A parallel robot calibration device and system

Abstract

This application belongs to the technical field of industrial robots, and discloses a parallel robot calibration device and system, including a calibration base, a plurality of support elements, a plurality of calibration arms, a sliding base and a plurality of indicating mechanisms. The sliding base is used to control 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 swinging angle of the calibration arm, so as to realize the synchronous calibration of each control arm, which has the advantages of being convenient for synchronous calibration of each control arm, improving calibration efficiency and accuracy.

Description

Technical Field

[0001] This application relates to the technical field of industrial robots, and more particularly, to a parallel robot calibration device and system. Background Art

[0002] Some existing parallel robots include a console (or fixed platform), an operating end (or moving platform), and multiple linkages connected in parallel between the console and the operating end. Each linkage includes a control arm and a joystick. One end of the control arm is rotatably connected to the console, and the console drives the control arm to swing up and down. Both ends of the joystick are hinged to the other end of the control arm and the operating end respectively. Through the coordinated movement of each linkage, the operating end can make multi-degree-of-freedom movements relative to the console. Such parallel robots are widely used in experiments such as flight simulation and wave simulation.

[0003] However, the control arms of such parallel robots may have a decrease in positioning accuracy due to machining errors, assembly errors, and / or use wear, thereby affecting the positioning accuracy of the operating end and making it difficult to be applicable to occasions with high-precision requirements. This decrease in accuracy may lead to inaccurate simulation effects and affect the reliability of experimental results. For example, in flight simulation, a decrease in the positioning accuracy of the control arm may cause deviations in the simulated flight attitude and cannot accurately reflect the real flight state, thus affecting the training effect of pilots.

[0004] In addition, existing parallel robots usually lack an effective calibration mechanism. During use, it is difficult to detect in a timely manner the situation where the positioning accuracy of the control arm decreases, which may lead to the use of equipment with insufficient accuracy for a long time without awareness, affecting the quality of experiments or production. At the same time, even if the accuracy problem is detected, there is a lack of a convenient calibration method, and it often requires disassembling the entire parallel robot for adjustment, which is not only time-consuming and laborious but also may introduce new errors.

[0005] Therefore, it is necessary to seek a parallel robot calibration device that is convenient for synchronously calibrating each control arm, which is conducive to users detecting in a timely manner the situation where the positioning accuracy of the control arm of the parallel robot decreases. Such a calibration device should be able to quickly and accurately measure the actual positions of each control arm and provide clear calibration instructions, enabling operators to easily make adjustments. At the same time, the calibration process should be simplified as much as possible to avoid complex disassembly and assembly steps to reduce the introduction of human errors. In addition, an ideal calibration device should also have good adaptability and be able to be applicable to different models and specifications of parallel robots to improve its versatility and practical value.

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

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

[0008] In a first aspect, this application provides a parallel robot calibration device, including:

[0009] A calibration base platform for connecting to the console of the parallel robot;

[0010] A plurality of support elements fixed on the calibration base platform and uniformly arranged along the circumference of the calibration base platform;

[0011] A plurality of calibration arms respectively rotatably connected to each of the support elements one by one, and the calibration arms can swing up and down;

[0012] A sliding base platform is arranged above the calibration base platform so as to be able to move up and down. The sliding base platform is used to abut against the top ends of the calibration arms to control each calibration arm to swing until it contacts the free ends of the control arms of the parallel robot;

[0013] A plurality of indicating mechanisms are respectively arranged at the joints of the support elements and the calibration arms, and the indicating mechanisms are used to indicate the swinging angles of the corresponding calibration arms.

[0014] This parallel robot calibration device controls each calibration arm to swing until it contacts the free ends of the control arms of the parallel robot through the sliding base platform, and indicates the swinging angle of the calibration arm through the indicating mechanism, thereby realizing the synchronous calibration of each control arm, and having the advantages of facilitating the synchronous calibration of each control arm and improving the calibration efficiency and accuracy.

[0015] Preferably, the indicating mechanism includes a pointer and an indicating disk, and one end of the pointer is located at the center of the indicating disk; one of the pointer and the indicating disk is fixedly connected to the support element, and the other is fixedly connected to the calibration arm, and the pointer is used to indicate the swinging angle of the calibration arm on the indicating disk.

