An industrial robotic arm spatial judgment positioning and calibration device

Abstract

The present invention discloses a spatial judgment, positioning and calibration device for an industrial robotic arm. The device includes a calibration table and a robotic arm. The calibration table is provided with three robotic arm slots equidistantly around an axis, and the robotic arm is matched with the robotic arm slots. An electronic target is fixedly installed on the top of the calibration table. Three groups of slide rails are installed equidistantly around the axis on the top of the calibration table. A collar is slidably fitted in the slide rail. A lead screw is installed in the collar. One end of the lead screw is installed with a base. The three lead screws are all installed on the base and connected by universal joints. A clamping seat is installed on the top of the base. A spherical nut is fitted on the lead screw. The spherical nut is installed in the collar and matched with it. The electronic target provided by the device can make the clamping mechanism leave a mark on the electronic target every time it moves, judge the position of each mark, and thus determine whether there is a spatial error in the robotic arm and whether calibration is needed. The cooperation of the lead screw and the universal joint enables the base to have the function of spatial movement.

Description

Technical Field

[0001] The present invention specifically relates to a device for spatially judging, positioning and calibrating an industrial robotic arm. Background Art

[0002] An industrial robotic arm is a mechatronic device with functions similar to those of a human arm, wrist and hand, and is commonly used in the manufacturing process of large industrial mechanical equipment or products. Common applications include holding a welding tong or welding gun for spot welding or arc welding of an automobile or motorcycle body; handling die-cast or stamping-molded parts or components; performing laser cutting; spraying; assembling mechanical parts, etc. However, during long-term use, the robotic arm will inevitably have positioning deviations, resulting in product scrapping.

[0003] For example, the Chinese patent discloses "Fully Automatic Manipulator Calibration Device and Its Use Method" (Patent No.: CN201910964923.1). The device includes a bolster fork seat and a bolster. The bolster is fixed on the bolster fork seat, and the bolster is used to grasp the long nozzle. Its characteristics are: it also includes a large arm, a large arm slewing mechanism, a small arm, a small arm slewing mechanism, a small arm swinging mechanism, a small arm torsion mechanism and a support reference frame. The rear end of the large arm is rotatably arranged on a fixed surface through the large arm slewing mechanism. The small arm is rotatably arranged at the front end of the large arm through the small arm slewing mechanism. Both ends of the small arm swinging mechanism are respectively connected to the small arm and the rear end of the small arm slewing mechanism. The front end of the small arm torsion mechanism is connected to the bolster fork seat. The support reference frame is fixed on the fixed surface, and a positioning groove is provided at the top of the support reference frame. The outer side surface of the small arm torsion mechanism is embedded in the positioning groove.

[0004] However, during the calibration process of this device for the robotic arm, it can only adjust the coordinates in the horizontal direction and cannot perform spatial adjustment on the robotic arm. Summary of the Invention

[0005] (1) Technical Problems to be Solved

[0006] Aiming at the deficiencies of the prior art, the present invention provides a device for spatially judging, positioning and calibrating an industrial robotic arm, which solves the problem that the existing robotic arm calibration device cannot be calibrated through a three-dimensional coordinate system.

[0007] (2) Technical Solutions

[0008] To achieve the above object, the present invention is realized by the following technical solutions: A device for judging, positioning and correcting the space of an industrial robotic arm, comprising a calibration table and a robotic arm. The calibration table is provided with three robotic arm slots at equal distances around the axis, and the robotic arm is matched with the robotic arm slots. An electronic target is fixedly installed on the top of the calibration table. Three groups of slide rails are installed on the top of the calibration table at equal distances around the axis. A collar is slidably fitted in the slide rail. A lead screw is installed in the collar, and a base is installed at one end of the lead screw. The three lead screws are all installed on the base and are connected by universal joints. A clamping seat is installed on the top of the base. A spherical nut is fitted on the lead screw, and the spherical nut is installed in the collar and is matched with it.

