CN211916902U

CN211916902U - Mechanical arm calibration device of robot

Info

Publication number: CN211916902U
Application number: CN202020546966.6U
Authority: CN
Inventors: 李靖; 常文慧; 马惠宁; 薛冰
Original assignee: Yancheng Institute of Technology
Current assignee: Yancheng Institute of Technology
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2020-11-13
Anticipated expiration: 2030-04-14

Abstract

The utility model relates to the field of robot maintenance, in particular to a robot arm calibration device of a robot, which comprises a base, a roller, a bracket, a robot arm end tracker and a robot arm joint tracker; a first signal receiving screen is fixedly embedded in the side wall of the bracket, and a plurality of horizontal signal transmitting heads matched with the first signal receiving screen are fixedly arranged on the side walls of the manipulator tail end tracker and the manipulator joint tracker; the manipulator joint tracker is characterized in that the side wall of the manipulator joint tracker is rotatably connected to one side of the mounting plate through an angle adjusting bolt, and the other side of the mounting plate is fixedly provided with a magnet. The utility model discloses a tracker that can install respectively at the arm end and joint department that sets up draws the removal orbit of each position of arm in the signal reception screen of the dimension of difference, contrasts with arm control system's orbit, and the wearing and tearing department of finding the arm that can be accurate reduces the loss that causes when maintaining.

Description

Mechanical arm calibration device of robot

Technical Field

The utility model relates to a robot maintenance field specifically is an arm calibrating device of robot.

Background

The robot comprises a control system, a driving device and an actuating mechanism; the robot can use the actuating mechanism to complete the set work through the driving device after the control system sends corresponding commands and signals. The driving device is generally a motor, and the actuating mechanism is generally a mechanical arm.

After the mechanical arm is used for a long time, due to abrasion among mechanical parts, the mechanical arm deviates when moving and grabbing, and the use precision of the mechanical arm is affected, so that the mechanical arm needs to be detected and calibrated regularly. The existing calibration mode is that manual judgment is carried out according to the moving track of the mechanical arm, the detection is inaccurate, and accurate calibration cannot be carried out. Therefore, it is necessary to design a calibration device to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a arm calibrating device of robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a mechanical arm calibration device of a robot comprises a base, rollers, a support, a mechanical arm tail end tracker and a mechanical arm joint tracker; the roller wheels are arranged at the bottom of the base, the device is convenient to move through the roller wheels, the vertical support is fixedly arranged on the upper surface of the base, the support is of a plate-shaped structure, and the support is positioned on one side of the base; a first signal receiving screen is fixedly embedded in the side wall of the support and used for receiving signals horizontally projected on the first signal receiving screen, and the moving track of the mechanical arm is drawn in the screen according to the signals, and the drawn moving track is convenient for the actual moving track of the mechanical arm; the manipulator tail end tracker and the manipulator joint tracker are of block structures, the manipulator tail end tracker is fixed at the tail end of a manipulator and moves along with the tail end of the manipulator, the manipulator joint tracker is installed on each joint of the manipulator and moves along with each joint, a plurality of horizontal signal transmitting heads matched with the first signal receiving screen are fixedly arranged on the side walls of the manipulator tail end tracker and the manipulator joint tracker, and the horizontal signal transmitting heads horizontally transmit signals to the first signal receiving screen; the top of the manipulator tail end tracker is rotatably connected with a grabbing block through an angle adjusting bolt, the manipulator tail end tracker can be fixed by the tail end of the manipulator in a grabbing mode, and the inclination angle is adjusted through the angle adjusting bolt to ensure that the manipulator tail end tracker faces horizontally; the manipulator joint tracker is characterized in that the side wall of the manipulator joint tracker is rotatably connected to one side of the mounting plate through an angle adjusting bolt, a magnet is fixedly mounted on the other side of the mounting plate, and the manipulator joint tracker can be adsorbed to the joint position of the mechanical arm through the magnet, so that the manipulator joint tracker is convenient and quick to mount.

Further: the grabbing block is of a circular truncated cone structure, and a groove is formed in the side wall of the grabbing block.

