A debugging mechanism and debugging method for a robotic arm

Abstract

This invention provides a debugging mechanism and method for a robotic arm. The debugging mechanism includes: a first debugging group, which has a positioning hole at its first corner; a transmission arm group formed by a first transmission arm and a second transmission arm, together with the first debugging group, forms a parallelogram structure to obtain the actual telecentric fixed point; and a second debugging group, which, when engaged with a slot, is positioned at the position of the parallelogram structure corresponding to the first debugging group. When the parallelogram structure is adjusted to form a first engagement position with the second debugging group, the second debugging group engages with the positioning hole, and the actual telecentric fixed point coincides with the preset telecentric fixed point. The technical problem solved by this invention is that the prior art uses a scribing method to debug the position of the telecentric fixed point. This scribing method involves visually comparing the telecentric fixed point with the scribing position and adjusting the robotic arm, resulting in a significant error in the determined telecentric fixed point.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more specifically, to a debugging mechanism and debugging method for a robotic arm. Background Technology

[0002] With the advancement of the times, robots are used in fields such as medicine to replace human labor in performing delicate tasks. Before using a robot, it is often necessary to adjust the robot's mechanical arm and other components to their initial positions. During the adjustment process, it is necessary to debug and determine the position of the telecentric fixed point.

[0003] However, the relevant technology has at least one of the following problems: the existing technology uses the scribing method to adjust the position of the telecentric fixed point. This scribing method compares the position of the telecentric fixed point with the scribing line by visual comparison and adjusts the robotic arm. The telecentric fixed point determined by this method has a large error. Summary of the Invention

[0004] The technical problem solved by this invention is that the existing technology uses the scribing method to adjust the position of the telecentric fixed point. This scribing method compares the position of the telecentric fixed point with the scribing line by visual comparison and adjusts the robotic arm. The telecentric fixed point determined by this method has a large error.

[0005] To address the aforementioned problems, this invention provides a debugging mechanism for a robotic arm. The robotic arm includes a tube detachably mounted in its slot, and a first transmission arm and a second transmission arm connected to each other. The debugging mechanism includes: a first debugging group, which has a positioning hole at a position corresponding to its first corner, and the axis of the positioning hole is defined as a first axis; a transmission arm group formed by the first transmission arm and the second transmission arm, which together with the first debugging group, forms a parallelogram structure to obtain an actual telecentric fixed point; wherein the actual telecentric fixed point falls on the first axis; and a second debugging group, which is detachably connected to the slot; wherein when the slot mates with either the second debugging group or the tube, a preset telecentric fixed point is obtained; when the second debugging group mates with the slot, the second debugging group is positioned at the position of the parallelogram structure corresponding to the first debugging group, and the parallelogram structure is adjusted to form a first mating position with the second debugging group, the second debugging group mates with the positioning hole, and the actual telecentric fixed point coincides with the preset telecentric fixed point.

[0006] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: by coordinating the first and second debugging groups to adjust the actual telecentric fixed point to coincide with the preset telecentric fixed point, the coordination between mechanical structures is more accurate than visual judgment of whether the telecentric fixed point has reached the design position compared with existing technologies.

[0007] In one embodiment of the present invention, the first debugging group includes a first debugging arm and a second debugging arm, one end of the first debugging arm and one end of the second debugging arm are rotatably connected; wherein, the end of the first debugging arm away from the second debugging arm is rotatably connected to the second transmission arm, and the end of the second debugging arm away from the first debugging arm is rotatably connected to the first transmission arm, so as to form a parallelogram structure.

[0008] Compared with existing technologies, the technical effects achieved by this technical solution are: simple structure, easy installation and disassembly, the connection between the first and second debugging arms is an accurate actual telecentric fixed point, and points that cannot be directly obtained are clearly marked in space using a simple mechanical structure, and their positions can be precisely adjusted.

[0009] In one embodiment of the present invention, the second debugging group includes a mounting base and a mounting column. One side of the mounting base is connected to a slot, and the opposite side of the mounting base is connected to the mounting column. The mounting column is connected to a parallelogram structure. The axis of the mounting column is defined as a third axis. When the second debugging group is installed in the slot, the preset telecentric fixed point falls on the third axis.

