Parallel robot calibration device and system

Abstract

The invention belongs to the technical field of industrial robots, and discloses a parallel robot calibration device and system.The parallel robot calibration device comprises a calibration base table, a plurality of supporting elements, a plurality of calibration arms, a sliding base table and a plurality of indicating mechanisms, and the calibration arms are controlled to swing to make contact with the free ends of control arms of a parallel robot through the sliding base table; and the swing angle of the calibration arm is indicated through the indication mechanism, so that synchronous calibration of the control arms is realized, and the synchronous calibration device has the advantages that synchronous calibration of the control arms is facilitated, and the calibration efficiency and precision are improved.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots, and in particular to a parallel robot calibration device and system. Background Art

[0002] Some existing parallel robots include a control console (or fixed platform), an operating end (or moving platform), and multiple branches connected in parallel between the control console and the operating end. Each branch includes a control arm and a joystick. One end of the control arm is rotatably connected to the control console, and the control arm is driven by the control console to swing up and down. The two ends of the joystick are respectively hinged to the other end of the control arm and the operating end. Through the coordinated movement of each branch, the operating end can move with multiple degrees of freedom relative to the control console. This parallel robot is widely used in experiments such as flight simulation and wave simulation.

[0003] However, the control arm of this parallel robot may have a reduced positioning accuracy due to processing errors, assembly errors and / or wear and tear, which will affect the positioning accuracy of the operating end and make it difficult to apply to occasions with high precision requirements. This reduction in accuracy may lead to inaccurate simulation effects and affect the reliability of experimental results. For example, in flight simulation, a reduction in the positioning accuracy of the control arm may lead to deviations in the simulated flight attitude, which cannot accurately reflect the actual flight state, thus affecting the training effect of the pilot.

[0004] In addition, existing parallel robots usually lack an effective calibration mechanism. During use, it is difficult to promptly detect a decrease in the positioning accuracy of the control arm, which may lead to long-term use of equipment with insufficient accuracy without knowing it, affecting the quality of experiments or production. At the same time, even if the accuracy problem is found, there is a lack of convenient calibration methods, and the entire parallel robot often needs to be disassembled for adjustment, which is not only time-consuming and labor-intensive, but may also introduce new errors.

[0005] Therefore, it is necessary to find a parallel robot calibration device that is convenient for synchronous calibration of each control arm, which is helpful for users to promptly discover the decrease in positioning accuracy of the control arm of the parallel robot. This calibration device should be able to quickly and accurately measure the actual position of each control arm and provide clear calibration instructions so that the operator can easily make adjustments. At the same time, the calibration process should be simplified as much as possible to avoid complicated disassembly and assembly steps to reduce the introduction of human errors. In addition, the ideal calibration device should also have good adaptability and be applicable to parallel robots of different models and specifications to improve its versatility and practical value.

[0006] In view of the above problems, the existing technology needs to be improved urgently. Summary of the invention

[0007] The purpose of the present application is to provide a parallel robot calibration device and system, which has the advantages of facilitating synchronous calibration of each control arm and improving calibration efficiency and accuracy.

[0008] In a first aspect, the present application provides a parallel robot calibration device, comprising: A calibration base, used to connect with the control console of the parallel robot; A plurality of supporting elements are fixed on the calibration base and are evenly arranged along the circumference of the calibration base; A plurality of calibration arms are rotatably connected to the supporting elements one by one, and the calibration arms can swing up and down; A sliding base is arranged above the calibration base so as to be movable up and down, and the sliding base is used to abut against the top of each calibration arm to control each calibration arm to swing to contact with the free end of each control arm of the parallel robot; A plurality of indicating mechanisms are respectively arranged at the connection between each of the supporting elements and each of the calibration arms, and the indicating mechanisms are used to indicate the swing angle of the corresponding calibration arm.

[0009] The parallel robot calibration device controls each calibration arm to swing to contact the free end of each control arm of the parallel robot through a sliding base, and indicates the swing angle of the calibration arm through an indicating mechanism, thereby realizing synchronous calibration of each control arm. It has the advantages of facilitating synchronous calibration of each control arm and improving calibration efficiency and accuracy.

[0010] Preferably, the indicating mechanism comprises a pointer and an indicating plate, one end of the pointer is located at the center of the indicating plate; one of the pointer and the indicating plate is fixedly connected to the supporting element, and the other is fixedly connected to the calibration arm, and the pointer is used to indicate the swing angle of the calibration arm on the indicating plate.

[0011] When the calibration arm swings, the pointer will move on the indicator disk, indicating the swing angle of the calibration arm on the indicator disk. This design allows the operator to intuitively observe the swing angle of the calibration arm and accurately adjust the position of the calibration arm.

[0012] Preferably, an elastic component is further provided at the connection between the supporting element and the calibration arm, and the elastic component is used to provide elastic force to the calibration arm so that the top end of the calibration arm is pressed toward the sliding base.

[0013] The elastic component is used to provide elastic force to the calibration arm so that the top of the calibration arm is pressed against the sliding base. This design can ensure stable contact between the calibration arm and the sliding base, even when the sliding base moves up and down or the calibration arm swings at a different angle.