[0016] When the calibration arm swings, the pointer will move on the indicating disk, thereby indicating the swinging angle of the calibration arm on the indicating disk. This design enables the operator to intuitively observe the swinging angle of the calibration arm, so as to accurately adjust the position of the calibration arm.

[0017] Preferably, an elastic member is further arranged at the joint of the support element and the calibration arm, and the elastic member is used to provide an elastic force to the calibration arm to press the top end of the calibration arm against the sliding base platform.

[0018] The elastic component is used to provide an elastic force to the calibration arm, pressing the top end of the calibration arm against the sliding base. This design can ensure a stable contact between the calibration arm and the sliding base, maintaining a good contact state even when the sliding base moves up and down or the swinging angle of the calibration arm changes.

[0019] Preferably, the support element and the calibration arm are connected by a rotating shaft;

[0020] The elastic component includes an arc-shaped collar, an arc-shaped sub-collar, and a first spring; both the arc-shaped collar and the arc-shaped sub-collar are coaxially arranged with the rotating shaft, and the arc-shaped collar and the arc-shaped sub-collar have the same radius. The arc-shaped sub-collar slides through the arc-shaped collar; one of the arc-shaped collar and the arc-shaped sub-collar is fixedly connected to the support element, and the other is fixedly connected to the calibration arm. The first spring is arranged inside the arc-shaped collar and is used to provide an elastic force to make the arc-shaped collar and the arc-shaped sub-collar slide relative to each other, so that the top end of the calibration arm presses against the sliding base.

[0021] Preferably, the length of the calibration arm is adjustable.

[0022] Preferably, the calibration arm includes a base part and a sliding part; the middle part of the base part is rotatably connected to the support 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 reciprocally move along the axial direction of the base part to change the length of the calibration arm.

[0023] Preferably, a guide post is provided at the center of the top of the calibration base, and the sliding base is slidably sleeved on the guide post, and the sliding base can move up and down along the guide post;

[0024] A locking mechanism is provided on the sliding base, and the locking mechanism is used to lock the position of the sliding base on the guide post.

[0025] Preferably, the locking mechanism includes a gear, a support seat, a fixed ring, a sliding ring, a movable column, a second spring, and a force-applying ring. A tooth groove extending in the up-and-down direction is provided on the outer surface of the guide post; the gear meshes with the tooth groove;

[0026] The fixing ring is fixed on the support base. A T-shaped groove is formed on the inner circumferential surface of the fixing ring. 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 circumferential direction 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. A convex portion protruding outward is arranged on the outer circumference of the sliding ring, and the convex portion extends into the T-shaped groove. When the convex portion is located in the axial groove, the sliding ring can move axially. When the convex portion is located in the circumferential groove, the sliding ring cannot move axially.

[0027] The movable column passes through the sliding ring and is fixedly connected with the sliding ring. The first end of the movable column is aligned with the tooth surface of the gear, the second end is connected with the force-applying ring, and the second spring is connected between the movable column and the support base and is used to provide an elastic force to the movable column to press the first end of the movable column against the tooth surface of the gear to lock the gear.

[0028] Preferably, the calibration base includes a fixed base and a rotating base arranged coaxially. The rotating base is rotatably arranged on the lower side of the fixed base. The rotating base is used for detachably connecting with the console of the parallel robot, and the support element is arranged on the top of the fixed base.

[0029] In a second aspect, the present application provides a parallel robot calibration system, including a parallel robot and the parallel robot calibration device described above.

[0030] Beneficial effects: The parallel robot calibration device and system provided by the present application include a calibration base, a plurality of support elements, a plurality of calibration arms, a sliding base, and a plurality of indicating mechanisms. By controlling each calibration arm to swing to contact the free end of each control arm of the parallel robot through the sliding base, and indicating the swing angle of the calibration arm through the indicating mechanism, the synchronous calibration of each control arm can be realized, which has the advantages of facilitating the synchronous calibration of each control arm, improving the calibration efficiency and accuracy. Description of the Drawings

[0031] Figure 1 It is a perspective view of the parallel robot calibration device provided by the embodiment of the present application.

[0032] Figure 2 It is a structural schematic diagram of the support element and the calibration arm.

[0033] Figure 3 It is a connection structure diagram of the support element and the calibration arm.

[0034] Figure 4 It is a top view of the parallel robot calibration device provided by the embodiment of the present application.

[0035] Figure 5It is a side view of the parallel robot calibration device provided by the embodiment of the present application.

