A precision calibration device for a six-joint industrial robot

Abstract

The invention discloses a precision calibration device for a six-joint industrial robot. The front of the device one and the light source device two are respectively provided with a projection screen one and a screen two perpendicular to the light source device one and the light source device two, and a camera one and a camera two are respectively placed behind the screen one and the two light source devices; the light source device one and the two The light source device 2 includes a disk, a laser pointer and a fixing piece. Both the disk and the fixing piece have 12 circular holes uniformly distributed on the circumference for installing the laser pointer. The coaxiality of the laser pointer is ≤0.01mm, and the laser pointer The upper and lower ends of the pen are respectively installed on the disk and the fixing piece. Compared with the prior art, the present invention has the following advantages: the precision of the joint robot can be calibrated quickly and at low cost; a laser pen array uniformly distributed on the circumference is used as a light source to form structured light, and the laser has good monochromaticity and good coherence , good directivity, high brightness and other characteristics, which improves the calibration accuracy and reduces the cost of the system.

Description

technical field [0001] The invention relates to a precision calibration device, in particular to a precision calibration device for a six-joint industrial robot. Background technique [0002] In today's society, robots have been widely used in all walks of life, mainly for complex operations such as welding, assembly, processing, handling, spraying, and palletizing. The widespread use of industrial robots is not only conducive to improving the processing quality and quantity of products, but also has very important significance for the protection of personal safety, the improvement of the working environment, the improvement of labor productivity, and the reduction of production costs. [0003] In the research, development and application of industrial robots, the spatial positioning accuracy of robots has always been an important issue affecting the development of robot applications. Poor spatial positioning accuracy of six-joint industrial robots is an inherent characteri...

AI Technical Summary

Problems solved by technology

Poor spatial positioning accuracy of six-joint industrial robots is an inherent characteristic

The advantage of this method is that the construction cost is low, and the disadvantage is that the calibration accuracy is limited by the calibration accuracy of the calibration plate and the camera itself, and due to the limitation of the zoom speed of the camera, dynamic fast automatic calibration cannot be realized, and the biggest problem is that this method only Solve the calibration of spatial point coordinates (x, y, z), but cannot calibrate the attitude parameters (ψ, θ, φ) of the point

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