[0014] Preferably, the support element and the calibration arm are connected via a rotation axis; The elastic component includes an arc collar, an arc auxiliary ring and a first spring; the arc collar and the arc auxiliary ring are both coaxially arranged with the rotating shaft, and the arc collar and the arc auxiliary ring have the same radius, and the arc auxiliary ring is slidably inserted into the arc collar; one of the arc collar and the arc auxiliary ring is fixedly connected to the supporting element, and the other is fixedly connected to the calibration arm, the first spring is arranged in the arc collar, and is used for providing elastic force to make the arc collar and the arc auxiliary ring slide relative to each other, so that the top end of the calibration arm is pressed toward the sliding base.

[0015] Preferably, the length of the calibration arm is adjustable.

[0016] Preferably, the calibration arm includes a base part and a sliding part; the middle part of the base part is rotatably connected to the supporting element, the upper end of the base part is used to abut against the sliding base, the sliding part is slidably connected to the lower end of the base part, and the sliding part can reciprocate along the axial direction of the base part to change the length of the calibration arm.

[0017] Preferably, a guide column is provided at the top center of the calibration base, and the sliding base is slidably mounted on the guide column, and the sliding base can move up and down along the guide column; The sliding base is provided with a locking mechanism, and the locking mechanism is used to lock the position of the sliding base on the guide column.

[0018] Preferably, the locking mechanism comprises a gear, a support seat, a fixed ring, a sliding ring, a movable column, a second spring and a force ring, and the outer surface of the guide column is provided with a tooth groove extending in the up-down direction; the gear is meshed with the tooth groove; The fixing ring is fixed on the support seat, and a T-shaped groove is provided on the inner circumference of the fixing ring, and the T-shaped groove is composed of an axial groove extending along the axial direction of the fixing ring and a circumferential groove extending along the circumference of the fixing ring; the sliding ring is movably arranged in the inner hole of the fixing ring and is coaxially arranged with the fixing ring, and a protrusion protruding outward is arranged on the outer circumference of the sliding ring, and the protrusion extends into the T-shaped groove; when the protrusion is located in the axial groove, the sliding ring can move in the axial direction, and when the protrusion is located in the circumferential groove, the sliding ring cannot move in the axial direction; The movable column passes through the sliding ring and is fixedly connected to the sliding ring. The first end of the movable column is aligned with the tooth surface of the gear, and the second end is connected to the force ring. The second spring is connected between the movable column and the support seat and is used to provide elastic force to the movable column so that the first end of the movable column is pressed against the tooth surface of the gear to lock the gear.

[0019] Preferably, the calibration base comprises a coaxially arranged fixed base and a rotating base, the rotating base is rotatably arranged on the lower side of the fixed base, the rotating base is used to be detachably connected to the control console of the parallel robot, and the supporting element is arranged on the top of the fixed base.

[0020] In a second aspect, the present application provides a parallel robot calibration system, comprising a parallel robot and the parallel robot calibration device described above.

[0021] Beneficial effects: The parallel robot calibration device and system provided in the present application include a calibration base, multiple supporting elements, multiple calibration arms, a sliding base and multiple indicating mechanisms. The sliding base controls each calibration arm to swing until it contacts the free end of each control arm of the parallel robot, and the indicating mechanism indicates the swing angle of the calibration arm, thereby realizing synchronous calibration of each control arm. This has the advantages of facilitating synchronous calibration of each control arm and improving calibration efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional diagram of the parallel robot calibration device provided in an embodiment of the present application.

[0023] Figure 2 Schematic diagram of the structure of the support element and the calibration arm.

[0024] Figure 3 Figure 2 is a structural diagram of the connection between the support element and the calibration arm.

[0025] Figure 4 A top view of the parallel robot calibration device provided in an embodiment of the present application.

[0026] Figure 5 A side view of the parallel robot calibration device provided in an embodiment of the present application.

[0027] Figure 6 for Figure 1 Enlarged view of part A.

[0028] Figure 7 It is a schematic diagram of the structure of the fixed ring and the sliding ring.

[0029] Figure 8 A stereoscopic diagram of the parallel robot calibration system provided in an embodiment of the present application.

[0030] Explanation of reference numerals: 1. calibration base; 101. fixed base; 102. rotating base; 2. supporting element; 3. calibration arm; 301. base; 3011. solid rod; 3012. inverted U-shaped frame; 3013. detection fixed rod; 302. sliding part; 3021. U-shaped slide; 3022. detection slide rod; 3023. detection head; 4. sliding base; 5. indicating mechanism; 501. pointer; 502. indicating plate; 6. rotating shaft; 7. elastic component; 701. arc collar; 702. arc secondary ring; 703. first spring; 8. guide column; 801. limit plate; 802 , tooth groove; 9, locking mechanism; 901, gear; 902, support seat; 903, fixing ring; 9031, axial groove; 9032, circumferential groove; 904, sliding ring; 9041, protrusion; 905, movable column; 9051, limit portion; 906, second spring; 907, force ring; 10, guide telescopic column; 11, L-shaped plate; 1101, vertical plate portion; 1102, horizontal plate portion; 12, extension plate; 13, fastening screw; 90, control console; 91, control arm; 92, working end; 93, joystick; 100, parallel robot calibration device; 200, parallel robot. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0032] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0033] Parallel robots are widely used in flight simulation, wave simulation and other experiments due to their high precision, high stiffness and large load capacity. Such robots usually include a control console, an operating end and multiple branches. Each branch consists of a control arm and a joystick. The control arm is driven by the control console to swing up and down, and the joystick connects the control arm and the operating end. Through the coordinated movement of each branch, the operating end can achieve multi-degree-of-freedom movement relative to the control console.