[0010] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: by replacing the original insertion tube with a simple mechanical structure, the preset telecentric fixed point is placed on the axis of the mounting column. Furthermore, through the cooperation between the second and first debugging groups, the precise position of the actual telecentric fixed point can be adjusted. This not only facilitates the observation of the positional relationship between the actual and designed telecentric fixed points, but also makes the structure simple and easy to install and disassemble.

[0011] In one embodiment of the present invention, the mounting column includes an inner cavity and a column base. The inner cavity is disposed within the mounting column along a third axis, and the column base is movably disposed within the inner cavity. The side wall of the inner cavity is provided with a waist groove. The mounting column also includes a first positioning column, which is connected to the column base through the waist groove. When the parallelogram structure and the second debugging group form a first mating position, the first positioning column is mated and connected with the positioning hole.

[0012] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: the first positioning post can move within the space of the inner cavity through the post seat, and is used to cooperate with the positioning hole of the first debugging group. The structures of the first positioning post and the positioning hole are mutually corresponding and cooperate. When the first positioning post is embedded in the positioning hole, the precise position of the actual telecentric fixed point is determined.

[0013] In one embodiment of the present invention, the robotic arm further includes a yaw structure and a third transmission arm, one end of which is rotatably connected to the end of the second transmission arm away from the first transmission arm, and the other end of which is movably connected to the yaw structure; the adjustment mechanism further includes a third adjustment group, one end of which is connected to the yaw structure, and the other end of which is engaged with the second adjustment group; wherein, when the robotic arm is adjusted to a second engagement position formed by the third adjustment group and the second adjustment group, the zero point of the robotic arm is obtained.

[0014] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: After the first and second debugging groups determine and adjust the actual telecentric fixed point, the third and second debugging groups further debug the robotic arm, enabling the robotic arm to find its zero point position with the assistance of the mechanical structure and return to its initial working position.

[0015] In one embodiment of the present invention, the third debugging group includes a rod and a positioning part. One end of the rod is connected to the side of the oscillation structure near the second debugging group, and the other end of the rod is connected to the positioning part. The positioning part is connected in cooperation with the second debugging group.

[0016] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: the rod is set along the axis of the swing structure, and the invisible axis is marked by a mechanical structure, which facilitates observation and debugging. Through the cooperation of the positioning part structure and the second debugging group structure, the robotic arm can be accurately returned to the zero point.

[0017] In one embodiment of the present invention, the positioning part includes a first groove and a second groove; the axis of the oscillating structure is defined as a fourth axis, and the forward projection of the fourth axis onto the positioning part falls on the area enclosed by the first groove; the second groove is located vertically above the first groove; the mounting column includes a second positioning column, which is connected to the column base through a waist groove; wherein, when the second adjustment group and the third adjustment group form a second mating position, the second positioning column enters the second groove, and the first positioning column enters the first groove, so that the fourth axis and the third axis form a mutually perpendicular state to obtain a zero point.

[0018] Compared with existing technologies, the technical effect achieved by this technical solution is as follows: when the first positioning post is connected to the first groove and the second positioning post is connected to the second groove, the third axis is perpendicular to the axis of the swing structure, so that the robotic arm returns to the initial working position and the debugging of the robotic arm is completed.

[0019] In one embodiment of the present invention, a rotating member is provided at one end of the rod near the positioning part; wherein the rotating member connects the rod and the positioning part.

[0020] Compared with existing technologies, the technical effects achieved by adopting this technical solution are: the positioning part can rotate at the end of the rod, making assembly and debugging more flexible without affecting the accuracy of the equipment.

[0021] In one embodiment of the present invention, a first adjustment arm is provided with a first waist-shaped groove at one end corresponding to the second transmission arm; a second adjustment arm is provided with a second waist-shaped groove at one end corresponding to the first transmission arm; wherein, the first adjustment group is rotatably connected to the robotic arm through the first waist-shaped groove and the second waist-shaped groove respectively, which is used to limit the range of motion of the first adjustment group relative to the robotic arm.

