Thermal shock resistant optical structure for four-PSD robot calibration device

Abstract

The invention discloses a thermal shock resistant optical structure for a four-PSD robot calibration device, belongs to the technical field of optical elements, and aims to solve the problem that the calibration precision of a robot is influenced by the use environment, especially thermal shock. The first PSD supporting structure and the third PSD supporting structure as well as the second PSD supporting structure and the fourth PSD supporting structure are in axial symmetry about the X axis. The first PSD supporting structure and the second PSD supporting structure as well as the third PSD supporting structure and the fourth PSD supporting structure are in axial symmetry about the Y axis. The four PSD supporting structures are the same, the first PSD supporting structure comprises a square hole formed in the center of the thin plate, and the first reinforcing rib and the second reinforcing rib are arranged on the two sides of the thin plate respectively; and the PSD element is fixed on one side of the thin plate connected with the inner side surfaces of the reinforcing rib I and the reinforcing rib II. Through cooperative application of materials, structures and processes, the deformation inhibition capability of the four-PSD calibration device in a thermal shock environment is remarkably improved, and reliable guarantee is provided for high-precision calibration of a robot.

Description

Technical Field

[0001] The invention relates to the technical field of optical elements, and in particular to a heat shock resistant optical structure used for a four-PSD robot calibration device. Background Art

[0002] With the widespread application of articulated robots in various fields, the low absolute positioning accuracy has become a key factor restricting the further development of articulated robots at home and abroad. At present, most articulated robot calibration devices have the disadvantages of high cost, cumbersome operation and difficulty in carrying. In this context, robot calibration devices using lasers and photosensitive chips have gradually become the direction of research and development.

[0003] Chinese patent application number: "2024119467565", the patent name is "Robot motion indication spot position rapid acquisition device based on four PSDs", the device includes PSD 1, PSD 2, PSD 3, PSD 4, laser reflection structure 1, laser reflection structure 2, lower shell, reference plate, power supply, signal processor, wireless transmitter, wireless data transmission radio and host computer.

[0004] The PSD 1 is fixed below the laser reflection structure 1, the PSD 2 is fixed above the laser reflection structure 1, the PSD 3 is fixed below the laser reflection structure 2, and the PSD 4 is fixed above the laser reflection structure 2; the laser reflection structure 1 and the laser reflection structure 2 are fixed to a reference plate, the reference plate is connected to the lower shell by bolts, a power supply, a signal processor and a wireless transmitter are fixed inside the lower shell, the signal processor and the wireless transmitter are connected to the power supply, the wireless transmitter and the wireless data transmission radio are transmitted through wireless communication, and the wireless data transmission radio is connected to the host computer. The present invention is used to solve the influence of thermal shock on the device.

[0005] The Chinese patent publication number is "CN 102825602 A", and the patent name is "A method and device for self-calibration of articulated robots based on PSD". This method uses a pair of V-shaped clamps to constrain the center points of two position sensitive devices (PSDs), thereby forming a closed-loop motion chain, and establishes a set of geometric equations of two virtual constraint lines formed by the reflection of the center point connection line of the two PSDs on the surfaces of the two PSDs. This patent has the influence of the use environment, especially thermal shock, on the calibration accuracy of the robot. Summary of the invention

[0006] In order to solve the problem of the influence of the use environment, especially thermal shock, on the robot calibration accuracy, the present invention proposes a thermal shock resistant optical structure for a quad-PSD robot calibration device.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A thermal shock resistant optical structure for a four-PSD robot calibration device, the structure comprising an integrated structure consisting of a PSD support structure 1, a PSD support structure 2, a PSD support structure 3, a PSD support structure 4 and a bottom plate;

[0009] Four PSD support structures are distributed on the bottom plate, PSD support structure 1 is symmetrical with PSD support structure 3 about the X-axis, PSD support structure 2 is symmetrical with PSD support structure 4 about the X-axis, PSD support structure 1 is symmetrical with PSD support structure 2 about the Y-axis, and PSD support structure 3 is symmetrical with PSD support structure 4 about the Y-axis;

[0010] The angle between the PSD support structure one and the PSD support structure two is α; the angle between the PSD support structure three and the PSD support structure four is α; the distance between the center of the square hole of the PSD support structure one and the center of the square hole of the PSD support structure two is L1; the distance between the center of the square hole of the PSD support structure three and the center of the square hole of the PSD support structure four is L1; the distance between the center of the square hole of the PSD support structure one and the PSD support structure three is L2; ​​the distance between the center of the square hole of the PSD support structure two and the center of the square hole of the PSD support structure four is L2.