Further: the tail end tracker of the mechanical arm is rotatably connected with a magnet through a mounting plate, so that the tail end tracker of the mechanical arm can adapt to different mechanical arm calibration detection.

Further: all be fixed with a plurality of iron sheets on the front and back both ends of support, adsorb on the iron sheet through magnet, fix terminal tracker of manipulator, manipulator joint tracker convenient on the support, be convenient for direct taking of terminal tracker of manipulator, manipulator joint tracker, avoid terminal tracker of manipulator, manipulator joint tracker to lose.

Further: a second signal receiving screen which is horizontal and the same as the first signal receiving screen is fixedly arranged on the upper surface of the base and used for receiving signals which are vertically and directly projected on the second signal receiving screen; vertical signal transmitting heads are fixedly mounted at the bottoms of the manipulator tail end tracker and the manipulator joint tracker, so that the vertical signal transmitting heads vertically irradiate downwards, the measurement dimensionality of the mechanical arm is improved, and the mechanical arm is convenient to calibrate.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a tracker that sets up can install respectively at arm end and joint, draw the moving trajectory of each position of arm in the signal receiving screen of different dimensions, compare with the orbit of arm control system, can be accurate find the wearing and tearing department of arm, improve the accuracy of calibration and shorten calibration time, reduce the loss that causes during the maintenance; the device is convenient to move, flexible to use and wide in applicable mechanical arm range.

Drawings

Fig. 1 is a schematic structural diagram of a robot arm calibration device of a robot.

Fig. 2 is a schematic structural diagram of a robot joint tracker in a robot arm calibration apparatus for a robot.

Fig. 3 is a schematic structural diagram of a gripping block in a robot arm calibration device of a robot.

In the figure: the method comprises the following steps of 1-base, 2-roller, 3-support, 4-first signal receiving screen, 5-second signal receiving screen, 6-manipulator tail end tracker, 7-manipulator joint tracker, 8-horizontal signal transmitting head, 9-vertical signal transmitting head, 10-grabbing block, 11-angle adjusting bolt, 12-mounting plate, 13-magnet and 14-iron sheet.

Detailed Description

Example 1

Referring to the drawings, in an embodiment of the present invention, a robot arm calibration device for a robot includes a base 1, rollers 2, a bracket 3, a robot arm end tracker 6, and a robot arm joint tracker 7; the roller 2 is arranged at the bottom of the base 1, the device is convenient to move through the roller 2, the vertical support 3 is fixedly arranged on the upper surface of the base 1, the support 3 is of a plate-shaped structure, and the support 3 is located on one side of the base 1.

A first signal receiving screen 4 is fixedly embedded in the side wall of the support 3, the first signal receiving screen 4 is used for receiving signals horizontally projected on the first signal receiving screen, the moving track of the mechanical arm is drawn in the screen according to the signals, and the drawn moving track is convenient for the actual moving track of the mechanical arm.

The mechanical arm tail end tracker 6 and the mechanical arm joint tracker 7 are both of block structures, the mechanical arm tail end tracker 6 is fixed at the tail end of a mechanical arm and moves along with the tail end of the mechanical arm, the mechanical arm joint tracker 7 is installed on each joint of the mechanical arm and moves along with each joint, a plurality of horizontal signal transmitting heads 8 matched with the first signal receiving screen 4 are fixedly arranged on the side walls of the mechanical arm tail end tracker 6 and the mechanical arm joint tracker 7, and the horizontal signal transmitting heads 8 horizontally transmit signals to the first signal receiving screen 4; the top of the manipulator tail end tracker 6 is rotatably connected with a grabbing block 10 through an angle adjusting bolt 11, the grabbing block 10 is in a circular truncated cone structure, a groove is formed in the side wall of the grabbing block, the manipulator tail end tracker 6 can be fixed by the tail end of the manipulator in a grabbing mode, and the inclination angle is adjusted through the angle adjusting bolt 11 to ensure that the manipulator tail end tracker faces horizontally; the side wall of the manipulator joint tracker 7 is rotatably connected to one side of the mounting plate 12 through an angle adjusting bolt 11, the other side of the mounting plate 12 is fixedly provided with a magnet 13, and the manipulator joint tracker 7 can be adsorbed at the joint position of the manipulator through the magnet 13, so that the manipulator joint tracker 7 is convenient and quick to mount; the manipulator tail end tracker 6 is also rotatably connected with a magnet 13 through a mounting plate 12, so that the manipulator tail end tracker 6 can adapt to different mechanical arm calibration detection; all be fixed with a plurality of iron sheets 14 on the front and back both ends of support 3, adsorb on iron sheet 14 through magnet 13, with convenient the fixing on support 3 of manipulator end tracker 6, manipulator joint tracker 7, the direct of the manipulator end tracker 6, manipulator joint tracker 7 of being convenient for is taken, avoids manipulator end tracker 6, manipulator joint tracker 7 to lose.