[0036] Figure 6 It is Figure 1 an enlarged view of part A in

[0037] Figure 7 a schematic structural diagram of a fixed ring and a sliding ring.

[0038] Figure 8 It is a perspective view of the parallel robot calibration system provided by the embodiment of the present application.

[0039] Label description: 1. Calibration base; 101. Fixed base; 102. Rotating base; 2. Support element; 3. Calibration arm; 301. Base part; 3011. Solid rod part; 3012. Inverted U-shaped frame; 3013. Detection fixed rod; 302. Sliding part; 3021. U-shaped sliding frame; 3022. Detection sliding rod; 3023. Detection head; 4. Sliding base; 5. Indication mechanism; 501. Pointer; 502. Indication disk; 6. Rotating shaft; 7. Elastic component; 701. Arc sleeve ring; 702. Arc secondary ring; 703. First spring; 8. Guide post; 801. Limiting plate; 802. Tooth groove; 9. Locking mechanism; 901. Gear; 902. Support seat; 903. Fixed ring; 9031. Axial groove; 9032. Circumferential groove; 904. Sliding ring; 9041. Protrusion; 905. Movable column; 9051. Limiting part; 906. Second spring; 907. Force-applying ring; 10. Guide telescopic column; 11. L-shaped plate; 1101. Vertical plate part; 1102. Horizontal plate part; 12. Extension plate; 13. Tightening screw; 90. Console; 91. Control arm; 92. Working end; 93. Joystick; 100. Parallel robot calibration device; 200. Parallel robot. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present application will be clearly and completely described 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 the embodiments. Usually, 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 present application to be protected, but only 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 creative efforts belong to the scope of protection of the present application.

[0041] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, 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, terms such as "first" and "second" are only used for differential description and cannot be construed as indicating or implying relative importance.

[0042] Parallel robots are widely used in experiments such as flight simulation and wave simulation due to their high precision, high stiffness, and large load capacity. Such robots generally include a console, an operating end, and multiple branch chains. Each branch chain consists of a control arm and a joystick. The control arm is driven by the console to swing up and down, and the joystick connects the control arm and the operating end. Through the coordinated movement of each branch chain, the operating end can achieve multi-degree-of-freedom movement relative to the console.

[0043] However, in practical applications, the control arms of parallel robots may experience a decrease in positioning accuracy due to machining errors, assembly errors, or wear during use. This decrease in accuracy directly affects the positioning accuracy of the operating end, thereby limiting the application of parallel robots in scenarios with high-precision requirements. Specifically, the positioning error of the control arm is transmitted to the operating end through the joystick, resulting in a deviation between the actual position and the theoretical position of the operating end. This deviation may be amplified in some applications. For example, in a flight simulator, a small positioning error may lead to a significant deviation in the simulated flight trajectory.

[0044] Therefore, it becomes particularly important to develop a method capable of synchronously calibrating multiple control arms of a parallel robot.

[0045] For this purpose, please refer to Figures 1-7 , this application provides a calibration device 100 for a parallel robot, including:

[0046] A calibration base 1 for connecting to the console 90 of the parallel robot 200;

[0047] A plurality of support elements 2 fixed on the calibration base 1 and uniformly arranged along the circumference of the calibration base 1;

[0048] A plurality of calibration arms 3 respectively rotatably connected to the respective support elements 2 in a one-to-one correspondence, and the calibration arms 3 can swing up and down;

[0049] A sliding base 4 is disposed above the calibration base 1 so as to be movable up and down. The sliding base 4 is used to abut against the tops of the respective calibration arms 3 to control the respective calibration arms 3 to swing until they contact the free ends of the respective control arms 91 of the parallel robot 200;

[0050] A plurality of indicating mechanisms 5 are respectively disposed at the joints of the respective support elements 2 and the respective calibration arms 3, and the indicating mechanisms 5 are used to indicate the swinging angles of the corresponding calibration arms 3.

[0051] The parallel robot calibration device 100 controls each calibration arm 3 to swing until it contacts 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, and having the advantages of facilitating the synchronous calibration of each control arm 91, improving the calibration efficiency and accuracy.

[0052] Among them, the calibration base 1 refers to the basic platform used to connect with the console 90 of the parallel robot 200.

[0053] Among them, the support element 2 refers to the support structure fixed on the calibration base 1, and can be specifically realized in the form of a column or a bracket.

