A thermal shock resistant optical structure for a four-psd robotic calibration device

Abstract

A kind of heat shock resistance optical structure for four PSD robot calibration device belongs to optical element technical field, to solve the influence problem of robot calibration precision in use environment, especially heat shock, the structure distributes four PSD support structures on bottom plate, PSD support structure one and PSD support structure three and PSD support structure two and PSD support structure four are axisymmetric about X axis, PSD support structure one and PSD support structure two and PSD support structure three and PSD support structure four are axisymmetric about Y axis;Four PSD support structures are same, PSD support structure one includes square hole and is arranged at the center position of thin plate, reinforcing rib one and reinforcing rib two are arranged at the two sides of thin plate respectively;PSD element is fixed at the side of thin plate connected with the inner side of reinforcing rib one and reinforcing rib two.The application of the material, structure and process is coordinated, and the deformation inhibition capacity of four PSD calibration device under heat shock environment is significantly improved, which provides reliable guarantee for high-precision robot calibration.

Description

Technical Field

[0001] This invention relates to the field of optical element technology, and in particular to a thermal shock resistant optical structure for a four-PSD robot calibration device. Background Technology

[0002] With the widespread application of articulated robots in various fields, their low absolute positioning accuracy has become a key factor restricting the further development of articulated robots both domestically and internationally. Currently, most articulated robot calibration devices suffer from drawbacks such as high cost, cumbersome operation, and poor portability. Against this backdrop, robot calibration devices employing lasers and photosensitive chips are gradually becoming a research and development direction.

[0003] Chinese patent application number: "2024119467565", patent title: "Rapid Acquisition Device for Robot Motion Indication Spot Position Based on Four PSDs", the device includes PSD1, PSD2, PSD3, PSD4, 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] PSD1 is fixed below laser reflection structure 1, PSD2 is fixed above laser reflection structure 1, PSD3 is fixed below laser reflection structure 2, and PSD4 is fixed above laser reflection structure 2. Laser reflection structure 1 and laser reflection structure 2 are fixed to a reference plate, which is connected to the lower housing by bolts. A power supply, signal processor, and wireless transmitter are fixed inside the lower housing. The signal processor and wireless transmitter are connected to the power supply, and the wireless transmitter and wireless data transmission radio transmit data wirelessly. The wireless data transmission radio is connected to a host computer. This invention addresses the impact of thermal shock on the device.

[0005] The Chinese patent publication number is "CN 102825602 A", and the patent title is "A Self-Calibration Method and Apparatus for Articulated Robots Based on PSDs". 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 kinematic chain. It also establishes a set of geometric equations for two virtual constraint lines formed by the reflections of the line connecting the center points of the two PSDs on their respective surfaces. This patent has concerns about the impact of the operating environment, especially thermal shock, on the robot's calibration accuracy. Summary of the Invention

[0006] In order to address the impact of the operating environment, especially thermal shock, on the calibration accuracy of robots, this invention proposes a thermal shock resistant optical structure for a four-PSD robot calibration device.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A thermal shock resistant optical structure for a four-PSD robot calibration device, the structure being an integrated structure consisting of PSD support structure one, PSD support structure two, PSD support structure three, PSD support structure four and a base plate.

[0009] Four PSD support structures are distributed on the base plate. PSD support structure one and PSD support structure three are symmetrical about the X-axis, PSD support structure two and PSD support structure four are symmetrical about the X-axis, PSD support structure one and PSD support structure two are symmetrical about the Y-axis, and PSD support structure three and PSD support structure four are symmetrical about the Y-axis.

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

[0011] The four PSD support structures are identical. The first PSD support structure includes a thin plate, a square hole, a first reinforcing rib, and a second reinforcing rib. The square hole is located at the center of the thin plate, and the first and second reinforcing ribs are respectively located on both sides of the thin plate.

[0012] Both reinforcing rib one and reinforcing rib two are right-angled triangular structures, with their bases fixed to the base plate. The spacing between reinforcing rib one and reinforcing rib two is consistent with the width of the thin plate. The PSD element is fixed to one side of the thin plate connected to the inner side of reinforcing rib one and reinforcing rib two.

