Hand-eye calibration device

Abstract

The invention relates to a hand-eye calibration device, and belongs to the technical field of mechanical arm positioning. The bottom of the base is provided with a plurality of screw holes, and the base is connected with a manipulator through the screw holes; the notch is formed in the center of the top of the base; the calibration plate is movably mounted in the notch; the grooves are axially and symmetrically formed in the two sides of the base; the positioning assembly is arranged in the groove and used for limiting and fixing the calibration plate; and the cleaning assembly is arranged on one side of the notch and used for cleaning dust on the upper surface of the calibration plate. According to the hand-eye calibration device provided by the invention, the cleaning pad moves along the surface of the calibration plate through the cooperation of a plurality of components such as the movable rod, the reset spring and the fixed plate, so that the effect of cleaning the calibration plate is achieved, the cleanliness of the calibration plate is ensured, and the measurement accuracy is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of robot arm positioning, and in particular to a hand-eye calibration device. Background Art

[0002] The hand-eye calibration device is a technology that determines the position conversion relationship between the camera and the robotic arm. The components mainly include the camera, calibration plate, robotic arm, and related software and algorithms. The hand-eye calibration process usually includes the following steps: First, it is necessary to obtain at least one set of images of the calibration plate in different robotic arm postures. Then, the feature points on the calibration plate are extracted through image processing, and the positions of these feature points in the camera coordinate system are calculated. Then, using these known points and the kinematic model of the robotic arm, the transformation matrix between the camera coordinate system and the robotic arm coordinate system is calculated. The hand-eye calibration device plays a vital role in the robot vision system, which directly affects the accuracy and efficiency of the robot operation.

[0003] There are usually specific patterns on the calibration plate, such as a checkerboard. These patterns are used to provide reference points in the image. The calibration plate can be fixed at the end of the robotic arm or placed in the working area. By changing its position, it helps to determine the conversion relationship between the camera and the robotic arm. Before use, the calibration plate needs to be installed on the base or the end of the robotic arm. The operator's fingerprints or dust may be stained on the calibration plate during the installation process. The dust, stains or fingerprints on the calibration plate may affect the extraction of feature points during image processing, resulting in inaccurate calibration results. Summary of the invention

[0004] Based on this, it is necessary to provide a hand-eye calibration device to address the above technical problems.

[0005] The present invention provides a hand-eye calibration device, comprising:

[0006] A base, the bottom of which has a plurality of screw holes, through which the base is connected to the manipulator;

[0007] a notch, disposed at the top center of the base;

[0008] A calibration plate, movably mounted in the notch;

[0009] Grooves, axially symmetrically arranged on both sides of the base;

[0010] A positioning assembly, disposed in the groove, for limiting and fixing the calibration plate;

[0011] A cleaning component is arranged on one side of the notch and is used for cleaning dust from the upper surface of the calibration plate.

[0012] In one embodiment, the cleaning assembly includes a fixed plate, which is fixedly connected to the top of the base, a cleaning pad is provided on one side of the fixed plate, a plurality of reset springs are fixedly connected between the cleaning pad and the fixed plate, a fixed cylinder is fixedly provided on one side of the fixed plate, a movable rod is movably provided in the fixed cylinder, and the movable rod is fixedly connected to the cleaning pad at one end away from the fixed cylinder.

[0013] In one embodiment, a fixed block is fixedly provided at one end of the cleaning pad, a transverse groove is provided in the fixed block, a movable block is movably provided in the transverse groove, and a positioning spring is fixedly provided between the movable block and the inner wall of the transverse groove.

[0014] In one of the embodiments, a positioning block is fixedly provided on the base at one side of the slot, a notch is provided on the positioning block, an inclined groove is provided on the movable block, and the notch is movably abutted against the inclined groove.

[0015] In one of the embodiments, movable grooves are axially symmetrically provided on both sides of the base, a movable frame is movably provided in one of the movable grooves, a limiting rod is fixedly provided on one side of the movable frame, the limiting rod is movably abutted against a side of the movable block where the inclined groove is not provided, and the height of the limiting rod is lower than the height of the positioning block.

[0016] In one embodiment, the positioning assembly includes a card plate, card slots are axially symmetrically opened on both sides of the calibration plate, and positioning slots are opened on both sides of the base. The card plate is movably connected to the positioning slot and can be movably engaged with the card slot. The positioning slot and the notch are communicated with each other, and the card plate is located in the groove and is slidably connected to the groove.