[0011] The four PSD support structures are the same, the PSD support structure 1 comprises a thin plate, a square hole, a first reinforcing rib and a second reinforcing rib, the square hole is arranged at the center of the thin plate, and the first reinforcing rib and the second reinforcing rib are respectively arranged on both sides of the thin plate;

[0012] Both the first and second reinforcing ribs are right-angled triangle structures, and their bottom sides are fixed on the bottom plate; the spacing between the first and second reinforcing ribs is consistent with the width of the thin plate, and the PSD element is fixed on one side of the thin plate connected to the inner side surfaces of the first and second reinforcing ribs.

[0013] The structural material selected is PEEK containing 40% carbon fiber.

[0014] Beneficial effects of the present invention:

[0015] The present invention effectively suppresses the deformation caused by thermal shock through the integrated symmetrical structural design, rib reinforcement and the comprehensive application of low thermal expansion coefficient materials. Compared with the asymmetrical design, the symmetrical structure reduces the deformation by about 43.9%; the PEEK material containing 40% carbon fiber reduces the deformation by about 74.5% compared with the traditional aluminum alloy; the rib structure reduces the deformation by about 17.9% compared with the structure without ribs. In summary, the present invention significantly improves the deformation suppression ability of the four PSD calibration device in a thermal shock environment through the coordinated application of materials, structures and processes, providing reliable guarantee for the high-precision calibration of robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1: A top view of a heat shock resistant optical structure for a quad-PSD robot calibration device according to the present invention;

[0017] Figure 2 : An isometric view of a thermal shock resistant optical structure for a quad-PSD robot calibration device according to the present invention;

[0018] Figure 3 : Schematic diagram of the distance L1 along the X-axis between the centers of the square holes of the two PSD support structures and the angle α between the two PSD support structures;

[0019] Figure 4 : Schematic diagram of the distance L2 between the centers of the square holes of the two PSD support structures in the Y-axis direction;

[0020] Figure 5: Figure 5a This is a diagram showing the deformation effect of the symmetrical structure of the present invention under a thermal shock of 22°C±5°C. Figure 5b This is the deformation effect diagram of the asymmetric structure under 22℃±5℃ thermal shock;

[0021] Figure 6: Figure 6a This is a diagram showing the deformation effect of the structure with reinforcing ribs under a thermal shock of 22°C±5°C. Figure 6b This is the deformation effect diagram of the structure without reinforcement ribs under thermal shock at 22℃±5℃;

[0022] Figure 7: Figure 7a This is a diagram showing the deformation effect of the structure using PEEK material under a thermal shock of 22°C±5°C; Figure 7b This is a diagram to simulate the deformation effect of a structure made of 1080O aluminum alloy material under thermal shock at 22℃±5℃;

[0023] In the figure: 1. PSD support structure 1, 1-1. thin plate, 1-2. square hole, 1-3. reinforcing rib 1, 1-4. reinforcing rib 2, 2. PSD support structure 2, 3. PSD support structure 3, 4. PSD support structure 4, 5. bottom plate. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below with reference to the accompanying drawings.

[0025] like Figure 1 and Figure 2 As shown, a thermal shock resistant optical structure for a four-PSD robot calibration device is an integrated structure consisting of a PSD support structure 1, a PSD support structure 2, a PSD support structure 3, a PSD support structure 4 and a base plate 5.

[0026] Four PSD support structures are distributed on the base plate 5, PSD support structure 1 is symmetrical with PSD support structure 2 about the Y axis, PSD support structure 3 is symmetrical with PSD support structure 4 about the Y axis, PSD support structure 1 is symmetrical with PSD support structure 3 about the X axis, and PSD support structure 2 is symmetrical with PSD support structure 4 about the X axis.