[0034] However, in practical applications, the control arm of the parallel robot may suffer from reduced positioning accuracy due to processing errors, assembly errors or wear and tear. This reduced accuracy directly affects the positioning accuracy of the operating end, thus limiting the application of the parallel robot in situations requiring high precision. Specifically, the positioning error of the control arm will be transmitted to the operating end through the joystick, causing a deviation between the actual position of the operating end and the theoretical position. This deviation may be magnified in certain applications. For example, in a flight simulator, a small positioning error may lead to a significant deviation from the simulated flight trajectory.

[0035] Therefore, it is particularly important to develop a method that can synchronously calibrate multiple control arms of a parallel robot.

[0036] To do this, please refer to Figure 1-Figure 7 The present application provides a parallel robot calibration device 100, comprising: A calibration base 1, used for connecting with a control console 90 of the parallel robot 200; A plurality of support elements 2 are fixed on the calibration base 1 and are evenly arranged along the circumference of the calibration base 1; A plurality of calibration arms 3 are rotatably connected to the support elements 2 in a one-to-one correspondence, and the calibration arms 3 can swing up and down; The sliding base 4 is arranged above the calibration base 1 so as to be movable up and down. The sliding base 4 is used to contact the top of each calibration arm 3 to control each calibration arm 3 to swing to contact the free end of each control arm 91 of the parallel robot 200; A plurality of indicating mechanisms 5 are respectively arranged at the connection between each supporting element 2 and each calibration arm 3 , and the indicating mechanisms 5 are used to indicate the swing angle of the corresponding calibration arm 3 .

[0037] The parallel robot calibration device 100 controls each calibration arm 3 to swing to contact the free end of each control arm 91 of the parallel robot 200 through the sliding base 4, and indicates the swing angle of the calibration arm 3 through the indicating mechanism 5, thereby realizing the synchronous calibration of each control arm 91, which has the advantages of facilitating the synchronous calibration of each control arm 91 and improving the calibration efficiency and accuracy.

[0038] The calibration base 1 refers to a basic platform for connecting to the control console 90 of the parallel robot 200 .

[0039] The supporting element 2 refers to a supporting structure fixed on the calibration base 1, and can be implemented in the form of a column or a bracket.

[0040] The calibration arm 3 refers to a swingable arm rotatably connected to the supporting element 2, and can be implemented by a rod-shaped structure.

[0041] The sliding base 4 refers to a platform structure that can move up and down, which can be specifically realized by the cooperation of a base plate and a guide column.

[0042] The indicating mechanism 5 refers to a device for indicating the swing angle of the calibration arm 3 , and can be specifically implemented by a combination of an indicating disk 502 (a graduated disk) and a pointer 501 .

[0043] During operation, the calibration base 1 is connected to the control console 90 of the parallel robot 200. By adjusting the height of the sliding base 4, all the calibration arms 3 are swung simultaneously until their lower parts contact the control arms 91 of the parallel robot 200. At this time, the actual position of each control arm 91 can be obtained by observing the readings on each indicating mechanism 5. If it is found that the actual position of the control arm 91 deviates from the theoretical position, corresponding adjustments and calibrations can be made. The advantage of this design is that the synchronous movement of multiple calibration arms 3 is achieved through a single sliding base 4, which greatly simplifies the operation process. At the same time, the precise angle readings provided by the indicating mechanism 5 enable the operator to intuitively understand the position status of each control arm 91, which is conducive to quickly discovering and correcting deviations.

[0044] In some possible implementations, see Figure 2 , Figure 3 The indicating mechanism 5 includes a pointer 501 and an indicating disk 502 (the indicating disk 502 is a scale disk), one end of the pointer 501 is located at the center of the indicating disk 502; one of the pointer 501 and the indicating disk 502 is fixedly connected to the supporting element 2, and the other is fixedly connected to the calibration arm 3, and the pointer 501 is used to indicate the swing angle of the calibration arm 3 on the indicating disk 502.

[0045] When the calibration arm 3 swings, the pointer 501 and the indicator plate 502 rotate relative to each other around the central axis of the indicator plate 502, so that the pointer 501 indicates the swing angle of the calibration arm 3 on the indicator plate 502. This design allows the operator to intuitively observe the swing angle of the calibration arm 3, thereby accurately adjusting the position of the calibration arm 3. This design is simple and effective, does not require complex electronic equipment, reduces costs and failure rates, and improves the accuracy and efficiency of calibration.

[0046] The pointer 501 may be in different shapes, such as a straight line, an arrow or a triangle, etc., to improve the accuracy of the reading. The indicator plate 502 may be in different scale designs, such as an equally divided scale or an unequally divided scale, to meet different angle measurement requirements.

[0047] exist Figure 3In the embodiment, the pointer 501 is fixedly connected to the calibration arm 3 (for example, the support element 2 and the calibration arm 3 are connected via a rotating shaft 6, the rotating shaft 6 is fixedly connected to the calibration arm 3, one end of the rotating shaft 6 passes through the center of the indicator disk 502, and the pointer 501 is fixedly connected to one end of the rotating shaft 6 passing through the indicator disk 502; but not limited to this), and the indicator disk 502 is fixedly connected to the support element 2. This connection method ensures that the movement of the pointer 501 directly reflects the swing of the calibration arm 3. When the calibration arm 3 swings, the pointer 501 will rotate relative to the fixed indicator disk 502, so that the accurate angle is displayed on the indicator disk 502. In fact, the pointer 501 can also be fixedly connected to the support element 2, and the indicator disk 502 is fixedly connected to the calibration arm 3.