[0017] In one of the embodiments, a partition is fixedly arranged in the groove, a moving rod is movably arranged through the center of the partition, one end of the moving rod is fixedly connected to the clamping plate, a moving plate is fixedly sleeved on the outer side of one end of the moving rod away from the partition, a limiting spring is fixedly arranged between the moving plate and the partition, and the limiting spring is movably sleeved on the outer side of the moving rod.

[0018] In one of the embodiments, circular grooves are axially symmetrically provided on both sides of the base, a screw rod is movably provided in the circular groove, one end of the movable frame is movably sleeved on the outside of the screw rod, one end of the screw rod is located in the groove and an abutment plate is movably sleeved on the outside, an abutment groove is provided on one side of the abutment plate, the abutment groove is movably abutted with the movable rod, and the two screw rods are connected by a belt drive.

[0019] In one of the embodiments, a transverse block is fixedly connected to one side of the abutment plate, the transverse block is slidably connected to the inner wall of the groove, a limiting ball is provided on one side of the transverse block, two limiting holes are opened on one side of the base, and the limiting ball is movably engaged with the limiting hole.

[0020] In one of the embodiments, a circular ring is fixedly provided in the limiting hole, a push rod is movably provided at the center of the circular ring, a connecting spring is provided between the push rod and the circular ring, and one end of the push rod is movably abutted against the limiting ball.

[0021] The above-mentioned hand-eye calibration device, through the cooperation of multiple components such as the movable rod, the reset spring and the fixed plate, realizes the effect of moving the cleaning pad along the surface of the calibration plate to clean the calibration plate, thereby ensuring the cleanliness of the calibration plate and the accuracy of measurement; through the cooperation of multiple components such as the moving rod, the moving plate, the limit spring, etc., the card plate and the card slot are connected, ensuring the stability of the calibration plate during use; through the connection of the limit ball and the limit hole, it is ensured that the card plate can be stably connected in the card slot during the measurement process, and the calibration plate will not shake. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 for Figure 1 The enlarged schematic diagram of part A in the middle;

[0025] Figure 3 for Figure 1 The enlarged schematic diagram of part B in the middle;

[0026] Figure 4 It is a schematic diagram of the structure of the cleaning component in the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the transverse groove in the present invention;

[0028] Figure 6 It is a structural schematic diagram of the card slot in the present invention;

[0029] Figure 7 It is a schematic diagram of the structure of the limiting ball in the present invention;

[0030] Figure 8It is a schematic structural diagram of the ejector rod in the present invention.

[0031] Reference numerals:

[0032] 1. Base; 101. Screw hole; 102. Notch; 103. Groove; 104. Moving groove; 105. Positioning groove; 106. Circular groove; 107. Limiting hole; 2. Calibration plate; 21. Slot; 3. Positioning assembly; 31. Card plate; 32. Partition plate; 33. Moving rod; 34. Moving plate; 35. Limiting spring; 4. Cleaning assembly; 41. Fixed plate; 42. Cleaning pad; 43. Reset spring; 44. Fixed cylinder; 45. Movable rod; 5. Fixed block; 51. Horizontal groove; 6. Movable block; 61. Oblique groove; 7. Positioning spring; 8. Positioning block; 81. Notch; 9. Moving frame; 10. Limiting rod; 11. Screw; 12. Abutment plate; 121. Abutment groove; 13. Transverse block; 14. Limiting ball; 15. Ring; 16. Push rod; 17. Connecting spring. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of the present invention are for illustrative purposes only and do not represent the only implementation method.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] Unless otherwise defined, all technical and scientific terms used in the specification of the present invention have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the specification of the present invention includes any and all combinations of one or more related listed items.

[0038] Combine the following Figure 1-Figure 8 The hand-eye calibration device of the present invention is described.

[0039] like Figure 1 As shown, in one embodiment, a hand-eye calibration device includes:

[0040] The base 1 has a plurality of screw holes 101 at the bottom, and is connected to the robot through the screw holes 101;

[0041] A notch 102 is provided at the top center of the base 1;

[0042] The calibration plate 2 is movably mounted in the slot 102;

[0043] The grooves 103 are axially symmetrically arranged on both sides of the base 1;

[0044] A positioning component 3, disposed in the groove 103, for limiting and fixing the calibration plate 2;

[0045] The cleaning component 4 is arranged on one side of the notch 102 and is used for cleaning the upper surface of the calibration plate 2 .