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

[0014] The beneficial effects of this invention are:

[0015] This invention effectively suppresses deformation caused by thermal shock through an integrated symmetrical structural design, reinforcement with stiffeners, and the combined application of materials with low thermal expansion coefficients. Compared to an asymmetrical design, the symmetrical structure reduces deformation by approximately 43.9%; the PEEK material containing 40% carbon fiber reduces deformation by approximately 74.5% compared to traditional aluminum alloys; and the stiffener structure reduces deformation by approximately 17.9% compared to an unstiffened structure. In summary, this invention significantly improves the deformation suppression capability of the four-PSD calibration device under thermal shock conditions through the synergistic application of materials, structure, and processes, providing a reliable guarantee for high-precision robot calibration. Attached Figure Description

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

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

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

[0020] Figure 5: Figure 5a This is a diagram showing the deformation effect of the symmetrical structure of the present invention under thermal shock at 22℃±5℃. Figure 5b The image shows the deformation effect of an asymmetric structure under thermal shock at 22℃±5℃.

[0021] Figure 6: Figure 6a This is a diagram showing the deformation effect of the reinforcing rib structure of the present invention under thermal shock at 22℃±5℃. Figure 6b The image shows the deformation effect of the unreinforced structure 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 in this invention under thermal shock at 22℃±5℃. Figure 7b This is a diagram simulating the deformation effect of a structure made of 1080O aluminum alloy material under thermal shock at 22℃±5℃.

[0023] In the diagram: 1. PSD support structure one, 1-1. Thin plate, 1-2. Square hole, 1-3. Reinforcing rib one, 1-4. Reinforcing rib two, 2. PSD support structure two, 3. PSD support structure three, 4. PSD support structure four, 5. Base plate. Detailed Implementation

[0024] The present invention will now be described in further detail 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 PSD support structure 1, PSD support structure 2, PSD support structure 3, PSD support structure 4 and base plate 5.

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

[0027] The included angle between PSD support structure 1 and PSD support structure 2 is α. The included angle between PSD support structure 3 and PSD support structure 4 is α. The distance between the center of the square hole of PSD support structure 1 and the center of the square hole of PSD support structure 2 is L1. The distance between the center of the square hole of PSD support structure 3 and the center of the square hole of PSD support structure 4 is L1. The distance between the center of the square hole of PSD support structure 1 and the center of the square hole of PSD support structure 3 is L2. The distance between the center of the square hole of PSD support structure 2 and the center of the square hole of 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 includes a thin plate 1-1, a square hole 1-2, a reinforcing rib 1-3, and a reinforcing rib 2-4. The square hole 1-2 is located at the center of the thin plate 1-1, and the reinforcing ribs 1-3 and 2-4 are respectively located on both sides of the thin plate 1-1.

[0029] Both reinforcing rib 1-3 and reinforcing rib 2-4 are right-angled triangular structures, with their bases fixed to the base plate 5. The spacing between reinforcing rib 1-3 and reinforcing rib 2-4 is consistent with the width of the thin plate. When this invention is applied, the PSD element is fixed to one side of the thin plate 1-1 that is connected to the inner side of reinforcing rib 1-3 and reinforcing rib 2-4.

[0030] The structural material used in this invention is PEEK containing 40% carbon fiber. This material has an extremely low coefficient of thermal expansion, which can effectively reduce the deformation of the structure under thermal shock, and has good comprehensive performance, ensuring the stability of the structure in complex environments.

[0031] Example:

[0032] like Figure 1 and Figure 2 As shown, a thermal shock resistant optical structure for a four-PSD robot calibration device is provided. The structure 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 and PSD support structure 2 are symmetrical about the Y-axis, PSD support structure 3 and PSD support structure 4 are symmetrical about the Y-axis, PSD support structure 1 and PSD support structure 3 are symmetrical about the X-axis, and PSD support structure 2 and PSD support structure 4 are symmetrical about the X-axis.