[0054] Among them, the calibration arm 3 refers to the swingable arm rotatably connected to the support element 2, and can be specifically realized in the form of a rod-shaped structure.

[0055] Among them, the sliding base 4 refers to the platform structure that can move up and down, and can be specifically realized by the cooperation of a base plate and a guide post.

[0056] Among them, the indicating mechanism 5 refers to the device used to indicate the swing angle of the calibration arm 3, and can be specifically realized by the combination of an indicating disk 502 (a scale disk) and a pointer 501.

[0057] During operation, the calibration base 1 is connected to the console 90 of the parallel robot 200. By adjusting the height of the sliding base 4, all calibration arms 3 swing simultaneously until their lower parts contact each control arm 91 of the parallel robot 200. At this time, by observing the readings on each indicating mechanism 5, the actual position of each control arm 91 can be obtained. If it is found that there is a deviation between the actual position and the theoretical position of the control arm 91, corresponding adjustments and calibrations can be made. The advantage of this design is that the synchronous movement of multiple calibration arms 3 is realized through a single sliding base 4, greatly simplifying the operation process. At the same time, the accurate angle readings provided by the indicating mechanism 5 enable the operator to intuitively understand the position status of each control arm 91, which is beneficial to quickly discovering and correcting deviations.

[0058] In some possible implementation manners, 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 support 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.

[0059] When the calibration arm 3 swings, the pointer 501 and the indicating disk 502 will rotate relative to each other around the central axis of the indicating disk 502, so that the pointer 501 indicates the swing angle of the calibration arm 3 on the indicating disk 502. This design enables the operator to visually 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 at the same time improves the accuracy and efficiency of calibration.

[0060] Among them, the pointer 501 can adopt different shapes, such as linear, arrow-shaped or triangular, etc., to improve the accuracy of reading. The indicating disk 502 can adopt different scale designs, such as equally divided scales or non-equally divided scales, to meet different angle measurement requirements.

[0061] In Figure 3 the pointer 501 is fixedly connected to the calibration arm 3 (for example, the support element 2 and the calibration arm 3 are connected by 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 indicating disk 502, and the pointer 501 is fixedly connected to the end of the rotating shaft 6 passing through the indicating disk 502; but not limited to this), and the indicating 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 indicating disk 502, thereby showing an accurate angle on the indicating disk 502. In fact, the pointer 501 can also be fixedly connected to the support element 2, while the indicating disk 502 is fixedly connected to the calibration arm 3.

[0062] The scale on the indicating 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.

[0063] In some preferred embodiments, see Figures 1-3 a resilient member 7 is also provided at the connection between the support element 2 and the calibration arm 3, and the resilient member 7 is used to provide an elastic force to the calibration arm 3 to press the top end of the calibration arm 3 against the sliding base 4.

[0064] The resilient member 7 is used to provide an elastic force to the calibration arm 3 to press the top end of the calibration arm 3 against the sliding base 4. This design can ensure a stable contact between the calibration arm 3 and the sliding base 4, and can maintain a good contact state even when the sliding base 4 moves up and down or the swing angle of the calibration arm 3 changes (except when the lower part of the calibration arm 3 has abutted against the control arm 91 and the sliding base 4 continues to move up).

[0065] The elastic member 7 can be arranged in various ways. For example, a compression spring, a torsion spring or other elastic materials can be used. The elastic member 7 can be directly connected between the support element 2 and the calibration arm 3, or can be connected through other intermediate structures. The magnitude of the elastic force of the elastic member 7 can be adjusted according to actual requirements to ensure that the calibration arm 3 can stably press against the sliding base 4, while not exerting excessive pressure on the sliding base 4.

[0066] There are also various options for the connection method of the elastic member 7 with the support element 2 and the calibration arm 3. Bolt fixation, snap connection or other detachable connection methods can be adopted to facilitate later maintenance and replacement. In addition, the installation position of the elastic member 7 can be adjusted according to the actual situation to obtain the best elastic effect.

[0067] In practical applications, when the sliding base 4 moves up and down, the elastic member 7 will deform as the calibration arm 3 swings, thereby providing a continuous elastic force. This elastic force can offset the small gaps caused by machining errors, assembly errors or use wear, ensuring that the top end of the calibration arm 3 always maintains good contact with the sliding base 4. At the same time, the elastic member 7 can also absorb part of the vibration and impact, further improving the stability of the calibration process.