[0027] The angle between the PSD support structure 1 and the PSD support structure 2 is α. The angle between the PSD support structure 3 and the PSD support structure 4 is α. The distance between the center of the square hole of the PSD support structure 1 and the center of the square hole of the PSD support structure 2 is L1. The distance between the center of the square hole of the PSD support structure 3 and the center of the square hole of the PSD support structure 4 is L1. The distance between the center of the square hole of the PSD support structure 1 and the PSD support structure 3 is L2. The distance between the center of the square hole of the PSD support structure 2 and the center of the square hole of the PSD support structure 4 is L2.

[0028] like Figure 1 and Figure 2 As shown, the four PSD support structures are identical. The PSD support structure 1 comprises a thin plate 1-1, a square hole 1-2, a reinforcing rib 1-3 and a reinforcing rib 2 1-4, the square hole 1-2 is arranged at the center of the thin plate 1-1, and the reinforcing rib 1-3 and the reinforcing rib 2 1-4 are arranged on both sides of the thin plate 1-1.

[0029] The reinforcing ribs 1-3 and 1-4 are both right triangle structures, and their bottom sides are fixed on the bottom plate 5. The spacing between the reinforcing ribs 1-3 and 1-4 is consistent with the width of the thin plate. When the present invention is used, the PSD element is fixed on one side of the thin plate 1-1 connected to the inner side of the reinforcing ribs 1-3 and 1-4.

[0030] The structural material of the present invention is PEEK containing 40% carbon fiber. This material has an extremely low thermal expansion coefficient, can effectively reduce the deformation of the structure when it is subjected to thermal shock, and has good comprehensive performance to ensure the stability of the structure in complex environments.

[0031] Example:

[0032] like Figure 1 and Figure 2 As shown, a heat shock resistant optical structure for a four-PSD robot calibration device includes a PSD support structure 1, a PSD support structure 2, a PSD support structure 3, a PSD support structure 4 and a base plate 5.

[0033] Four PSD support structures are distributed on the base plate 5, PSD support structure 1 is symmetrical with PSD support structure 2 about the Y axis, PSD support structure 3 is symmetrical with PSD support structure 4 about the Y axis, PSD support structure 1 is symmetrical with PSD support structure 3 about the X axis, and PSD support structure 2 is symmetrical with PSD support structure 4 about the X axis.

[0034] like Figure 3 and Figure 4 As shown, the angle α between the PSD support structure 1 and the PSD support structure 2 is 30°. The angle α between the PSD support structure 3 and the PSD support structure 4 is 30°. The distance L1 between the center of the square hole of the PSD support structure 1 and the center of the square hole of the PSD support structure 2 is 60 mm. The distance L1 between the center of the square hole of the PSD support structure 3 and the center of the square hole of the PSD support structure 4 is 60 mm. The distance L2 between the center of the square hole of the PSD support structure 1 and the PSD support structure 3 is 112.5 mm. The distance L2 between the center of the square hole of the PSD support structure 2 and the center of the square hole of the PSD support structure 4 is 112.5 mm.

[0035] Figure 5a and Figure 5b To simulate the deformation effect diagram of symmetrical and asymmetrical structures subjected to 22℃±5℃ thermal shock, the initial temperature is set to 22℃ and the end temperature is set to 22℃±5℃, which meets most working conditions. When simulating the thermal shock of 22℃±5℃, it can be seen that the maximum deformation of the symmetrical structure occurs at the top of the four PSD support structures, with a displacement of 0.0032mm. The maximum deformation of the asymmetrical structure is located at the edge of the rectangular mounting groove of the lower PSD support structure, with a maximum displacement of 0.0057mm. The relative displacements of the four PSD support structures are different, so the symmetrical structure has a better ability to resist deformation caused by thermal shock than the asymmetrical structure. The reduction in deformation caused by the change in structure is about 43.9%.

[0036] like Figure 1 and Figure 2 As shown, the four PSD support structures are identical. The PSD support structure 1 comprises a thin plate 1-1, a square hole 1-2, a reinforcing rib 1-3 and a reinforcing rib 2 1-4, the square hole 1-2 is arranged at the center of the thin plate 1-1, and the reinforcing rib 1-3 and the reinforcing rib 2 1-4 are arranged on both sides of the thin plate 1-1.

[0037] The reinforcing ribs 1-3 and 1-4 are both right triangle structures, and their bottom sides are fixed on the bottom plate 5. The spacing between the reinforcing ribs 1-3 and 1-4 is consistent with the length of the PSD element, and the PSD element is fixed on one side of the thin plate 1-1 connected to the inner side of the reinforcing ribs 1-3 and 1-4.