[0009] Preferably, three universal seats are installed on one side of the calibration table at equal distances around the axis. The universal seats are located on one side of the slide rail. A universal mechanism is installed on the top of the universal seat. The universal mechanism includes a universal base, a first rotating shaft and a connecting arm one. A transmission mechanism is installed on the outer end of the lead screw. The universal base is fixedly installed on the universal seat. The first rotating shaft is pivotally connected to the universal base. A hinge seat is pivotally connected to the bottom of the transmission mechanism. The connecting arm one is respectively hinged to the bottom of the hinge seat and the top of the first rotating shaft.

[0010] Preferably, the transmission mechanism includes a threaded tube, a plurality of guide rollers, a plurality of second rotating shafts and a motor. A lead screw slot is opened in the transmission mechanism. The threaded tube is pivotally connected in the lead screw slot. The plurality of second rotating shafts are pivotally connected in the transmission mechanism at equal distances around the axis of the threaded tube. The plurality of guide rollers are respectively installed on the second rotating shafts, and the guide rollers are matched with the threaded tube.

[0011] Preferably, a transmission chute is opened in the transmission mechanism, and the motor is slidably fitted in the transmission chute.

[0012] Preferably, a lead screw detector is installed on one side of the spherical nut, and the lead screw detector is matched with the lead screw.

[0013] Preferably, a plurality of height detectors are installed on the top of the calibration table at equal distances around the axis. The height detectors are located between each group of slide rails.

[0014] Preferably, the robotic arm includes a clamping mechanism. The clamping mechanism is located at the outer end of the robotic arm, and the clamping mechanism is matched with the clamping seat.

[0015] Preferably, a signal transmitter is installed at the bottom of the base, and the signal transmitter is matched with the electronic target.

[0016] (III) Beneficial effects

[0017] The present invention provides a device for judging, positioning and correcting the space of an industrial robotic arm. It has the following beneficial effects:

[0018] (1) The space judgment, positioning and calibration device for an industrial robotic arm can, by means of the provided electronic target, enable the clamping mechanism of the robotic arm to leave a mark on the electronic target every time it moves. By judging the position of each mark, it is possible to determine whether there is a spatial error in the robotic arm and perform calibration.

[0019] (2) The space judgment, positioning and calibration device for an industrial robotic arm can, through the cooperation of the provided lead screw and universal joint, endow the base with the function of spatial movement, enabling it to perform small-range spatial movement following the robotic arm. The provided transmission mechanism can, through the cooperation of the threaded tube and the lead screw, perform spatial calibration on the clamping mechanism of the robotic arm on the base.

[0020] (3) The space judgment, positioning and calibration device for an industrial robotic arm can, through the cooperation of the provided spherical nut and collar, enable the lead screw to perform universal movement in cooperation with the spherical nut, making it more convenient to perform spatial calibration on the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of the present invention;

[0022] Figure 2 is Figure 1 the enlarged view at A in

[0023] Figure 3 is a schematic structural diagram of the present invention;

[0024] Figure 4 is a schematic structural diagram of the base of the present invention;

[0025] Figure 5 is a schematic structural diagram of the transmission mechanism of the present invention;

[0026] Figure 6 is a schematic structural diagram of the present invention.

[0027] In the figure: 1 calibration table, 101 robotic arm slot, 102 universal joint seat, 2 slide rail, 3 electronic target, 4 base, 401 universal joint, 402 signal transmitter, 5 card holder, 6 lead screw, 601 spherical nut, 7 collar, 8 lead screw detector, 801 connecting rod, 802 display screen, 9 universal mechanism, 901 universal base, 902 first rotating shaft, 903 first connecting arm, 10 transmission mechanism, 1001 hinge seat, 1002 threaded tube, 1003 guide roller, 1004 second rotating shaft, 1005 motor, 1006 lead screw slot, 1007 transmission chute, 11 height detector, 12 robotic arm, 1201 clamping mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To make the objectives, technical solutions, and advantages of the present invention more clear and understandable, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0029] This device is used to position and calibrate some robotic arms with a cylindrical clamping seat at the front end, such as the six-axis robot with the patent number CN202030261418.4.