[0046] Specifically, the base 1 is installed on the manipulator by screwing the screws through the screw holes 101, and the calibration plate 2 is fixed in the slot 102 by the positioning component 3 provided in the groove 103. Since the operator needs to manually place the calibration plate 2 in the slot 102, it is easy to leave fingerprints on the surface of the calibration plate 2 during this process, or the calibration plate 2 has not been used for a long time, and its surface is already covered with a certain amount of dust. The presence of fingerprints and dust will affect the extraction of feature points during image processing, thereby causing inaccurate calibration results. Therefore, the cleaning component 4 can be used to clean the upper surface of the calibration plate 2 to remove foreign matter such as dust and fingerprints attached to the surface to ensure the accuracy of the measurement.

[0047] See also Figure 1 and Figure 4 As shown, in this embodiment, the cleaning assembly 4 includes a fixed plate 41, the fixed plate 41 is fixedly connected to the top of the base 1, a cleaning pad 42 is provided on one side of the fixed plate 41, a plurality of return springs 43 are fixedly connected between the cleaning pad 42 and the fixed plate 41, a fixed cylinder 44 is fixedly provided on one side of the fixed plate 41, a movable rod 45 is movably provided in the fixed cylinder 44, and the movable rod 45 is fixedly connected to the cleaning pad 42 at one end away from the fixed cylinder 44.

[0048] Specifically, the calibration plate 2 is placed in the slot 102. In the initial state, the cleaning pad 42 is located on one side of the slot 102, not above the calibration plate 2. This is to avoid blocking the feature points on the calibration plate 2 during the calibration process, resulting in the camera being unable to detect enough points for accurate calibration, which will directly affect the accuracy and reliability of the calibration. After the calibration plate 2 is placed, the cleaning pad 42 is pulled in the direction close to the calibration plate 2. The cleaning pad 42 will move along the surface of the calibration plate 2 for cleaning. During this process, the reset spring 43 is in a stretched state and the movable rod 45 will move along the fixed tube 44. When the cleaning pad 42 moves to the other side of the calibration plate 2, the force applied to the cleaning pad 42 is removed. Under the action of the reset spring 43, the cleaning pad 42 and the movable rod 45 will be driven back to the initial position. In this way, the calibration plate 2 can be cleaned again during the return process. The fixed plate 41 provides support for the fixed tube 44 and the reset spring 43.

[0049] See also Figure 2 and Figure 5 As shown, in this embodiment, a fixed block 5 is fixedly provided at one end of the cleaning pad 42, a transverse groove 51 is opened in the fixed block 5, a movable block 6 is movably provided in the transverse groove 51, and a positioning spring 7 is fixedly provided between the movable block 6 and the inner wall of the transverse groove 51.

[0050] Specifically, when the surface of the calibration plate 2 needs to be cleaned, pushing the movable block 6 to move will drive the fixed block 5 , the cleaning pad 42 and the positioning spring 7 to move together, so that the cleaning pad 42 can clean the upper surface of the calibration plate 2 .

[0051] See also Figure 2 and Figure 3 As shown, in this embodiment, a positioning block 8 is fixedly provided on the base 1 at one side of the notch 102 , a notch 81 is provided on the positioning block 8 , an inclined groove 61 is provided on the movable block 6 , and the notch 81 is movably abutted against the inclined groove 61 .

[0052] Specifically, when it is necessary to clean the surface of the calibration plate 2, pushing the movable block 6 to move will drive the fixed block 5, the cleaning pad 42 and the positioning spring 7 to move together. When the cleaning pad 42 moves to the other side of the calibration plate 2, the inclined groove 61 of the movable block 6 will abut against the notch 81 of the positioning block 8. Continuing to move the movable block 6 in the same direction will cause the movable block 6 to move along the transverse groove 51 toward the inside of the fixed block 5, thereby compressing the positioning spring 7. Since the movable block 6 moves to the inside of the fixed block 5, the force applied to the movable block 6 loses its effect. Under the action of the reset spring 43, the cleaning pad 42 will be pulled back to the initial position, so that the cleaning pad 42 will not stay above the calibration plate 2 and affect the measurement accuracy.