[0022] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: when pulling the parallelogram structure, the rotation position is always around the joint center, so that the actual centroid fixed point always falls on the first axis without deviation, thus improving the accuracy of the equipment.

[0023] This invention provides a debugging method, which includes: S10: adjusting the first transmission arm so that the first positioning pin enters the positioning hole, and determining that the actual telecentric fixed point coincides with the preset telecentric fixed point; S20: removing the first debugging group from the mechanical arm, adjusting the second transmission arm so that the first positioning pin enters the first groove, and making the actual telecentric fixed point fall on the fourth axis; S30: adjusting the transmission arm group composed of the first transmission arm and the second transmission arm to swing around the axis where the first positioning pin is located to the second mating position, so that the second positioning pin enters the second groove.

[0024] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: to provide a debugging method for a robotic arm, which can be applied to any of the above-mentioned debugging mechanisms.

[0025] By adopting the technical solution of the present invention, the following technical effects can be achieved: (1) By coordinating the mechanical structures, the position of the telecentric fixed point is precisely adjusted and determined; (2) The simple structure is conducive to large-scale production; (3) The installation and disassembly are simple, which improves the accuracy of the robot arm debugging while being convenient. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 A schematic diagram of the combined structure of the first and second debugging groups in a debugging mechanism provided by the present invention; Figure 2 for Figure 1 An exploded view of the installation of the first commissioning group from one perspective. Figure 3 A schematic diagram of the structure of a robotic arm provided by the present invention; Figure 4 for Figure 1 An exploded view of the second debugging group from one perspective; Figure 5 An exploded view of the installation of the third debugging group in a debugging mechanism provided by the present invention; Figure 6 This is a schematic diagram of the combined structure of the second and third debugging groups; Figure 7 for Figure 6 Schematic diagram of the combined structure of the central positioning unit and the second debugging group; Figure 8 A flowchart of a debugging method provided by the present invention.

[0027] Explanation of reference numerals in the attached figures: 1. First debugging group; 101. First debugging arm; 102. Second debugging arm; 103. Positioning hole; 104. Positioning shaft one; 105. First waist-shaped groove; 106. Second waist-shaped groove; 2. Second debugging group; 201. Mounting column; 202. Mounting base; 203. First positioning column; 204. Second positioning column; 205. Column base; 206. Inner cavity; 207. Top ball; 208. Nut; 209. Waist groove; 3. Three debugging groups; 301, rod body; 302, positioning part; 303, first slot; 304, second slot; 4, actual telecentric fixed point; 5, preset telecentric fixed point; 401, first transmission arm; 402, second transmission arm; 403, third transmission arm; 404, slot; 405, insertion tube; 406, oscillation structure; 1001, first axis; 1002, second axis; 1003, third axis; 1004, fourth axis. Detailed Implementation

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] like Figure 1 Figure 3As shown, in one embodiment, a debugging mechanism for a robotic arm is provided. The robotic arm includes a tube 405 detachably mounted in its slot 404, and a first transmission arm 401 and a second transmission arm 402 connected to each other. The debugging mechanism includes: a first debugging group 1, wherein the first debugging group 1 has a positioning hole 103 at the position corresponding to its first corner, and the axis of the positioning hole 103 is defined as the first axis 1001; the transmission arm group formed by the first transmission arm 401 and the second transmission arm 402 and the first debugging group 1 form a parallelogram structure to obtain the actual telecentric fixed point 4; wherein, the actual telecentric fixed point 4 is... The centroidal fixed point 4 falls on the first axis 1001; the second debugging group 2 is detachably connected to the slot 404; wherein, when the slot 404 cooperates with either the second debugging group 2 or the insertion tube 405, a preset centroidal fixed point 5 is obtained; when the second debugging group 2 cooperates with the slot 404, the second debugging group 2 is set at the position of the parallelogram structure corresponding to the first debugging group 1, and when the parallelogram structure is adjusted so that it forms a first cooperation position with the second debugging group 2, the second debugging group 2 cooperates with the positioning hole 103, and the actual centroidal fixed point 4 coincides with the preset centroidal fixed point 5.