[0048] The scale on the indicator disk 502 can be designed as a complete circle of 0-360 degrees, or can be designed as a partial arc according to the actual swing range of the calibration arm 3. The interval of the scale can be set according to the required accuracy.

[0049] In some preferred embodiments, see Figure 1-Figure 3 An elastic component 7 is also provided at the connection between the supporting element 2 and the calibration arm 3 , and the elastic component 7 is used to provide elastic force to the calibration arm 3 so that the top end of the calibration arm 3 is pressed toward the sliding base 4 .

[0050] The elastic component 7 is used to provide elastic force to the calibration arm 3 so that the top of the calibration arm 3 is pressed against the sliding base 4. This design can ensure that the calibration arm 3 and the sliding base 4 maintain stable contact, even when the sliding base 4 moves up and down or the calibration arm 3 swings at a different angle, and can maintain a good contact state (except when the lower part of the calibration arm 3 has been against the control arm 91 and the sliding base 4 continues to move upward).

[0051] The elastic component 7 can be arranged in a variety of ways. For example, a compression spring, a torsion spring or other elastic materials can be used. The elastic component 7 can be directly connected between the support element 2 and the calibration arm 3, or can be connected through other intermediate structures. The elastic force of the elastic component 7 can be adjusted according to actual needs to ensure that the calibration arm 3 can be stably pressed against the sliding base 4 without causing excessive pressure on the sliding base 4.

[0052] There are also multiple options for connecting the elastic component 7 to the support element 2 and the calibration arm 3. Bolt fixing, snap connection or other detachable connection methods can be used to facilitate later maintenance and replacement. In addition, the installation position of the elastic component 7 can be adjusted according to actual conditions to obtain the best elastic effect.

[0053] In actual application, when the sliding base 4 moves up and down, the elastic component 7 will deform with the swing of the calibration arm 3, thereby providing continuous elastic force. This elastic force can offset the small gap caused by processing error, assembly error or wear and tear, ensuring that the top of the calibration arm 3 always maintains good contact with the sliding base 4. At the same time, the elastic component 7 can also absorb some vibration and impact, further improving the stability of the calibration process.

[0054] There may be one or more elastic components 7 between each supporting element 2 and the corresponding calibration arm 3, and the specific number may be set according to actual needs. Figure 2 In the embodiment, two elastic components 7 are arranged between each supporting element 2 and the corresponding calibration arm 3 , and the two elastic components 7 are symmetrically arranged on opposite sides of the supporting element 2 and the calibration arm 3 .

[0055] For example, in some possible implementations, see Figure 3 , the support element 2 and the calibration arm 3 are connected via a rotating shaft 6; The elastic component 7 includes an arc ring 701, an arc auxiliary ring 702 and a first spring 703; the arc ring 701 and the arc auxiliary ring 702 are both coaxially arranged with the rotating shaft 6, and the radius of the arc ring 701 and the arc auxiliary ring 702 are the same, and the arc auxiliary ring 702 is slidably inserted into the arc ring 701; one of the arc ring 701 and the arc auxiliary ring 702 is fixedly connected to the supporting element 2, and the other is fixedly connected to the calibration arm 3, and the first spring 703 is arranged in the arc ring 701, and is used to provide elastic force to make the arc ring 701 and the arc auxiliary ring 702 slide relative to each other, so that the top end of the calibration arm 3 is pressed against the sliding base 4.

[0056] The combination of the arc-shaped sliding mechanism and the spring achieves stable and controllable pressure transmission. Compared with the simple spring pressure mechanism, this design has better adjustability and stability, and can adapt to different calibration requirements and environmental changes. In addition, this design also has the advantages of simple structure and easy maintenance, which improves the practicality and reliability of the calibration device.

[0057] Among them, the rotating shaft 6 can take various forms, for example, it can be a cylindrical shaft fixed on the supporting element 2, and the calibration arm 3 is mounted on the cylindrical shaft through a bearing sleeve; or it can be an axon integrally formed with the supporting element 2, and the calibration arm 3 is provided with a corresponding axial hole to cooperate with it; or, the rotating shaft 6 is a cylindrical shaft fixed on the calibration arm 3 or an axon integrally formed with the calibration arm 3, and the cylindrical shaft or the axon is rotatably connected to the supporting element 2 through a bearing.

[0058] The design of the arc collar 701 and the arc auxiliary ring 702 realizes the guidance of the relative rotation between the support element 2 and the calibration arm 3, and improves the stability and accuracy of the rotation process of the calibration arm 3. These two components can be made of wear-resistant materials, such as polymers or metal alloys, to ensure long-term stability. The radius of the arc collar 701 and the arc auxiliary ring 702 can be designed according to actual needs.

[0059] The first spring 703 may be a tension spring or a compression spring, which is selected according to the arrangement direction of the arc collar 701 and the arc auxiliary ring 702. Figure 3 In order to ensure that the elastic force provided can make the top of the calibration arm 3 press upward toward the sliding base 4, the elastic force provided by the first spring 703 needs to make the calibration arm 3 rotate in the clockwise direction, so that Figure 3 The first spring 703 in is a tension spring.