[0068] Among them, one or more elastic members 7 can be provided between each support element 2 and the corresponding calibration arm 3, and the specific quantity can be set according to actual needs. For example Figure 2 In, two elastic members 7 are provided between each support element 2 and the corresponding calibration arm 3, and the two elastic members 7 are symmetrically arranged on the opposite sides of the support element 2 and the calibration arm 3.

[0069] For example, in some possible implementation manners, see Figure 3 , the support element 2 and the calibration arm 3 are connected by a rotating shaft 6;

[0070] The elastic member 7 includes an arc-shaped collar 701, an arc-shaped sub-ring 702 and a first spring 703; both the arc-shaped collar 701 and the arc-shaped sub-ring 702 are coaxially arranged with the rotating shaft 6, and the radii of the arc-shaped collar 701 and the arc-shaped sub-ring 702 are the same. The arc-shaped sub-ring 702 slidably penetrates through the arc-shaped collar 701; one of the arc-shaped collar 701 and the arc-shaped sub-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 inside the arc-shaped collar 701 and is used to provide an elastic force to make the arc-shaped collar 701 and the arc-shaped sub-ring 702 slide relative to each other, so that the top end of the calibration arm 3 presses against the sliding base 4.

[0071] Through the combination of an arc-shaped sliding mechanism and a spring, stable and controllable pressure transmission is achieved. Compared with a 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, improving the practicability and reliability of the calibration device.

[0072] Among them, the rotating shaft 6 can adopt various forms. For example, it can be a cylindrical shaft fixed on the support element 2, and the calibration arm 3 is sleeved on this cylindrical shaft through a bearing; or it can be a shaft protrusion integrally formed with the support element 2, and a corresponding shaft hole is provided on the calibration arm 3 to cooperate with it; or, the rotating shaft 6 is a cylindrical shaft fixed on the calibration arm 3 or a shaft protrusion integrally formed with the calibration arm 3, and this cylindrical shaft or shaft protrusion is rotatably connected to the support element 2 through a bearing.

[0073] The design of the arc-shaped collar 701 and the arc-shaped sub-collar 702 realizes the guidance of the relative rotation between the support element 2 and the calibration arm 3, improving the smoothness and accuracy of the rotation process of the calibration arm 3. These two components can be made of wear-resistant materials, such as polymer or metal alloy, to ensure the stability of long-term use. The radii of the arc-shaped collar 701 and the arc-shaped sub-collar 702 can be designed according to actual needs.

[0074] Among them, the first spring 703 can be a tension spring or a compression spring, and is specifically selected according to the setting direction of the arc-shaped collar 701 and the arc-shaped sub-collar 702. For example Figure 3 In, to ensure that the provided elastic force can make the top of the calibration arm 3 press upward against 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.

[0075] The specific shape of the support element 2 can be set according to actual needs. For example Figure 1 、 Figure 2 In, the support element 2 is a U-shaped frame with an upward opening, 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. This 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 to this.

[0076] Among them, the calibration arm 3 can be of a fixed length or have an adjustable length. Preferably, it has an adjustable length structure. The adjustable length of the calibration arm 3 enables the calibration device to adapt to parallel robots 200 of different sizes and structures, increasing the versatility and application range of the device. This design allows users to adjust the length of the calibration arm 3 according to the specific model and size of the parallel robot 200, so as to ensure that the calibration arm 3 can accurately contact the free end of the control arm 91 of the parallel robot 200, improving the accuracy and efficiency of calibration. Additionally, when not in use, the length of the calibration arm 3 can be shortened to the minimum, thus reducing space occupancy and being more convenient for transportation and storage.

[0077] The calibration arm 3 with adjustable length can be realized in various ways.

[0078] For example, a threaded adjustment mechanism can be used to achieve adjustable length. Specifically, the calibration arm 3 can be composed of two parts connected by threads. By rotating one of the parts, the total length of the calibration arm 3 can be increased or decreased. This method provides precise length adjustment capabilities.

[0079] Also for example, a pin-type adjustment mechanism can be adopted to achieve adjustable length. Specifically, the calibration arm 3 can be composed of multiple tubular components with alignment holes. The length can be adjusted by inserting or removing pins. This method provides fast and discrete length adjustment options.