[0038] Figure 6a and Figure 6b The deformation effect diagram of the structure with and without ribs subjected to 22℃±5℃ thermal shock is shown in Figure 2. The initial temperature is set to 22℃ and the end temperature is set to 22℃±5℃. When simulating the thermal shock of 22℃±5℃, it can be seen that the maximum deformation of the structure without ribs occurs at the top of PSD support structure 1 and PSD support structure 4, with a displacement of 0.0039mm. The relative displacements of the four PSD support structures have changed significantly. The maximum deformation of the structure with ribs occurs at the top of the four PSD support structures, with a displacement reduced to 0.0032mm, and the relative displacements of the four PSD support structures have no obvious change. The deformation of the structure with ribs is reduced by about 17.9% compared with the deformation of the structure without ribs.

[0039] Figure 7a and Figure 7b This is a deformation effect diagram of the structure composed of different materials under 22℃±5℃ thermal shock. The comparison selects the 1080O aluminum alloy commonly used in 3D printing and the PEEK material containing 40% carbon fiber used in the present invention. The initial temperature is also set to 22℃ and the end temperature is 22℃±5℃. It can be seen that the maximum deformation of the structure composed of PEEK containing 40% carbon fiber appears at the top of the four PSD support structures, and the displacement is 0.0032mm. The maximum deformation of the structure composed of 1080O aluminum alloy appears at the top of the four PSD support structures, and the displacement is 0.0126mm. Compared with the structure composed of 1080O aluminum alloy, the structure composed of PEEK material containing 40% carbon fiber is subjected to a 22℃±5℃ thermal shock. The amount of deformation reduction is about 74.5%.

Claims

1. A thermal shock resistant optical structure for a quad-PSD robot calibration device, characterized in that: The structure is an integrated structure consisting of a PSD support structure 1 (1), a PSD support structure 2 (2), a PSD support structure 3 (3), a PSD support structure 4 (4) and a bottom plate (5); Four PSD support structures are distributed on the bottom plate (5), wherein the PSD support structure 1 (1) and the PSD support structure 3 (3) are symmetrical about the X-axis, the PSD support structure 2 (2) and the PSD support structure 4 (4) are symmetrical about the X-axis, the PSD support structure 1 (1) and the PSD support structure 2 (2) are symmetrical about the Y-axis, and the PSD support structure 3 (3) and the PSD support structure 4 (4) are symmetrical about the Y-axis; The angle between the PSD support structure 1 (1) and the PSD support structure 2 (2) is α; the angle between the PSD support structure 3 (3) and the PSD support structure 4 (4) is α; the distance between the center of the square hole of the PSD support structure 1 (1) and the center of the square hole of the PSD support structure 2 (2) is L1; the distance between the center of the square hole of the PSD support structure 3 (3) and the center of the square hole of the PSD support structure 4 (4) is L1; the distance between the center of the square hole of the PSD support structure 1 (1) and the PSD support structure 3 (3) is L2; ​​the distance between the center of the square hole of the PSD support structure 2 (2) and the center of the square hole of the PSD support structure 4 (4) is L2.

2. The thermal shock resistant optical structure for a quad-PSD robot calibration device according to claim 1, characterized in that: The four PSD support structures are identical, wherein the PSD support structure one (1) comprises a thin plate (1-1), a square hole (1-2), a first reinforcing rib (1-3) and a second reinforcing rib (1-4), the square hole (1-2) being arranged at the center of the thin plate (1-1), and the first reinforcing rib (1-3) and the second reinforcing rib (1-4) being arranged on both sides of the thin plate (1-1) respectively; The reinforcing ribs 1 (1-3) and 2 (1-4) are both right-angled triangle structures, and their bottom sides are fixed on the bottom plate (5); the spacing between the reinforcing ribs 1 (1-3) and 2 (1-4) is consistent with the width of the thin plate, and the PSD element is fixed on one side of the thin plate (1-1) connected to the inner side surfaces of the reinforcing ribs 1 (1-3) and 2 (1-4).

3. The thermal shock resistant optical structure for a quad-PSD robot calibration device according to claim 1, characterized in that: The material chosen for the structure is PEEK containing 40% carbon fibers.

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