[0060] The specific shape of the supporting element 2 can be set according to actual needs, for example Figure 1 , Figure 2 In the embodiment, the support element 2 is a U-shaped frame with an opening facing upward, and the calibration arm 3 passes through the opening at the upper end of the U-shaped frame and is rotatably connected to both sides of the opening. The support element 2 can provide stable support for the calibration arm 3 and does not hinder the rotation of the calibration arm 3. However, the shape of the support element 2 is not limited thereto.

[0061] The calibration arm 3 may be of a fixed length or of an adjustable length. Preferably, the length of the calibration arm 3 is adjustable, so that the calibration device can adapt to parallel robots 200 of different sizes and structures, thereby increasing the versatility and scope of application of the device. This design allows the user to adjust the length of the calibration arm 3 according to the specific model and size of the parallel robot 200, thereby ensuring that the calibration arm 3 can accurately contact the free end of the control arm 91 of the parallel robot 200, thereby improving the accuracy and efficiency of the calibration. In addition, when not in use, the length of the calibration arm 3 can be shortened to the minimum, thereby reducing space occupancy and making it easier to transport and store.

[0062] The length-adjustable calibration arm 3 can be realized in various ways.

[0063] For example, a threaded adjustment mechanism can be used to achieve length adjustment. Specifically, the calibration arm 3 can be composed of two threaded parts, and the total length of the calibration arm 3 can be increased or decreased by rotating one of the parts. This method provides precise length adjustment capability.

[0064] For another example, a latch-type adjustment mechanism can be used to achieve length adjustment. Specifically, the calibration arm 3 can be composed of multiple tubular components with alignment holes, and the length can be adjusted by inserting or removing a latch. This method provides a fast and discrete length adjustment option.

[0065] Or for example, refer to Figure 2 The calibration arm 3 includes a base 301 and a sliding portion 302; the middle portion of the base 301 is rotatably connected to the support element 2, the upper end of the base 301 is used to contact the sliding base 4, and the sliding portion 302 is slidably connected to the lower end of the base 301, and the sliding portion 302 can reciprocate along the axial direction of the base 301 to change the length of the calibration arm 3. In this way, it can adapt to parallel robots 200 of different models or sizes, increasing the scope of application and flexibility of the calibration device. At the same time, the adjustable length feature also helps to improve the calibration accuracy, because the contact position between the calibration arm 3 and the control arm 91 of the parallel robot 200 can be more accurately controlled. In addition, this structure is simple, easy to operate, and easy to implement and maintain.

[0066] Specifically, the base part 301 can be a hollow round tube structure, with a rotation hole in the middle for connecting with the rotation axis of the support element 2. The upper end of the base part 301 can be designed to be slightly flat to increase the contact area with the sliding base 4 and improve stability. The sliding part 302 can be designed to be a cylindrical structure matching the inner cavity of the base part 301, and its outer diameter is slightly smaller than the inner diameter of the base part 301 to ensure smooth sliding.

[0067] Or, if Figure 2 As shown, the base portion 301 may include a solid rod portion 3011 and an inverted U-shaped frame body 3012 and a detection fixed rod 3013 arranged at the lower end of the solid rod portion 3011, the solid rod portion 3011 is rotatably connected to the supporting element 2 and the upper end of the solid rod portion 3011 is used to contact the sliding base 4, and the detection fixed rod 3013 is coaxially arranged in the middle of the inverted U-shaped frame body 3012; correspondingly, the sliding portion 302 may include a U-shaped slide 3021 adapted to the inverted U-shaped frame body 3012 and a detection slide bar 3022 adapted to the detection fixed rod 3013, the detection slide bar 3022 is coaxially arranged in the middle of the U-shaped slide 3021, the upper end of the U-shaped slide 3021 and the lower end of the inverted U-shaped frame body 3012 are slidably connected to each other, and the upper end of the detection slide bar 3022 and the lower end of the detection fixed rod 3013 are slidably connected to each other.

[0068] The solid rod portion 3011 is configured as a solid structure, and its structural strength is relatively large, which can avoid deformation due to interference with the sliding base 4 and reduce the risk of deformation of the connection with the supporting element 2 due to concentrated force. When working, the detection rod composed of the detection fixed rod 3013 and the detection fixed rod 3013 (the detection rod is coaxially arranged with the solid rod portion 3011) is against the control arm 91, and the setting of the inverted U-shaped frame 3012 and the U-shaped slide 3021 can provide good support for the detection rod, avoid deformation of the detection rod, and thus ensure detection accuracy.

[0069] Furthermore, a damping member may be provided at the connection between the inverted U-shaped frame 3012 and the U-shaped slide 3021, and / or at the connection between the detection fixed rod 3013 and the detection slide rod 3022; thereby, a push-pull force sufficient to overcome the damping is required to change the length of the calibration arm 3, thereby preventing the calibration arm 3 from changing its length by itself under the action of gravity or other interfering forces during use.

[0070] Furthermore, the upper end of the solid rod portion 3011 may be rounded to avoid scratching the sliding base 4 .

[0071] Furthermore, the lower end of the detection slide rod 3022 can pass through the lower end of the U-shaped slide 3021 to form a detection head 3023; when working, it is preferred to use the detection head 3023 to resist the control arm 91, so that point contact is formed between the calibration arm 3 and the free section of the control arm 91, thereby further improving the detection accuracy.

[0072] In some optional embodiments, see Figure 1 , Figure 5 A guide column 8 is provided at the top center of the calibration base 1, and the sliding base 4 is slidably sleeved on the guide column 8, and the sliding base 4 can move up and down along the guide column 8; A locking mechanism 9 is provided on the sliding base 4 , and the locking mechanism 9 is used to lock the position of the sliding base 4 on the guide column 8 .