[0080] Or for example, referring to Figure 2 , the calibration arm 3 includes a base part 301 and a sliding part 302; the middle part of the base part 301 is rotatably connected to the support element 2, the upper end of the base part 301 is used to abut against the sliding base 4, the sliding part 302 is slidably connected to the lower end of the base part 301, and the sliding part 302 can reciprocate axially along the base part 301 to change the length of the calibration arm 3. This can adapt to parallel robots 200 of different models or sizes, increasing the application range and flexibility of the calibration device. At the same time, the adjustable length characteristic 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 precisely controlled. In addition, this structure is simple, easy to operate, and easy to implement and maintain.

[0081] Specifically, the base part 301 can adopt a hollow circular tube structure, with a rotation hole provided in the middle for connecting to the rotation shaft of the support element 2. The upper end of the base part 301 can be designed to be slightly flattened to increase the contact area with the sliding base 4 and improve stability. The sliding part 302 can be designed as 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.

[0082] Or, as Figure 2As shown in the figure, the base part 301 may include a solid rod part 3011, an inverted U-shaped frame body 3012 and a detection fixed rod 3013 arranged at the lower end of the solid rod part 3011. The solid rod part 3011 is rotatably connected to the support element 2, and the upper end of the solid rod part 3011 is used to abut against the sliding base 4. The detection fixed rod 3013 is coaxially arranged in the middle of the inverted U-shaped frame body 3012; correspondingly, the sliding part 302 may include a U-shaped sliding frame 3021 adapted to the inverted U-shaped frame body 3012 and a detection sliding rod 3022 adapted to the detection fixed rod 3013. The detection sliding rod 3022 is coaxially arranged in the middle of the U-shaped sliding frame 3021. The upper end of the U-shaped sliding frame 3021 and the lower end of the inverted U-shaped frame body 3012 are slidably sleeved with each other, and the upper end of the detection sliding rod 3022 and the lower end of the detection fixed rod 3013 are slidably sleeved with each other.

[0083] The solid rod part 3011 is set as a solid structure with relatively high structural strength, which can avoid deformation due to abutting against the sliding base 4 and reduce the risk of deformation at the connection with the support element 2 due to concentrated force. During operation, the detection rod (coaxial with the solid rod part 3011) composed of the detection fixed rod 3013 and the detection fixed rod 3013 abuts against the control arm 91. The settings of the inverted U-shaped frame body 3012 and the U-shaped sliding frame 3021 can provide good support for the detection rod and avoid deformation of the detection rod, thus ensuring detection accuracy.

[0084] Furthermore, damping members can be provided at the connection between the inverted U-shaped frame body 3012 and the U-shaped sliding frame 3021, and / or at the connection between the detection fixed rod 3013 and the detection sliding rod 3022; thus, a pushing and pulling force sufficient to overcome the damping needs to be applied to change the length of the calibration arm 3, avoiding the self-change of the length of the calibration arm 3 under the action of gravity or other interference forces during use.

[0085] Furthermore, the upper end of the solid rod part 3011 can be rounded to avoid scratching the sliding base 4.

[0086] Furthermore, the lower end of the detection sliding rod 3022 can pass through the lower end of the U-shaped sliding frame 3021 to form a detection head 3023; during operation, it is preferably to use the detection head 3023 to abut against the control arm 91, so that a point contact is formed between the calibration arm 3 and the free section of the control arm 91, thereby further improving the detection accuracy.

[0087] In some alternative embodiments, see Figure 1 、 Figure 5 , a guide post 8 is provided at the center of the top of the calibration base 1, and the sliding base 4 is slidably sleeved on the guide post 8. The sliding base 4 can move up and down along the guide post 8;

[0088] 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 post 8.

[0089] Through the cooperation of the guiding column 8 and the locking mechanism 9, this design achieves precise adjustment and reliable fixation of the position of the sliding base 4. The guiding column 8 provides a track for the movement of the sliding base 4, ensuring the stability and straightness of its movement. The locking mechanism 9 can fix the position of the sliding base 4 when needed, preventing accidental movement during the calibration process. This solution solves the technical problems of position adjustment and fixation of the sliding base 4, improving the accuracy and reliability of the calibration device. This design ensures the straightness and stability of the movement of the sliding base 4, effectively avoiding the problems of tilting or deviation of the sliding base 4 during movement.