Example 2

On the basis of the embodiment 1, a second signal receiving screen 5 which is horizontal and the same as the first signal receiving screen 4 is fixedly arranged on the upper surface of the base 1 and used for receiving signals which are vertically and directly incident on the second signal receiving screen; vertical signal emitting heads 9 are fixedly mounted at the bottoms of the manipulator tail end tracker 6 and the manipulator joint tracker 7, so that the vertical signal emitting heads 9 vertically irradiate downwards, the measurement dimensionality of the mechanical arm is improved, and the mechanical arm is convenient to calibrate.

During the use, install manipulator end tracker 6, manipulator joint tracker 7 respectively at the end and the joint department of arm, adjust manipulator end tracker 6, the direction of manipulator joint tracker 7, make horizontal signal emission head 8 level, vertical signal emission head 9 is vertical, the rethread angle adjusting bolt 11 fastens, when operation, make the arm remove in base 1's top, guarantee horizontal signal emission head 8, vertical signal emission head 9 can establish the signal respectively on the first signal reception screen 4 that corresponds, on second signal reception screen 5, draw the orbit of removal on first signal reception screen 4, second signal reception screen 5, compare the predetermined orbit in the control system of arm again, can be quick with this data find out the position that the arm needs the calibration, improve the accuracy nature of calibration.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A mechanical arm calibration device of a robot comprises a base (1), rollers (2), a bracket (3), a mechanical arm tail end tracker (6) and a mechanical arm joint tracker (7); the roller (2) is arranged at the bottom of the base (1), the vertical support (3) is fixedly arranged on the upper surface of the base (1), the support (3) is of a plate-shaped structure, and the support (3) is positioned on one side of the base (1); the automatic tracking device is characterized in that a first signal receiving screen (4) is fixedly embedded in the side wall of the support (3), the manipulator tail end tracker (6) and the manipulator joint tracker (7) are both of block structures, and a plurality of horizontal signal transmitting heads (8) matched with the first signal receiving screen (4) are fixedly arranged on the side walls of the manipulator tail end tracker (6) and the manipulator joint tracker (7); the top of the manipulator tail end tracker (6) is rotatably connected with a grabbing block (10) through an angle adjusting bolt (11); the manipulator joint tracker (7) is rotatably connected to one side of the mounting plate (12) through an angle adjusting bolt (11), and a magnet (13) is fixedly mounted on the other side of the mounting plate (12).

2. The robot arm calibration apparatus of a robot as set forth in claim 1, wherein: the grabbing block (10) is of a circular truncated cone structure.

3. The robot arm calibration apparatus of a robot as set forth in claim 1, wherein: and the manipulator tail end tracker (6) is rotatably connected with a magnet (13) through a mounting plate (12).

4. The robot arm calibration apparatus of claim 3, wherein: a plurality of iron sheets (14) are fixed at the front end and the rear end of the bracket (3) and are adsorbed on the iron sheets (14) through magnets (13).

5. The robot arm calibration apparatus according to any one of claims 1 to 4, wherein: the upper surface of base (1) is fixed with the second signal reception screen (5) that the horizontally is the same with first signal reception screen (4) equal fixed mounting has vertical signal emission head (9) on the bottom of manipulator end tracker (6), manipulator joint tracker (7).