[0073] This design achieves accurate adjustment and reliable fixation of the position of the sliding base 4 through the cooperation of the guide column 8 and the locking mechanism 9. The guide column 8 provides a track for the movement of the sliding base 4 to ensure the stability and straightness of its movement. The locking mechanism 9 can fix the position of the sliding base 4 when necessary to prevent accidental movement during the calibration process. This solution solves the technical problems of position adjustment and fixation of the sliding base 4 and improves the accuracy and reliability of the calibration device. This design ensures the straightness and stability of the movement of the sliding base 4 and effectively avoids the problem of tilting or offset of the sliding base 4 during movement.

[0074] In addition, after the calibration arm 3 collides with the control arm 91, the sliding base 4 can be locked by the locking mechanism 9 to prevent the position of the calibration arm 3 from being affected by the shaking of the sliding base 4 during the reading process, thereby ensuring a smooth reading process and accurate reading results. When not in use, the sliding base 4 can also be locked by the locking mechanism 9 to prevent the sliding base 4 from shaking and causing collision with the calibration arm 3 and collision between the calibration arm 3 and external equipment.

[0075] The guide column 8 may be cylindrical, and the surface may be precisely machined and hardened to reduce friction and improve wear resistance. The sliding base 4 may cooperate with the guide column 8 through a built-in bearing or sleeve to ensure smooth sliding.

[0076] Furthermore, a limiting plate 801 may be provided on the top of the guide column 8 to prevent the sliding base 4 from being separated from the guide column 8 .

[0077] Preferably, a plurality of guide telescopic columns 10 may be provided between the sliding base 4 and the calibration base 1, and the guide telescopic columns 10 are parallel to the guide columns 8. The guide telescopic columns 10 cooperate with the guide columns 8 to guide the sliding base 4, so that the sliding base 4 can be better ensured to be strictly translated, and the sliding base 4 can be prevented from tilting and increasing the wear between the sliding base 4 and the guide columns 8, and the detection accuracy can be further ensured.

[0078] The locking mechanism 9 can be designed as a quick release type, for example, a cam structure, which can be locked and unlocked by simply pulling. Figure 5-Figure 7 The structure shown.

[0079] exist Figure 5-Figure 7 In the embodiment, the locking mechanism 9 includes a gear 901, a support seat 902, a fixed ring 903, a sliding ring 904, a movable column 905, a second spring 906 and a force ring 907. The outer surface of the guide column 8 is provided with a tooth groove 802 extending in the up-down direction; the gear 901 is meshed with the tooth groove 802; The fixing ring 903 is fixed on the support seat 902 (for example, it can be fixed on the top of the support seat 902 or arranged inside the support seat 902), and a T-shaped groove is provided on the inner circumferential surface of the fixing ring 903, and the T-shaped groove is composed of an axial groove 9031 extending along the axial direction of the fixing ring 903 and a circumferential groove 9032 extending along the circumferential direction of the fixing ring 903; the sliding ring 904 is movably arranged in the inner hole of the fixing ring 903 and is coaxially arranged with the fixing ring 903, and the outer circumference of the sliding ring 904 is provided with a protruding portion 9041 protruding outward, and the protruding portion 9041 extends into the T-shaped groove; when the protruding portion 9041 is located in the axial groove 9031, the sliding ring 904 can move in the axial direction, and when the protruding portion 9041 is located in the circumferential groove 9032, the sliding ring 904 cannot move in the axial direction; The movable column 905 passes through the sliding ring 904 and is fixedly connected to the sliding ring 904. The first end of the movable column 905 is aligned with the tooth surface of the gear 901, and the second end is connected to the force ring 907. The second spring 906 is connected between the movable column 905 and the support seat 902, and is used to provide elastic force to the movable column 905, so that the first end of the movable column 905 is pressed against the tooth surface of the gear 901 to lock the gear 901.

[0080] When the position of the sliding base 4 needs to be adjusted, the active column 905 can be moved by operating the force ring 907 to separate it from the gear 901. Then, the active column 905 is rotated to make the protrusion 9041 of the sliding ring 904 enter the circumferential groove 9032, so that the active column 905 and the gear 901 remain separated (without having to rely on the operator to continuously apply force to maintain the separation state, improving the convenience of operation), thereby allowing the gear 901 to rotate freely and the sliding base 4 can move up and down. This design allows the operator to flexibly adjust the height of the sliding base 4 to meet different calibration requirements.

[0081] When the sliding base 4 reaches the desired position, the movable column 905 is rotated by the force ring 907, so that the protrusion 9041 of the sliding ring 904 enters the axial groove 9031. Under the action of the second spring 906, the movable column 905 will press against the tooth surface of the gear 901, locking the gear 901, thereby fixing the position of the sliding base 4. This locking method utilizes the principle of spring force and gear meshing to ensure the reliability and stability of the locking.

[0082] A limiting portion 9051 (such as a stopper 9051) adapted to the tooth surface of the gear 901 may be provided at the first end of the movable column 905. Figure 6 As shown in FIG. 1 ), the limiting portion 9051 can be engaged with the tooth surface of the gear 901. Thus, the locking stability can be improved.