[0030] Specifically, the joint positions of the first transmission arm 401 and the second transmission arm 402 are connected to each other. One end of the joint of the first adjustment group 1 is connected to the joint of the first transmission arm 401 away from the second transmission arm 402, and the other end of the joint of the first adjustment group 1 is connected to the joint of the second transmission arm 402 away from the first transmission arm 401, forming a parallelogram structure. At the corner of the parallelogram structure formed by the first adjustment group 1, a positioning hole 103 is provided. The central axis along the opening direction of both ends of the positioning hole 103 is the first axis 1001. The actual centroidal fixed point 4 falls on the first axis 1001 of the positioning hole 103. When the position of the positioning hole 103 is moved by adjusting the parallelogram structure, the actual centroidal fixed point 4 moves accordingly and always falls on the first axis 1001.

[0031] When the insertion tube 405 is installed in the slot 404, the central axis along the tube body of the insertion tube 405 is the second axis 1002. The preset telecentric fixed point 5 falls on the second axis 1002 of the insertion tube 405. The insertion tube 405 is removed from the slot 404 of the robotic arm, and the second debugging group 2 is installed in the slot 404. Since the structure of the second debugging group 2 is similar to that of the insertion tube 405, when the second debugging group 2 is installed in the slot 404, the central axis of the column of the mounting column 201 of the second debugging group 2 is the third axis 1003, and the third axis 1003 coincides with the second axis 1002. By replacing the insertion tube 405 with the second debugging group 2, the preset telecentric fixed point 5 falls on the third axis 1003. The plunger portion at the end of the first positioning post 203 corresponds to the slot structure of the positioning hole 103. When the parallelogram structure is adjusted to form the first mating position with the second adjustment group 2, the position of the positioning hole 103 coincides with the position of the first positioning post 203, and the two structures cooperate with each other, and the first positioning post 203 is inserted into the positioning hole 103.

[0032] See Figure 2 In one embodiment, the first debugging group 1 includes a first debugging arm 101 and a second debugging arm 102, with one end of the first debugging arm 101 rotatably connected to one end of the second debugging arm 102; wherein, the end of the first debugging arm 101 away from the second debugging arm 102 is rotatably connected to the second transmission arm 402, and the end of the second debugging arm 102 away from the first debugging arm 101 is rotatably connected to the first transmission arm 401, so as to form a parallelogram structure.

[0033] Specifically, the first adjustment arm 101 is of equal length to the first transmission arm 401, and the second adjustment arm 102 is of equal length to the second transmission arm 402. All four arms are interconnected in pairs via joint centers at their ends, forming a movable parallelogram structure. Positioning holes 103 are provided at the joint centers of the first adjustment arm 101 and the second adjustment arm 102. A positioning shaft 104 connects the first and second adjustment arms 101 through the positioning holes 103 in both arms. The positioning shaft 104 is located on one side of the first adjustment arm 101 and is fixed to the first transmission arm 402 by screws. On a first adjustment arm 101, the joint center of the first adjustment arm 101 away from the second adjustment arm 102 is connected to the second transmission arm 402 through a positioning shaft 2. The second positioning column 204 is of a certain length according to the thickness of the first transmission arm 401. One end of the positioning shaft 2 is connected to the joint center of the second transmission arm 402 through a screw, and the other end of the positioning shaft is connected to the joint center of the first adjustment arm 101 through a screw. The joint center of the second adjustment arm 102 away from the first adjustment arm 101 is connected to the joint center of the first transmission arm 401 through a positioning plate and screws.

[0034] See Figure 4In some embodiments of the present invention, the second debugging group 2 includes a mounting base 202 and a mounting column 201. One side of the mounting base 202 is connected to the slot 404, and the opposite side of the mounting base 202 is connected to the mounting column 201. The mounting column 201 is connected to a parallelogram structure. The axis of the mounting column 201 is defined as the third axis 1003. When the second debugging group 2 is installed in the slot 404, the preset telecentric fixed point 5 falls on the third axis 1003.