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

[0035] Figure 5a and Figure 5b To simulate the deformation of symmetrical and asymmetrical structures under a thermal shock of 22℃±5℃, the initial temperature was set to 22℃ and the final temperature to 22℃±5℃, which satisfies most operating conditions. When simulating the thermal shock at 22℃±5℃, the maximum deformation of the symmetrical structure occurred at the top of the four PSD support structures, with a displacement of 0.0032mm. The maximum deformation of the asymmetrical structure was located at the edge of the rectangular mounting groove of the lower PSD support structure, with a maximum displacement of 0.0057mm. Furthermore, the relative displacements of the four PSD support structures were different. Therefore, the symmetrical structure has better resistance to deformation caused by thermal shock than the asymmetrical structure. The reduction in deformation due to the structural changes was approximately 43.9%.

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

[0037] Both reinforcing rib 1-3 and reinforcing rib 2-4 are right-angled triangular structures, with their bases fixed to the base plate 5. The spacing between reinforcing rib 1-3 and reinforcing rib 2-4 is consistent with the length of the PSD element, and the PSD element is fixed to one side of the thin plate 1-1 connected to the inner side of reinforcing rib 1-3 and reinforcing rib 2-4.

[0038] Figure 6a and Figure 6b The diagrams show the deformation of the structure with and without reinforcing ribs under a thermal shock of 22℃±5℃. The initial temperature is set to 22℃, and the final temperature to 22℃±5℃. In the simulation of the 22℃±5℃ thermal shock, the maximum deformation of the unreinforced structure occurs at the top of PSD support structure 1 and PSD support structure 4, with a displacement of 0.0039mm in both cases. The relative displacement of the four PSD support structures shows a significant change. In the reinforced structure, the maximum deformation occurs at the top of the four PSD support structures, with a displacement reduced to 0.0032mm. The relative displacement of the four PSD support structures shows no significant change. The deformation of the reinforced structure is approximately 17.9% less than that of the unreinforced structure.

[0039] Figure 7a and Figure 7b The image shows the deformation of the structure when subjected to a thermal shock of 22℃±5℃ with different materials. The comparison uses 1080O aluminum alloy commonly used in 3D printing and PEEK containing 40% carbon fiber, the material used in this invention. The initial temperature is set to 22℃, and the final temperature to 22℃±5℃. It can be seen that the maximum deformation of the structure made of PEEK containing 40% carbon fiber occurs at the top of the four PSD support structures, with a displacement of 0.0032mm. The maximum deformation of the structure made of 1080O aluminum alloy also occurs at the top of the four PSD support structures, with a displacement of 0.0126mm. Compared to the structure made of 1080O aluminum alloy, the structure made of PEEK containing 40% carbon fiber shows a reduction in deformation of approximately 74.5% under a thermal shock of 22℃±5℃.

Claims

1. A thermal shock resistant optical structure for a four-PSD robot calibration device, characterized in that, The structure is an integrated structure consisting of PSD support structure one (1), PSD support structure two (2), PSD support structure three (3), PSD support structure four (4) and base plate (5); Four PSD support structures are distributed on the base plate (5). PSD support structure one (1) and PSD support structure three (3) are symmetrical about the X-axis. PSD support structure two (2) and PSD support structure four (4) are symmetrical about the X-axis. PSD support structure one (1) and PSD support structure two (2) are symmetrical about the Y-axis. PSD support structure three (3) and PSD support structure four (4) are symmetrical about the Y-axis. The included angle between PSD support structure one (1) and PSD support structure two (2) is α; the included angle between PSD support structure three (3) and PSD support structure four (4) is α; the distance between the center of the square hole of PSD support structure one (1) and the center of the square hole of PSD support structure two (2) is L1; the distance between the center of the square hole of PSD support structure three (3) and the center of the square hole of PSD support structure four (4) is L1; the distance between the center of the square hole of PSD support structure one (1) and the center of the square hole of PSD support structure three (3) is L2; ​​the distance between the center of the square hole of PSD support structure two (2) and the center of the square hole of PSD support structure four (4) is L2; The four PSD support structures are identical. The first PSD support structure (1) includes 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) is located at the center of the thin plate (1-1), and the first reinforcing rib (1-3) and the second reinforcing rib (1-4) are respectively located on both sides of the thin plate (1-1). Both stiffener 1 (1-3) and stiffener 2 (1-4) are right-angled triangular structures, and their bottom sides are fixed on the base plate (5); the spacing between stiffener 1 (1-3) and stiffener 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 of stiffener 1 (1-3) and stiffener 2 (1-4); The structure is made of PEEK containing 40% carbon fiber.

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