[0083] The shape of the T-slot can be adjusted as needed, and can be a standard T-shape, an L-shape, or other suitable shapes, as long as the switching between axial and circumferential motion can be achieved. The number and distribution of the T-slots and the protrusions 9041 can also be adjusted according to actual needs to improve the stability and reliability of the locking.

[0084] The gear 901 can be connected to the sliding base 4 through an independent connecting seat, or can be connected to the supporting seat 902 through a connecting piece (such as Figure 6 as shown).

[0085] Among them, one or more locking mechanisms 9 can be provided, and the specific number can be adjusted according to actual needs. Figure 4 In the figure, two locking mechanisms 9 are provided, and the two locking mechanisms 9 are symmetrically arranged on the opposite sides of the guide column 8. Correspondingly, two tooth grooves 802 are provided on the guide column 8. On the one hand, the locking stability can be improved, and on the other hand, the locking and unlocking operations will not be too complicated due to too many locking mechanisms 9.

[0086] The number and distribution of the calibration arms 3 can be set according to the number and distribution of the control arms 91 of the parallel robot 200 to be calibrated. Figure 8In the embodiment, three control arms 91 of the parallel robot 200 are provided and are evenly arranged in the circumferential direction, and three calibration arms 3 are provided and are evenly arranged in the circumferential direction.

[0087] In order to align the calibration arm 3 and the control arm 91, mutually matching positioning structures can be provided on the control console 90 and the calibration base 1 of the parallel robot 200, and the relative positions of the calibration base 1 and the control console 90 can be positioned by the positioning structures. For example, positioning holes and / or positioning columns can be provided at the bottom of the calibration base 1, and corresponding positioning columns and / or positioning holes can be provided at the top of the control console 90, and positioning can be achieved by inserting the positioning columns of one of the calibration base 1 and the control console 90 into the positioning holes of the second.

[0088] In some preferred embodiments, see Figure 1 , Figure 5 The calibration base 1 includes a coaxially arranged fixed base 101 and a rotating base 102. The rotating base 102 is rotatably arranged on the lower side of the fixed base 101. The rotating base 102 is used to be detachably connected to the control console 90 of the parallel robot 200. The supporting element 2 (as well as the guide column 8 and the guide telescopic column 10) are arranged on the top of the fixed base 101.

[0089] The rotatability of the rotating base 102 enables the calibration device to adapt to control consoles 90 at different angles and positions (even when the number of calibration arms 3 is not equal to the number of control arms 91 of the parallel robot 200, one of the calibration arms 3 can still calibrate each control arm 91 in turn by rotating the rotating base 102. Although it is impossible to achieve synchronous calibration of all control arms 91, it is still usable), which increases the convenience and applicability of the connection. In addition, by rotating the rotating base 102, each control arm 91 can be tested multiple times by different calibration arms 3, and finally calibrated by combining the multiple test results, which can improve the calibration accuracy. At the same time, the detachable connection method also improves the versatility of the calibration device, making it applicable to parallel robots of different models or brands.

[0090] A locking screw or other locking structure may be used to lock the rotation angle of the rotating base 102 .

[0091] The detachable connection between the rotating base 102 and the control console 90 of the parallel robot 200 may be, but is not limited to, a magnetic connection, a threaded connection, or a snap connection.

[0092] In some embodiments, see Figure 8At least three L-shaped plates 11 are provided at the edge of the rotating base 102, and these L-shaped plates 11 are evenly arranged along the circumference of the rotating base 102. The L-shaped plates 11 include a vertical plate portion 1101 and a horizontal plate portion 1102. The upper end of the vertical plate portion 1101 is screwed to the rotating base 102, and the horizontal plate portion 1102 extends inwardly along the radial direction of the rotating base 102; an extension plate 12 is slidably sleeved on one end of the horizontal plate portion 1102 away from the vertical plate portion 1101, and a fastening screw 13 extending in the up-and-down direction is passed through the extension plate 12, and the fastening screw 13 is threadedly connected to the extension plate 12.

[0093] During installation, after positioning and fitting the control console 90 of the parallel robot 200 to the rotating base 102, slide the extension plate 12 in a direction away from the vertical plate portion 1101, and then rotate the fastening screw 13 so that the top of the fastening screw 13 presses against the bottom of the control console 90, thereby clamping the control console 90 to the bottom of the rotating base 102. The locking structure is easy to assemble and disassemble, and can stably lock the parallel robot 200, and can adapt to control consoles 90 of different thicknesses. In addition, since the L-shaped plate 11 is screwed to the rotating base 102, L-shaped plates 11 of different sizes can be replaced according to control consoles 90 of different sizes, thereby further improving applicability.

[0094] The horizontal plate portion 1102 and the extension plate 12 can be locked in position by means of locking screws or other locking structures.

[0095] refer to Figure 8 The present application also provides a parallel robot calibration system, including a parallel robot 200 and the parallel robot calibration device 100 described above.

[0096] Among them, the parallel robot 200 includes a control console 90, multiple control arms 91, a working end 92 and multiple joysticks 93. The control arms 91 are evenly arranged along the circumference of the control console 90. One end of the control arm 91 is rotatably connected to the control console 90. The control console 90 is used to control the swing of each control arm 91. At least one joystick 93 is connected between the other end of each control arm 91 and the working end 92. The two ends of the joystick 93 are respectively hinged to the other end of the control arm 91 and the edge of the working end 92.

