factory is unique, so the robot position auxiliary calibrator provided by the embodiment has strong universality.
The foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the present invention in any way and in any way, and it should be understood that modifications and additions may be made by those skilled in the art without departing from the method of the present invention, and such modifications and additions are also considered to be within the scope of the present invention. Those skilled in the art can make various changes, modifications and evolutions equivalent to those made by the above-disclosed technical content without departing from the spirit and scope of the present invention, and all such changes, modifications and evolutions are equivalent embodiments of the present invention; meanwhile, any changes, modifications and evolutions of equivalent changes to the above embodiments according to the actual technology of the present invention are also within the scope of the technical solution of the present invention.
Claims (10)
1. A position-assisted calibrator for robots is characterized in that: comprises a fixed bracket part (1) and a position fine positioning module (2) for positioning the central point of a welding gun of a robot; the fine positioning device is characterized in that one end of the position fine positioning module (2) is connected with the fixed support part (1) through a rotary connecting mechanism, and the other end of the position fine positioning module (2) is provided with a U-shaped groove (22).
2. The robot position assisted calibrator of claim 1, wherein: the fixed support part (1) is an aluminum alloy support.
3. The robot position assisted calibrator of claim 1, wherein: the fixed support part (1) comprises a horizontal base (11) and a vertical support plate (12), and the horizontal base (11) is vertically connected with the vertical support plate (12); the vertical support plate (12) is provided with at least two position fine positioning module mounting positions; one end of the position fine positioning module (2) is connected with the position fine positioning module mounting position on the vertical support plate (12) through the rotary connecting mechanism.
4. The robot position assisted calibrator of claim 3, wherein: and the vertical support plate (12) is provided with a lightening hole (13).
5. The robot position assisted calibrator of claim 3, wherein: the bottom center of horizontal base (11) is equipped with locating hole (111), locating hole (111) both sides are equipped with pilot hole (112).
6. A robot position assisted aligner according to claim 3 or 5, wherein: and central line grooves used for aligning and positioning the datum lines of the tooling foundation plate are arranged on two sides of the horizontal base (11).
7. The robot position assisted calibrator of claim 1, wherein: the position fine positioning module (2) is a module made of brass.
8. The robot position assisted calibrator of claim 1, wherein: one end of the position fine positioning module (2) is provided with a mounting hole (21) used for being connected with the rotary connecting mechanism, and a bushing (23) is arranged in the mounting hole (21).
9. The robot position assisted calibrator of claim 8, wherein: the inner diameters of the mounting hole (21) and the lining (23) are respectively equal to the diameters of the two electrode caps.
10. The robot position assisted calibrator of claim 8, wherein: the rotary connecting mechanism comprises a first connecting pin arranged in the mounting hole (21) and a second connecting pin arranged on the fixed support part (1), and the first connecting pin and the second connecting pin are rotatably connected through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920704899.3U CN210100054U (en) | 2019-05-17 | 2019-05-17 | Auxiliary calibrator for robot position |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920704899.3U CN210100054U (en) | 2019-05-17 | 2019-05-17 | Auxiliary calibrator for robot position |
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| CN210100054U true CN210100054U (en) | 2020-02-21 |
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| CN201920704899.3U Active CN210100054U (en) | 2019-05-17 | 2019-05-17 | Auxiliary calibrator for robot position |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110440733A (en) * | 2019-08-26 | 2019-11-12 | 上海鑫燕隆汽车装备制造有限公司 | Measurement method of the white body wire body welding robot with respect to tooling position |
| 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 |
-
2019
- 2019-05-17 CN CN201920704899.3U patent/CN210100054U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110440733A (en) * | 2019-08-26 | 2019-11-12 | 上海鑫燕隆汽车装备制造有限公司 | Measurement method of the white body wire body welding robot with respect to tooling position |
| CN110440733B (en) * | 2019-08-26 | 2021-01-05 | 上海鑫燕隆汽车装备制造有限公司 | Method for measuring relative tool position of body-in-white line welding robot |
| 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 |
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