[0030] As Figures 1-5 shown, a device for judging, positioning, and correcting the space of an industrial robotic arm includes a calibration table 1 and a robotic arm 12. As Figure 1 shown, the calibration table 1 is equidistantly provided with three robotic arm slots 101 around its axis, and the robotic arm 12 is matched with the robotic arm slots 101. An electronic target 3 is fixedly installed on the top of the calibration table 1. The provided electronic target 3 allows the clamping mechanism 1201 of the robotic arm 12 to leave a mark on the electronic target 3 every time it moves. By judging the position of each mark, it can be determined whether there is a space error in the robotic arm 12 for calibration. Three groups of slide rails 2 are equidistantly installed around the axis on the top of the calibration table 1. A collar 7 is slidably fitted in the slide rail 2, and a lead screw 6 is installed in the collar 7. One end of the lead screw 6 is provided with a base 4. The three groups of lead screws 6 are all installed on the base 4 and are connected by a universal joint 401. A clamping seat 5 is installed on the top of the base 4. A spherical nut 601 is fitted on the lead screw 6, and the spherical nut 601 is installed in the collar 7 and is matched therewith. The cooperation of the lead screw 6 and the universal joint 401 enables the base 4 to have the function of spatial movement and can perform small-range spatial movement following the robotic arm 12.

[0031] Three universal seats 102 are equidistantly installed around the axis on one side of the calibration table 1, and the universal seats 102 are located on one side of the slide rail 2. A universal mechanism 9 is installed on the top of the universal seat 102. The universal mechanism 9 includes a universal base 901, a first rotating shaft 902, and a connecting arm 903. A transmission mechanism 10 is installed on the outer end of the lead screw 6. The universal base 901 is fixedly installed on the universal seat 102, the first rotating shaft 902 is pivotally connected to the universal base 901, the bottom of the transmission mechanism 10 is pivotally connected to a hinge seat 1001, and the connecting arm 903 is respectively hinged to the bottom of the hinge seat 1001 and the top of the first rotating shaft 902.

[0032] The transmission mechanism 10 includes a threaded tube 1002, a number of guide rollers 1003, a number of second rotating shafts 1004, and a motor 1005. A lead screw groove 1006 is formed in the transmission mechanism 10. The threaded tube 1002 is pivotally connected in the lead screw groove 1006. A number of second rotating shafts 1004 are pivotally connected in the transmission mechanism 10 at equal distances around the axis of the threaded tube 1002. A number of guide rollers 1003 are respectively installed on the second rotating shafts 1004, and the guide rollers 1003 cooperate with the threaded tube 1002. The transmission mechanism 10 can perform spatial calibration on the clamping mechanism 1201 of the robotic arm 12 on the base 4 through the cooperation of the threaded tube 1002 and the lead screw 6.

[0033] A transmission sliding groove 1007 is formed in the transmission mechanism 10, and the motor 1005 is slidably fitted in the transmission sliding groove 1007.

[0034] A lead screw detector 8 is installed on one side of the ball nut 601, and the lead screw detector 8 cooperates with the lead screw 6.

[0035] A number of height detectors 11 are installed on the top of the calibration table 1 at equal distances around the axis, and the height detectors 11 are located between each group of sliding rails 2.

[0036] The robotic arm 12 includes a clamping mechanism 1201. The clamping mechanism 1201 is located at the outer end of the robotic arm 12, and the clamping mechanism 1201 cooperates with the clamping seat 5.

[0037] A signal transmitter 402 is installed at the bottom of the base 4, and the signal transmitter 402 cooperates with the electronic target 3.