[0035] Specifically, the mounting base 202 is located on the side of the end of the mounting column 201. The size of the mounting base 202 corresponds to the structure of the slot 404. The mounting base 202 is inserted into the slot 404 to fix the second debugging group 2 on the robotic arm. The mounting column 201 and the mounting base 202 form an angle, so that the third axis 1003 of the mounting column 201 coincides with the second axis 1002.

[0036] Optionally, the connection between the mounting base 202 and the mounting column 201 is provided with a hand grip groove to facilitate installation and disassembly.

[0037] In one embodiment of the present invention, the mounting column 201 includes an inner cavity 206 and a column base 205. The inner cavity 206 is disposed within the mounting column 201 along the third axis 1003, and the column base 205 is movably disposed within the inner cavity 206. The side wall of the inner cavity 206 is provided with a waist groove 209. The mounting column 201 also includes a first positioning column 203, which is connected to the column base 205 through the waist groove 209. When the parallelogram structure and the second debugging group 2 form a first mating position, the first positioning column 203 is mated and connected with the positioning hole 103.

[0038] Specifically, the mounting column 201 has an opening at one end away from the mounting base 202. An inner cavity 206 is provided from the opening towards the interior of the mounting column 201. Grooves 209 are formed on the opposite side walls of the inner cavity 206 along the third axis 1003. The column base 205 enters the inner cavity 206 from the opening side, and the structure of the column base 205 corresponds to the inner cavity 206. The column base 205 can slide within the space of the inner cavity 206 along the third axis 1003. A top ball 207 and a nut 208 are also provided on the side of the column base 205 closest to the opening. The top ball 207 has a threaded hole on its side wall, and the nut 208... The top bead 207 is mounted on the top bead 207 and fixed to the opening position by the top bead 207 mounting seat 202. The position of the nut 208 on the top bead 207 is adjusted by rotating the nut 208, so that the column seat 205 is fixed at a certain position in the inner cavity 206. The column seat 205 is provided with holes and slots for mounting the first positioning column 203 and the second positioning column 204. The first positioning column 203 and the second positioning column 204 pass through the holes and slots of the column seat 205 through the waist groove 209 on the same side, and the plunger part of the first positioning column 203 and the second positioning column 204 then exits through the waist groove 209 on the other side.

[0039] See Figure 5 In one embodiment, the robotic arm further includes a yaw structure 406 and a third transmission arm 403. One end of the third transmission arm 403 is rotatably connected to the end of the second transmission arm 402 away from the first transmission arm 401, and the other end of the third transmission arm 403 is movably connected to the yaw structure 406. The adjustment mechanism further includes a third adjustment group 3. One end of the third adjustment group 3 is connected to the yaw structure 406, and the other end of the third adjustment group 3 is engaged with the second adjustment group 2. When the robotic arm is adjusted to a second engagement position formed by the third adjustment group 3 and the second adjustment group 2, the zero point position of the robotic arm is obtained.

[0040] Specifically, one end of the third transmission arm 403 is connected to the end of the second transmission arm 402 away from the first transmission arm 401, and the other end of the third transmission arm 403 is connected to the swing structure 406. One end of the third adjustment group 3 is connected to the swing structure 406. The vertical axis of the swing structure 406 at its center position is the fourth axis 1004. The third adjustment group 3 is set along the fourth axis 1004. When the robot arm is adjusted to the second mating position formed by the third adjustment group 3 and the second adjustment group 2, the positioning part 302 of the end of the third adjustment group 3 away from the swing structure 406 is mated and connected to the mounting column 201 of the second adjustment group 2, so that the fourth axis 1004 is perpendicular to the third axis 1003, so as to obtain the zero point position of the robot arm and return the robot arm to the initial working position.

[0041] See Figure 6 The third debugging group 3 includes a rod 301 and a positioning part 302. One end of the rod 301 is connected to the side of the swing structure 406 near the second debugging group 2, and the other end of the rod 301 is connected to the positioning part 302. The positioning part 302 is connected to the second debugging group 2.