[0090] In addition, after the calibration arm 3 abuts against the control arm 91, the sliding base 4 can be locked by the locking mechanism 9, avoiding the influence of the shaking of the sliding base 4 on the position of the calibration arm 3 during the reading process, and ensuring the smoothness of the reading process and the accuracy of the reading result. When not in use, the sliding base 4 can also be locked by the locking mechanism 9, avoiding the collision between the sliding base 4 and the calibration arm 3 caused by the shaking of the sliding base 4 and the collision between the calibration arm 3 and external equipment.

[0091] Among them, the guiding column 8 can adopt a cylindrical shape, and its surface is precision machined and hardened to reduce friction and improve wear resistance. The sliding base 4 can be matched with the guiding column 8 through an internal bearing or sleeve to ensure smooth sliding.

[0092] Furthermore, a limit plate 801 can be arranged at the top of the guiding column 8 to prevent the sliding base 4 from detaching from the guiding column 8.

[0093] Preferably, a plurality of guiding telescopic columns 10 can also be arranged between the sliding base 4 and the calibration base 1, and the guiding telescopic columns 10 are parallel to the guiding column 8. By cooperating with the guiding column 8 through the guiding telescopic columns 10 to guide the sliding base 4, it can better ensure that the sliding base 4 strictly translates, avoid tilting of the sliding base 4 and increasing the wear between the sliding base 4 and the guiding column 8, and further ensure the detection accuracy.

[0094] The locking mechanism 9 can be designed as a quick-release type, for example, adopting a cam structure, and locking and unlocking can be achieved by simply pulling. Or it can be designed as Figures 5-7 the structure shown.

[0095] In Figures 5-7 it, the locking mechanism 9 includes a gear 901, a support seat 902, a fixing ring 903, a sliding ring 904, a movable column 905, a second spring 906 and a force-applying ring 907. A tooth groove 802 extending in the up and down direction is arranged on the outer surface of the guiding column 8; the gear 901 meshes with the tooth groove 802;

[0096] The fixing ring 903 is fixed on the supporting seat 902 (for example, it can be fixed on the top of the supporting seat 902 or arranged inside the supporting seat 902). A T-shaped groove is formed on the inner peripheral 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 convex portion 9041 protruding outward is provided on the outer periphery of the sliding ring 904, and the convex portion 9041 extends into the T-shaped groove. When the convex portion 9041 is located in the axial groove 9031, the sliding ring 904 can move axially. When the convex portion 9041 is located in the circumferential groove 9032, the sliding ring 904 cannot move axially.

[0097] 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-applying ring 907. The second spring 906 is connected between the movable column 905 and the supporting seat 902 and is used to provide an elastic force to the movable column 905 to press the first end of the movable column 905 against the tooth surface of the gear 901 to lock the gear 901.

[0098] When it is necessary to adjust the position of the sliding base 4, the movable column 905 can be moved by operating the force-applying ring 907 to separate it from the gear 901. Then, by rotating the movable column 905, the convex portion 9041 of the sliding ring 904 enters the circumferential groove 9032, keeping the movable column 905 separated from the gear 901 (without relying on the operator to continuously apply force to maintain this separated state, improving the operation convenience), thereby allowing the gear 901 to rotate freely and the sliding base 4 to move up and down. This design allows the operator to flexibly adjust the height of the sliding base 4 to adapt to different calibration requirements.

[0099] When the sliding base 4 reaches the required position, the movable column 905 is rotated by the force-applying ring 907 to make the convex portion 9041 of the sliding ring 904 enter 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 to lock the gear 901, thereby fixing the position of the sliding base 4. This locking method utilizes the principles of spring force and gear meshing to ensure the reliability and stability of the locking.

[0100] A limiting portion 9051 (as shown in Figure 6 ) adapted to the tooth surface of the gear 901 can be provided at the first end of the movable column 905. The limiting portion 9051 can be engaged with the tooth surface of the gear 901, thereby improving the locking stability.

[0101] Among them, the shape of the T-shaped groove can be adjusted according to needs. It can be a standard T-shape, an L-shape, or other suitable shapes, as long as the switching between axial and circumferential movements can be achieved. The number and distribution of the T-shaped grooves and the protrusions 9041 can also be adjusted according to actual needs to improve the locking stability and reliability.

[0102] Among them, the gear 901 can be connected to the sliding base 4 through an independent connecting seat, or can be connected to the support seat 902 through a connecting piece (as Figure 6 shown).