[0053] See also Figure 1 and Figure 2 As shown, in this embodiment, movable grooves 104 are axially symmetrically provided on both sides of the base 1, and a movable frame 9 is movably provided in one of the movable grooves 104. A limiting rod 10 is fixedly provided on one side of the movable frame 9, and the limiting rod 10 is movably abutted against a side of the movable block 6 where the inclined groove 61 is not provided, and the height of the limiting rod 10 is lower than the height of the positioning block 8.

[0054] Specifically, when the calibration plate 2 needs to be cleaned, the movable frame 9 is moved horizontally along the movable groove 104. The movement of the movable frame 9 will drive the limit rod 10 to move. At this time, the limit rod 10 is abutted against the end of the movable block 6 where the inclined groove 61 is not formed. Therefore, the movement of the limit rod 10 will drive the movable block 6, the fixed block 5 and the cleaning pad 42 to move synchronously, so that the calibration plate 2 can be cleaned. When the inclined groove 61 of the movable block 6 is abutted against the notch 81 of the positioning block 8, the movable block 6 will move into the transverse groove 51, so that the limit rod 10 is no longer abutted against the movable block 6. Under the action of the reset spring 43, the cleaning pad 42 will be driven back to the initial position. The height of the limit rod 10 should be lower than the height of the positioning block 8 to prevent the two from colliding during the movement.

[0055] See also Figure 3 and Figure 6As shown, in this embodiment, the positioning assembly 3 includes a card plate 31, and card grooves 21 are axially symmetrically opened on both sides of the calibration plate 2, and positioning grooves 105 are opened on both sides of the base 1. The card plate 31 is movably connected with the positioning groove 105 and can be movably engaged with the card groove 21, the positioning groove 105 and the notch 102 are communicated with each other, and the card plate 31 is located in the groove 103 and is slidably connected with the groove 103.

[0056] Specifically, the calibration plate 2 is placed in the notch 102 , the card slot 21 is aligned with the positioning slot 105 , and the card plate 31 is moved laterally so that the card plate 31 passes through the positioning slot 105 and engages with the card slot 21 , so that the calibration plate 2 can be fixed to prevent the calibration plate 2 from shaking.

[0057] See also Figure 1 and Figure 3 As shown, in this embodiment, a partition 32 is fixedly provided in the groove 103, a moving rod 33 is movably provided through the center of the partition 32, one end of the moving rod 33 is fixedly connected to the clamping plate 31, a moving plate 34 is fixedly sleeved on the outer side of one end of the moving rod 33 away from the partition 32, a limiting spring 35 is fixedly provided between the moving plate 34 and the partition 32, and the limiting spring 35 is movably sleeved on the outer side of the moving rod 33.

[0058] Specifically, when the calibration plate 2 needs to be limited and fixed, the moving rod 33 is moved horizontally in the groove 103. The movement of the moving rod 33 will drive the moving plate 34 and the card plate 31 to move. The card plate 31 moves into the card slot 21 to limit the calibration plate 2. The moving plate 34 will compress the limiting spring 35 during the movement, and the partition plate 32 provides support for the limiting spring 35. When the calibration plate 2 needs to be released from the limit, the force applied to the moving rod 33 is released. In the process of the limiting spring 35 recovering its state, it will drive the moving plate 34, the moving rod 33 and the card plate 31 back to the initial position, thereby releasing the card plate 31 from the card slot 21.

[0059] See also Figure 1 and Figure 3 As shown, in this embodiment, circular grooves 106 are axially symmetrically provided on both sides of the base 1, a screw rod 11 is movably provided in the circular groove 106, one end of the movable frame 9 is movably sleeved on the outside of the screw rod 11, one end of the screw rod 11 is located in the groove 103 and an abutment plate 12 is movably sleeved on the outside, an abutment groove 121 is provided on one side of the abutment plate 12, the abutment groove 121 is movably abutted with the movable rod 33, and the two screw rods 11 are connected by belt transmission.

[0060] Specifically, rotate the screw rod 11. The rotation of the screw rod 11 in the circular groove 106 will drive the movable frame 9 to move laterally along the movable groove 104, thereby driving the movable block 6, the fixed block 5 and the cleaning pad 42 to move laterally. The cleaning pad 42 can clean the surface of the calibration plate 2 in this process. At the same time, the rotation of the screw rod 11 will also drive the abutment plate 12 to move in the groove 103. During the movement, the abutment plate 12 will contact the moving rod 33 through the abutment groove 121 to drive the moving rod 33 to move. The movement of the moving rod 33 will drive the clamping plate 31 to clamp with the clamping groove 21. The two screw rods 11 are connected by a belt drive, so that the rotation of one screw rod 11 can drive the other screw rod 11 to rotate together, and the operation is convenient and quick.