[0042] Specifically, the rod 301 is arranged along the fourth axis 1004. One end of the rod 301 is fixedly connected to the center of the mounting rod and the oscillating structure 406 by screws. The opposite end of the rod 301 is provided with a positioning part 302. The positioning part 302 is an L-shaped structure. One side of the positioning part 302 is perpendicularly connected to the rod 301 by screws, and the other side of the positioning part 302 is parallel to the fourth axis 1004.

[0043] See Figure 7In some embodiments, the positioning part 302 includes a first groove 303 and a second groove 304; the axis of the oscillating structure 406 is defined as a fourth axis 1004, and the forward projection of the fourth axis 1004 onto the positioning part 302 falls on the area enclosed by the first groove 303; the second groove 304 is located vertically above the first groove 303; the mounting column 201 includes a second positioning column 204, which is connected to the column base 205 through a waist groove 209; wherein, when the second adjustment group 2 and the third adjustment group 3 form a second mating position, the second positioning column 204 corresponds to the position of the second groove 304, and the first positioning column 203 corresponds to the position of the first groove 303, so that the fourth axis 1004 and the third axis 1003 form a mutually perpendicular state to obtain a zero point.

[0044] Specifically, the first groove 303 is a straight groove structure, and the second groove 304 is also a straight groove structure. The first groove 303 and the second groove 304 are parallel to each other. The position of the first groove 303 corresponds to the projection position of the fourth axis 1004 perpendicular to the positioning part 302. The straight line formed by connecting the center part of the second groove 304 and the center part of the first groove 303 is perpendicular to the projection of the fourth axis 1004 perpendicular to the positioning part 302. When the first positioning post 203 is inserted into the first groove 303 and the second positioning post 204 is inserted into the second groove 304, the third axis 1003 and the fourth axis 1004 are perpendicular to each other.

[0045] In one embodiment of the present invention, a rotating member is provided at one end of the rod 301 near the positioning part 302; wherein the rotating member connects the rod 301 and the positioning part 302.

[0046] A bearing is provided at the connection position between the positioning part 302 and the rod body 301. The bearing is fixedly connected to the end of the rod body 301 by the bearing outer cover plate and screws. The positioning part 302 is connected to the end of the rod body 301 by the bearing inner cover plate and screws passing through the hole groove of the positioning part 302.

[0047] In one embodiment of the present invention, the first adjustment arm 101 is provided with a first waist-shaped groove 105 at one end corresponding to the second transmission arm 402; the second adjustment arm 102 is provided with a second waist-shaped groove 106 at one end corresponding to the first transmission arm 401; wherein, the first adjustment group 1 is rotatably connected to the robotic arm through the first waist-shaped groove 105 and the second waist-shaped groove 106 respectively, for limiting the range of motion of the first adjustment group 1 relative to the robotic arm.

[0048] Specifically, the first adjustment arm 101 has two first waist-shaped grooves 105 around the joint center at one end away from the second adjustment arm 102. The first adjustment arm 101 is fixed to one side of the positioning shaft by screws passing through the first waist-shaped grooves 105, so that the first adjustment arm 101 can rotate around the joint center. The second adjustment arm 102 has two second waist-shaped grooves 106 around the joint center at one end away from the first adjustment arm 101. The second adjustment arm 102 is connected to the positioning plate by screws passing through the second waist-shaped grooves 106, so that the second adjustment arm 102 can rotate around the joint center, thereby improving the accuracy of the parallelogram structure during movement.

[0049] like Figure 8 As shown, the present invention provides a debugging method that can be applied to any of the above-mentioned debugging mechanisms. The debugging method includes: S10: adjusting the first transmission arm 401 so that the first positioning post 203 enters the positioning hole 103, and determining that the actual telecentric fixed point 4 coincides with the preset telecentric fixed point 5; S20: removing the first debugging group 1 from the mechanical arm, adjusting the second transmission arm 402 so that the first positioning post 203 enters the first groove 303, and making the actual telecentric fixed point 4 fall on the fourth axis 1004; S30: adjusting the transmission arm group composed of the first transmission arm 401 and the second transmission arm 402 to swing around the axis where the first positioning post 203 is located to the second mating position, so that the second positioning post 204 enters the second groove 304.