[0097] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0098] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A parallel robot calibration device, characterized in that: include: A calibration base (1) used for connecting to a control console (90) of a parallel robot (200); A plurality of support elements (2) fixed on the calibration base (1) and evenly arranged along the circumference of the calibration base (1); A plurality of calibration arms (3) are rotatably connected to the support elements (2) in a one-to-one correspondence, and the calibration arms (3) are capable of swinging up and down; A sliding base (4) is arranged above the calibration base (1) so as to be movable up and down, and the sliding base (4) is used to abut against the top of each calibration arm (3) to control each calibration arm (3) to swing until it contacts the free end of each control arm (91) of the parallel robot (200); A plurality of indicating mechanisms (5) are respectively arranged at the connection between each of the supporting elements (2) and each of the calibration arms (3), and the indicating mechanisms (5) are used to indicate the swing angle of the corresponding calibration arm (3).

2. The parallel robot calibration device according to claim 1, characterized in that: The indicating mechanism (5) comprises a pointer (501) and an indicating disk (502); one end of the pointer (501) is located at the center of the indicating disk (502); one of the pointer (501) and the indicating disk (502) is fixedly connected to the supporting element (2), and the other is fixedly connected to the calibration arm (3); the pointer (501) is used to indicate the swing angle of the calibration arm (3) on the indicating disk (502).

3. The parallel robot calibration device according to claim 1, characterized in that: An elastic component (7) is also provided at the connection between the support element (2) and the calibration arm (3), and the elastic component (7) is used to provide an elastic force to the calibration arm (3), so that the top end of the calibration arm (3) is pressed toward the sliding base (4).

4. The parallel robot calibration device according to claim 3, characterized in that: The support element (2) and the calibration arm (3) are connected via a rotating shaft (6); The elastic component (7) comprises an arc collar (701), an arc auxiliary ring (702) and a first spring (703); the arc collar (701) and the arc auxiliary ring (702) are both coaxially arranged with the rotating shaft (6), and the arc collar (701) and the arc auxiliary ring (702) have the same radius, and the arc auxiliary ring (702) is slidably arranged in the arc collar (701); One of the circular arc ring (701) and the circular arc auxiliary ring (702) is fixedly connected to the support element (2), and the other is fixedly connected to the calibration arm (3); the first spring (703) is arranged in the circular arc ring (701) and is used to provide elastic force to enable the circular arc ring (701) and the circular arc auxiliary ring (702) to slide relative to each other, thereby causing the top end of the calibration arm (3) to be pressed toward the sliding base (4).

5. The parallel robot calibration device according to claim 1, characterized in that: The length of the calibration arm (3) is adjustable.

6. The parallel robot calibration device according to claim 5, characterized in that: The calibration arm (3) comprises a base portion (301) and a sliding portion (302); the middle portion of the base portion (301) is rotatably connected to the support element (2), the upper end of the base portion (301) is used to contact the sliding base (4), and the sliding portion (302) is slidably connected to the lower end of the base portion (301), and the sliding portion (302) can reciprocate along the axial direction of the base portion (301) to change the length of the calibration arm (3).

7. The parallel robot calibration device according to claim 1, characterized in that: A guide column (8) is arranged at the top center of the calibration base (1), the sliding base (4) is slidably mounted on the guide column (8), and the sliding base (4) is capable of moving up and down along the guide column (8); The sliding base (4) is provided with a locking mechanism (9), and the locking mechanism (9) is used to lock the position of the sliding base (4) on the guide column (8).

8. The parallel robot calibration device according to claim 7, characterized in that: The locking mechanism (9) comprises a gear (901), a support seat (902), a fixed ring (903), a sliding ring (904), a movable column (905), a second spring (906) and a force ring (907); the outer surface of the guide column (8) is provided with a tooth groove (802) extending in the up-down direction; the gear (901) meshes with the tooth groove (802); The fixing ring (903) is fixed on the support seat (902); a T-shaped groove is provided on the inner circumferential surface of the fixing ring (903); the T-shaped groove is composed of an axial groove (9031) extending along the axial direction of the fixing ring (903) and a circumferential groove (9032) extending along the circumferential direction of the fixing ring (903); the sliding ring (904) is movably arranged in the inner hole of the fixing ring (903) and is coaxially arranged with the fixing ring (903); a protruding portion (9041) protruding outward is provided on the outer circumference of the sliding ring (904), and the protruding portion (9041) extends into the T-shaped groove; when the protruding portion (9041) is located in the axial groove (9031), the sliding ring (904) can move in the axial direction; when the protruding portion (9041) is located in the circumferential groove (9032), the sliding ring (904) cannot move in the axial direction; The movable column (905) passes through the sliding ring (904) and is fixedly connected to the sliding ring (904); the first end of the movable column (905) is aligned with the tooth surface of the gear (901), and the second end is connected to the force ring (907); the second spring (906) is connected between the movable column (905) and the support seat (902) and is used to provide elastic force to the movable column (905), so that the first end of the movable column (905) is pressed against the tooth surface of the gear (901) to lock the gear (901).

9. The parallel robot calibration device according to claim 1, characterized in that: The calibration base (1) comprises a coaxially arranged fixed base (101) and a rotating base (102); the rotating base (102) is rotatably arranged on the lower side of the fixed base (101); the rotating base (102) is used to be detachably connected to a control console (90) of a parallel robot (200); and the supporting element (2) is arranged on the top of the fixed base (101).

10. A parallel robot calibration system, characterized in that: It comprises a parallel robot (200) and the parallel robot calibration device (100) according to any one of claims 1 to 9.

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