[0103] Among them, one or more locking mechanisms 9 can be provided, and specifically can be adjusted according to actual needs. For example Figure 4 in, two locking mechanisms 9 are provided. The two locking mechanisms 9 are symmetrically arranged on the opposite sides of the guide post 8. Correspondingly, two tooth grooves 802 are provided on the guide post 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.

[0104] The number and distribution mode of the calibration arms 3 can be set according to the number and distribution mode of the control arms 91 of the parallel robot 200 to be calibrated. For example Figure 8 in, the parallel robot 200 has three control arms 91, and they are evenly arranged in the circumferential direction. Accordingly, three calibration arms 3 are provided and are evenly arranged in the circumferential direction.

[0105] Among them, to align the calibration arm 3 and the control arm 91, mutually matching positioning structures can be provided on the console 90 of the parallel robot 200 and the calibration base 1, and the relative positions of the calibration base 1 and the console 90 can be positioned through this positioning structure. For example, positioning holes and / or positioning posts can be provided at the bottom of the calibration base 1, and corresponding positioning posts and / or positioning holes can be provided at the top of the console 90. The positioning is achieved by inserting the positioning post of one of the calibration base 1 and the console 90 into the positioning hole of the other.

[0106] In some preferred embodiments, see Figure 1 、 Figure 5 , the calibration base 1 includes a fixed base 101 and a rotating base 102 arranged coaxially. The rotating base 102 is rotatably arranged on the lower side of the fixed base 101. The rotating base 102 is used for detachably connecting with the console 90 of the parallel robot 200. The supporting element 2 (as well as the guide post 8 and the guiding telescopic column 10) is arranged on the top of the fixed base 101.

[0107] The rotatability of the rotating base 102 enables the calibration device to adapt to 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 sequence by rotating the rotating base 102. Although synchronous calibration of all control arms 91 cannot be achieved, 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 detected multiple times by different calibration arms 3, and finally calibrated by integrating the results of multiple detections, which can improve the calibration accuracy. At the same time, the detachable connection method also improves the versatility of the calibration device, enabling it to be applicable to parallel robots of different models or brands.

[0108] Among them, a locking screw or other locking structure can be used to lock the rotation angle of the rotating base 102.

[0109] Among them, the detachable connection method between the rotating base 102 and the console 90 of the parallel robot 200 can be but is not limited to magnetic connection, threaded connection, snap connection, etc.

[0110] In some embodiments, see Figure 8 , at least three L-shaped plates 11 are provided on the edge of the rotating base 102. These L-shaped plates 11 are evenly arranged along the circumferential direction of the rotating base 102. The L-shaped plate 11 includes 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 horizontally inward along the radial direction of the rotating base 102; a sliding sleeve is provided at one end of the horizontal plate portion 1102 away from the vertical plate portion 1101 with an extension plate 12, 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.

[0111] During installation, after positioning and fitting the console 90 of the parallel robot 200 with the rotating base 102, slide the extension plate 12 in the 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 console 90, thereby clamping the console 90 at the bottom of the rotating base 102. The installation and disassembly operation of this locking structure is simple, and it can stably lock the parallel robot 200 and can adapt to 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 also be replaced according to consoles 90 of different sizes, thereby further improving the applicability.

[0112] Among them, the position between the horizontal plate portion 1102 and the extension plate 12 can be locked by a locking screw or other locking structure.

[0113] 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.

[0114] Among them, the parallel robot 200 includes a console 90, a plurality of control arms 91, an operation end 92 and a plurality of joysticks 93. The control arms 91 are evenly arranged along the circumference of the console 90. One end of the control arm 91 is rotatably connected to the console 90. The 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 operation end 92. Both ends of the joystick 93 are hinged to the other end of the control arm 91 and the edge of the operation end 92 respectively.

[0115] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0116] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. 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), respectively arranged at the connection between each of the supporting elements (2) and each of the calibration arms (3), the indicating mechanisms (5) being used to indicate the swing angle of the corresponding calibration arm (3); 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); 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 collar (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 collar (701) and is used to provide elastic force to enable the circular arc collar (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 press against the sliding base (4); The length of the calibration arm (3) is adjustable; 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).

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: 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).

4. The parallel robot calibration device according to claim 3, 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).

5. 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).

6. 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 5.

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