[0050] Specifically, during the debugging of the robotic arm, the third transmission arm 403 does not move, and the swing structure 406 connected to it also does not move. In the following debugging process, any movement process takes the combined structural position of the third transmission arm 403 and the swing structure 406 as the stationary reference in this space.

[0051] The robotic arm is equipped with a transmission belt. The third transmission arm 403 has a drive motor at one end near the swing structure. The third transmission arm 403 has a third transmission belt inside the drive motor. The third transmission belt is arranged around the output end of the drive motor and the joint wheel at the opposite end of the third transmission arm. The second transmission arm 402 also has a second transmission belt inside, which is arranged around the joint wheels at opposite ends of the second transmission arm 402. The first transmission arm 401 also has a first transmission belt inside, which is arranged around the joint wheels at opposite ends of the first transmission arm 401. The drive motor can transmit power through the interaction between the joint wheels and the first, second and third transmission belts. The rotational speed of the joint wheels corresponding to the first, second and third transmission arms 401 and 403 can be changed by adjusting the tension of the transmission belts.

[0052] During the debugging of the robotic arm, the first debugging group 1 is installed at the positions of the joint wheels at both ends of the combined structure formed by the first transmission arm 401 and the second transmission arm 402, forming a parallelogram structure. The second debugging group is then installed in the slot position. The tension of the first transmission belt is adjusted, and the robotic arm is rotated by the drive motor. Simultaneously, the position of the first positioning post 203 on the second debugging group 2 is manually adjusted so that when the first positioning post 203 and the positioning hole 103 form the first mating position, the first positioning post 203 enters the positioning hole 103, forming a mutual connection. This determines that the actual telecentric fixed point 4 coincides with the preset telecentric fixed point 5 and falls on the axis of the first positioning post 203. Then, the first debugging group 1 is removed and the third debugging group 3 is installed. The tension of the second transmission belt is adjusted, and the robotic arm is rotated by the drive motor, thereby adjusting the position of the actual telecentric fixed point 4 to match the preset telecentric fixed point 5. As the first positioning post 203 rotates, it moves until it enters the first slot 303, thus realizing that the actual centroidal fixed point 4 falls on the fourth axis 1004. The first transmission arm 401 and the second transmission arm 402 are adjusted by the drive motor, and the second debugging group 2 is driven to swing around the position of the first slot 303 as the center, until the second positioning post 204 and the second slot 304 form the second mating position. At this point, the second positioning post 204 enters the second slot 304, and the mounting column 201 and the rod 301 are perpendicular to each other, thus realizing that the third axis 1003 and the fourth axis 1004 are perpendicular to each other, so as to determine the zero point position of the robotic arm.

[0053] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A debugging mechanism for a robotic arm, characterized in that, The robotic arm includes a cannula (405) detachably mounted in its slot (404), and a first drive arm (401) and a second drive arm (402) connected to each other. The debugging mechanism includes: The first debugging group (1) is provided with a positioning hole (103) at the position of its first corner, and the axis of the positioning hole (103) is defined as the first axis (1001). The transmission arm group formed by the first transmission arm (401) and the second transmission arm (402) together with the first debugging group (1) form a parallelogram structure to obtain the actual telecentric fixed point (4); wherein the actual telecentric fixed point (4) falls on the first axis (1001). The second debugging group (2) is detachably connected to the slot (404); wherein, when the slot (404) is engaged with either the second debugging group (2) or the insertion tube (405), a preset telecentric fixed point (5) is obtained. When the second debugging group (2) is engaged with the slot (404), the second debugging group (2) is positioned at the position of the parallelogram structure corresponding to the first debugging group (1), and when the parallelogram structure is adjusted to form a first engagement position with the second debugging group (2), the second debugging group (2) engages with the positioning hole (103), and the actual telecentric fixed point (4) coincides with the preset telecentric fixed point (5); The first debugging group (1) includes a first debugging arm (101) and a second debugging arm (102), with one end of the first debugging arm (101) rotatably connected to one end of the second debugging arm (102); Wherein, the end of the first debugging arm (101) away from the second debugging arm (102) is rotatably connected to the second transmission arm (402), and the end of the second debugging arm (102) away from the first debugging arm (101) is rotatably connected to the first transmission arm (401) to form the parallelogram structure; The second debugging group (2) includes a mounting base (202) and a mounting column (201), and the axis of the mounting column (201) is defined as the third axis (1003). The mounting column (201) includes an inner cavity (206) and a column base (205). The inner cavity (206) is disposed within the mounting column (201) along the third axis (1003), and the column base (205) is movably disposed within the inner cavity (206). The inner cavity (206) has a waist groove (209) on its side wall; The mounting column (201) further includes a first positioning column (203), which is connected to the column base (205) through the waist groove (209); When the parallelogram structure and the second debugging group (2) form the first mating position, the first positioning post (203) and the positioning hole (103) are mated and connected.