[0061] See also Figure 1 and Figure 7 As shown, in this embodiment, a transverse block 13 is fixedly connected to one side of the abutment plate 12, and the transverse block 13 is slidably connected to the inner wall of the groove 103. A limiting ball 14 is provided on one side of the transverse block 13, and two limiting holes 107 are opened on one side of the base 1, and the limiting ball 14 is movably engaged with the limiting hole 107.

[0062] Specifically, the limiting ball 14 is made of elastic material. In the initial state, the limiting ball 14 is engaged with one of the limiting holes 107. The engagement between the limiting ball 14 and the limiting hole 107 is released, and the movement of the abutment plate 12 will drive the transverse block 13 and the limiting ball 14 to move. In the process of reaching the other limiting hole 107, the limiting ball 14 is in abutment with the bottom of the base 1 and is in a compressed state. When the limiting ball 14 reaches the other limiting hole 107, it will engage with the limiting hole 107. At this time, the movable block 6 moves into the transverse groove 51 through contact with the positioning block 8, and the cleaning pad 42 returns to the initial position under the action of the reset spring 43. The engagement between the limiting ball 14 and the limiting hole 107 can ensure the stability of the engagement between the clamping plate 31 and the clamping slot 21.

[0063] See also Figure 8 As shown, in this embodiment, a circular ring 15 is fixedly provided in the limiting hole 107 , a push rod 16 is movably provided at the center of the circular ring 15 , a connecting spring 17 is provided between the push rod 16 and the circular ring 15 , and one end of the push rod 16 is movably abutted against the limiting ball 14 .

[0064] Specifically, when it is necessary to release the engagement between the limiting ball 14 and the limiting hole 107, the push rod 16 is pushed into the limiting hole 107. The push of the push rod 16 will push the limiting ball 14 out of the engagement with the limiting hole 107. At this time, the transverse block 13 and the abutment plate 12 can move. The push rod 16 will compress the connecting spring 17 during this process, and then the force applied to the push rod 16 will be removed. Under the action of the connecting spring 17, the push rod 16 will be driven back to the initial position, and the ring 15 provides support for the connecting spring 17.

[0065] During implementation, the base 1 is installed on the manipulator by screwing the screws through the screw holes 101, the calibration plate 2 is placed in the notch 102, the slot 21 is aligned with the positioning slot 105, and the screw rod 11 is rotated. The rotation of the screw rod 11 in the circular slot 106 will drive the movable frame 9 to move laterally along the movable slot 104, thereby driving the movable block 6, the fixed block 5 and the cleaning pad 42 to move laterally. The cleaning pad 42 can clean the surface of the calibration plate 2 during this process. When the cleaning pad 42 moves to the other side of the calibration plate 2, the inclined slot 61 of the movable block 6 will abut against the notch 81 of the positioning block 8. Continuing to move the movable block 6 in the same direction will make The movable block 6 moves along the transverse groove 51 toward the inside of the fixed block 5, thereby compressing the positioning spring 7. Since the movable block 6 moves to the inside of the fixed block 5, the force applied to the movable block 6 loses its effect. Under the action of the reset spring 43, the cleaning pad 42 will be pulled back to the initial position, so that the cleaning pad 42 will not stay above the calibration plate 2 and affect the measurement accuracy. At the same time, the rotation of the screw rod 11 will also drive the abutment plate 12 to move in the groove 103. During the movement, the abutment plate 12 will contact the moving rod 33 through the abutment groove 121 to drive the moving rod 33 to move, and the movement of the moving rod 33 will drive the moving The plate 34 and the card plate 31 move, and the card plate 31 moves into the card slot 21 to limit the calibration plate 2. The limit spring 35 is compressed during the movement of the movable plate 34, and the partition plate 32 provides support for the limit spring 35. When it is necessary to release the limit of the calibration plate 2, the force applied to the movable rod 33 is released. During the recovery process of the limit spring 35, the movable plate 34, the movable rod 33 and the card plate 31 are driven back to the initial position, thereby releasing the card plate 31 from the card slot 21. In addition, the limit ball 14 is made of elastic material. In the initial state, the limit ball 14 is in contact with one of the limit holes 10 7 is engaged, the engagement between the limiting ball 14 and the limiting hole 107 is released, the movement of the abutment plate 12 will drive the transverse block 13 and the limiting ball 14 to move, and in the process of reaching another limiting hole 107, the limiting ball 14 is in abutment with the bottom of the base 1 and is in a compressed state. When the limiting ball 14 reaches another limiting hole 107, it will engage with the limiting hole 107. At this time, the movable block 6 moves into the transverse groove 51 through contact with the positioning block 8, and the cleaning pad 42 returns to the initial position under the action of the reset spring 43. The engagement between the limiting ball 14 and the limiting hole 107 can ensure the stability of the engagement between the clamping plate 31 and the clamping slot 21.