[0038] In summary, for the industrial robotic arm spatial judgment, positioning and calibration device, through the provided electronic target, the clamping mechanism of the robotic arm can leave a mark on the electronic target every time it moves. By judging the position of each mark, it can be determined whether there is a spatial error in the robotic arm for calibration; through the cooperation of the provided lead screw and universal joint, the base can have the function of spatial movement and can follow the robotic arm for small-range spatial movement. The provided transmission mechanism can perform spatial calibration on the clamping mechanism of the robotic arm on the base through the cooperation of the threaded tube and the lead screw; the cooperation of the provided ball nut and the collar enables the lead screw to perform universal movement under the cooperation of the ball nut, making it more convenient to perform spatial calibration on the robotic arm.

[0039] As described above, based on the embodiments as inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the idea of this invention. The technical scope of this utility model is not limited to the content in the specification, and its protection scope must be determined according to the scope of the claims.

Claims

1. An industrial robotic arm spatial judgment positioning and calibration device, comprising a calibration table (1) and a robotic arm (12), characterized in that: The calibration table (1) is provided with three robotic arm slots (101) equidistantly around the axis. The robotic arm (12) is matched with the robotic arm slot (101). An electronic target (3) is fixedly installed on the top of the calibration table (1). Three groups of slide rails (2) are installed equidistantly around the axis on the top of the calibration table (1). A collar (7) is slidably matched in the slide rail (2). A lead screw (6) is installed in the collar (7). One end of the lead screw (6) is provided with a base (4). The three lead screws (6) are all installed on the base (4) and are connected by a universal joint (401). A clamping seat (5) is installed on the top of the base (4). A ball nut (601) is matched with the lead screw (6). The ball nut (601) is installed in the collar (7) and is matched therewith; Three universal seats (102) are installed equidistantly around the axis on one side of the calibration table (1). The universal seat (102) is located on one side of the slide rail (2). A universal mechanism (9) is installed on the top of the universal seat (102). The universal mechanism (9) includes a universal base (901), a first rotating shaft (902) and a connecting arm one (903). A transmission mechanism (10) is installed on the outer end of the lead screw (6). The universal base (901) is fixedly installed on the universal seat (102). The first rotating shaft (902) is pivotally connected to the universal base (901). The bottom of the transmission mechanism (10) is pivotally connected to a hinge seat (1001). The connecting arm one (903) is respectively hinged to the bottom of the hinge seat (1001) and the top of the first rotating shaft (902); The transmission mechanism (10) includes a threaded tube (1002), a plurality of guide rollers (1003), a plurality of second rotating shafts (1004) and a motor (1005). A lead screw slot (1006) is opened in the transmission mechanism (10). The threaded tube (1002) is pivotally connected in the lead screw slot (1006). The plurality of second rotating shafts (1004) are pivotally connected equidistantly around the axis of the threaded tube (1002) in the transmission mechanism (10). The plurality of guide rollers (1003) are respectively installed on the second rotating shafts (1004). The guide roller (1003) is matched with the threaded tube (1002); The robotic arm (12) includes a clamping mechanism (1201). The clamping mechanism (1201) is located at the outer end of the robotic arm (12). The clamping mechanism (1201) is matched with the clamping seat (5).

2. The spatial judgment, positioning and calibration device for an industrial robotic arm according to claim 1, characterized in that: A transmission chute (1007) is opened in the transmission mechanism (10). The motor (1005) is slidably matched in the transmission chute (1007).

3. The spatial judgment positioning and correction device for an industrial robotic arm according to claim 2, characterized in that: A lead screw detector (8) is installed on one side of the ball nut (601). The lead screw detector (8) is matched with the lead screw (6).

4. An industrial robotic arm spatial judgment positioning and calibration device according to claim 3, characterized in that: A plurality of height detectors (11) are installed equidistantly around the axis on the top of the calibration table (1). The height detectors (11) are located between each group of slide rails (2).

5. The spatial judgment positioning and correction device for an industrial robotic arm according to claim 4, characterized in that: A signal transmitter (402) is installed on the bottom of the base (4). The signal transmitter (402) is matched with the electronic target (3).

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