2. The debugging mechanism according to claim 1, characterized in that, One side of the mounting base (202) is connected to the slot (404), and the other side of the mounting base (202) is connected to the mounting column (201). The mounting column (201) is connected to the parallelogram structure. When the second debugging group (2) is installed in the slot (404), the preset telecentric fixed point (5) falls on the third axis (1003).

3. The debugging mechanism according to claim 1, characterized in that, The robotic arm also includes a sway structure (406) and a third transmission arm (403), one end of the third transmission arm (403) being rotatably connected to the end of the second transmission arm (402) away from the first transmission arm (401), and the other end of the third transmission arm (403) being connected to the sway structure (406). The debugging mechanism also includes a third debugging group (3), one end of which is connected to the sway structure (406), and the other end of which is connected to the second debugging group (2). When the robotic arm is adjusted to a second mating position formed by the third debugging group (3) and the second debugging group (2), the zero point of the robotic arm is obtained.

4. The debugging mechanism according to claim 3, characterized in that, The third debugging group (3) includes a rod (301) and a positioning part (302). One end of the rod (301) is connected to the side of the swing structure (406) near the second debugging group (2), and the other end of the rod (301) is connected to the positioning part (302). The positioning part (302) is connected in cooperation with the second debugging group (2).

5. The debugging mechanism according to claim 4, characterized in that, The positioning part (302) includes a first groove (303) and a second groove (304); By definition, the axis of the yaw structure (406) is the fourth axis (1004). The fourth axis (1004) is projected onto the area enclosed by the first groove (303) in the positioning part (302); The second groove (304) is located vertically above the first groove (303); The mounting column (201) includes a second positioning column (204), which is connected to the column base (205) through the waist groove (209); When the second debugging group (2) and the third debugging group (3) form the second mating position, the second positioning post (204) enters the second groove (304), and the first positioning post (203) enters the first groove (303), so that the fourth axis (1004) and the third axis (1003) form a mutually perpendicular state to obtain the zero point.

6. The debugging mechanism according to claim 4, characterized in that, The rod (301) has a rotating component at one end near the positioning part (302); The rotating component connects the rod body (301) and the positioning part (302).

7. The debugging mechanism according to claim 2, characterized in that, The first adjustment arm (101) is provided with a first waist-shaped groove (105) at one end corresponding to the second transmission arm (402); The second adjustment arm (102) is provided with a second waist-shaped groove (106) at one end corresponding to the first transmission arm (401); The first debugging group (1) is rotatably connected to the robotic arm through the first waist-shaped groove (105) and the second waist-shaped groove (106) to limit the range of motion of the first debugging group (1) relative to the robotic arm.

8. A method for debugging a robotic arm, characterized in that, The debugging method is applied to the debugging mechanism as described in claim 5, and the debugging method includes: S10: Adjust the first transmission arm (401) so that the first positioning pin (203) enters the positioning hole (103) and determines that the actual telecentric fixed point (4) coincides with the preset telecentric fixed point (5); S20: Remove the first debugging group (1) from the robotic arm, adjust the second transmission arm (402) so that the first positioning column (203) enters the first slot (303) so that the actual telecentric fixed point (4) falls on the fourth axis (1004). S30: When the transmission arm group consisting of the first transmission arm (401) and the second transmission arm (402) swings around the axis where the first positioning post (203) is located to the second mating position, the second positioning post (204) enters the second groove (304).

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