[0066] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A hand-eye calibration device, characterized in that: include: A base, the bottom of which has a plurality of screw holes, through which the base is connected to the manipulator; a notch, disposed at the top center of the base; A calibration plate, movably mounted in the notch; Grooves, axially symmetrically arranged on both sides of the base; A positioning assembly, disposed in the groove, for limiting and fixing the calibration plate; A cleaning component is arranged on one side of the notch and is used for cleaning dust from the upper surface of the calibration plate.

2. The hand-eye calibration device according to claim 1, characterized in that: The cleaning assembly includes a fixed plate, which is fixedly connected to the top of the base, a cleaning pad is provided on one side of the fixed plate, a plurality of return springs are fixedly connected between the cleaning pad and the fixed plate, a fixed cylinder is fixedly provided on one side of the fixed plate, a movable rod is movably provided in the fixed cylinder, and the movable rod is fixedly connected to the cleaning pad at one end away from the fixed cylinder.

3. The hand-eye calibration device according to claim 2, characterized in that: A fixed block is fixedly arranged at one end of the cleaning pad, a transverse groove is provided in the fixed block, a movable block is movably arranged in the transverse groove, and a positioning spring is fixedly arranged between the movable block and the inner wall of the transverse groove.

4. The hand-eye calibration device according to claim 3, characterized in that: A positioning block is fixedly arranged on the base at one side of the notch, a notch is provided on the positioning block, an inclined groove is provided on the movable block, and the notch is movably abutted against the inclined groove.

5. The hand-eye calibration device according to claim 4, characterized in that: The base is axially symmetrically provided with movable grooves on both sides, a movable frame is movably arranged in one of the movable grooves, a limiting rod is fixedly arranged on one side of the movable frame, the limiting rod is movably abutted against a side of the movable block where the inclined groove is not provided, and the height of the limiting rod is lower than the height of the positioning block.

6. The hand-eye calibration device according to claim 1, characterized in that: The positioning assembly includes a card plate, card slots are axially symmetrically opened on both sides of the calibration plate, positioning slots are opened on both sides of the base, the card plate is movably connected to the positioning slot and can be movably engaged with the card slot, the positioning slot and the notch are communicated with each other, and the card plate is located in the groove and is slidably connected to the groove.

7. The hand-eye calibration device according to claim 6, characterized in that: A partition is fixedly arranged in the groove, a moving rod is movably arranged through the center of the partition, one end of the moving rod is fixedly connected to the clamping plate, a moving plate is fixedly sleeved on the outer side of one end of the moving rod away from the partition, a limiting spring is fixedly arranged between the moving plate and the partition, and the limiting spring is movably sleeved on the outer side of the moving rod.

8. The hand-eye calibration device according to claim 4 or 7, characterized in that: Circular grooves are axially symmetrically provided on both sides of the base, a screw rod is movably provided in the circular groove, one end of the movable frame is movably sleeved on the outside of the screw rod, one end of the screw rod is located in the groove and an abutment plate is movably sleeved on the outside, an abutment groove is provided on one side of the abutment plate, the abutment groove is movably abutted with the movable rod, and the two screw rods are connected by belt transmission.

9. The hand-eye calibration device according to claim 8, characterized in that: A transverse block is fixedly connected to one side of the abutment plate, and the transverse block is slidably connected to the inner wall of the groove. A limiting ball is arranged on one side of the transverse block, and two limiting holes are provided on one side of the base, and the limiting ball is movably engaged with the limiting hole.

10. The hand-eye calibration device according to claim 9, characterized in that: A circular ring is fixedly arranged in the limiting hole, a push rod is movably arranged at the center of the circular ring, a connecting spring is arranged between the push rod and the circular ring, and one end of the push rod is movably abutted against the limiting ball.

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