A robot arm with a position calibration structure and a method of calibrating the same

Abstract

The present application relates to the technical fields of mechanical arm position calibration, and discloses a mechanical arm with position calibration structure and a calibration method thereof, which comprises a base, a motorized slide rail is fixedly installed at the central position of the upper surface of the base, a sliding receiving seat is slidingly installed on the inner wall of the motorized slide rail, a mechanical arm body is arranged on the upper surface of the sliding receiving seat, a connecting block is arranged on each corner of the upper surface of the base, and a hysteresis return calibration mechanism is arranged on the upper surface of the connecting block.The mechanical arm with position calibration structure and the calibration method thereof can effectively dissipate most of the overshoot kinetic energy of the mechanical arm body during braking by means of the contact block impacting the T-shaped slide block and the stretching preliminary energy absorption of the buffer spring one, and can convert the horizontal inertial force into the vertical abutting force of the abutting plate by means of the motion conversion mechanism composed of the rack one, the gear and the rack two, so as to provide a rigid and certain mechanical limit for the sliding receiving seat.

Description

Technical Field

[0001] This invention relates to the field of robotic arm position calibration technology, specifically to a robotic arm with a position calibration structure and its calibration method. Background Technology

[0002] A robotic arm is an automated mechanical device that mimics the function of a human arm. It typically consists of a series of links connected by joints and can move and operate precisely within a predetermined space. It obtains power through drive units such as servo motors and reducers and is programmed and directed by a control system. It is widely used in industrial fields such as welding, handling, and assembly to improve production efficiency, stabilize product quality, and replace manual labor in repetitive or high-risk tasks. To overcome positioning errors caused by long-term operation, robotic arms with position calibration structures integrate specialized compensation mechanisms and perform relevant calibration operations through specific calibration procedures.

[0003] In existing technologies, the core working principle of robotic arms with position calibration functions is to detect the actual pose of the robotic arm in real time by using high-precision sensors integrated into the joints or end effectors, such as absolute encoders, vision systems, or laser trackers. This data is then compared with the theoretical kinematic model in the control system. The resulting deviation value is used to dynamically correct the motion parameters of each joint or to drive the compensation mechanism for fine-tuning, thereby restoring the end effector to the expected target position, thus achieving high-precision absolute positioning calibration.

[0004] However, when the robotic arm brakes, the kinetic energy of its load cannot be quickly absorbed and dissipated through its own structure and transmission system. After the command stops, it continues to oscillate and surge forward due to the recovery of elastic deformation and energy release. This residual vibration caused by structural flexibility, rather than pure control lag, causes the final stopping point to deviate from the target, which restricts the positioning accuracy under load. This will reduce the positioning accuracy of tasks such as assembly and processing, causing product quality defects. Furthermore, the continuous oscillation of the end effector near the target point will significantly extend the cycle time of the entire machine, seriously restricting production efficiency. At the same time, this repeated impact load will also accelerate mechanical fatigue and shorten the service life of the equipment.

[0005] Although the lack of rigidity and energy dissipation mechanism of the robotic arm structure can be solved by implementing a buffer structure at the end, after the calibration position is unlocked, the elastic deformation energy in the mechanical structure will be suddenly released, causing the robotic arm to move slightly backward. This will disrupt the precision picking or placing operation that needs to be performed after calibration, directly destroying the accurate spatial coordinates established after calibration. This will cause the relative position between the end effector and the workpiece to deviate at critical operation moments, making it impossible for the gripper to accurately fit into the workpiece during precision picking, or causing component misalignment during high-precision placement, thus causing assembly failure, product scratches, or even equipment collisions.

[0006] After solving the problem of sudden release of elastic deformation energy in mechanical structures, the following issues will arise: the robotic arm can accurately stop at the target position through calibration each time, but the vibration caused by calibration will lead to fatigue of the overall structure. It will not be able to further offset fatigue on the buffer path, which will gradually weaken the connection rigidity of the robotic arm body and its base, resulting in a decrease in the matching accuracy of key components, which will cause reactions such as increased clearance in the transmission system and drift of the motion trajectory. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a robotic arm with a position calibration structure and its calibration method, which has the advantages of solving problems such as load and dynamic impact on the robotic arm, as well as structural fatigue after long-term use, and solves the problems mentioned in the background art.

[0008] The present invention provides the following technical solution: a robotic arm with a position calibration structure and its calibration method, comprising a base, an electric slide rail fixedly installed at the center of the upper surface of the base, a sliding support seat slidably installed on the inner wall of the electric slide rail, a robotic arm body disposed on the upper surface of the sliding support seat, connecting blocks disposed at the four corners of the upper surface of the base, and a hysteresis return positioning calibration mechanism disposed on the upper surface of the connecting blocks; The hysteresis return calibration mechanism consists of a buffer reset mechanism and a preload compensation mechanism. The buffer reset mechanism converts the elastic force and braking force of the robotic arm body into a calibration force. The buffer reset mechanism performs different degrees of calibration operations based on the different elastic forces and braking forces of the robotic arm body. The power output end of the buffer reset mechanism is equipped with a preload compensation mechanism that converts the engagement rotation power into downward pressure. Preferably, the buffer reset mechanism includes a connecting pipe, a T-shaped slider, a first buffer spring, a first telescopic rod, a first rack, a gear, a second rack, and an abutment plate. The bottom of the connecting pipe is fixedly installed with the top of the connecting block. The outer surface of the T-shaped slider is slidably connected to the inner wall of the connecting pipe. One end of the first buffer spring is fixedly installed with the left side of the T-shaped slider. One end of the first telescopic rod is fixedly installed with the left side of the T-shaped slider. The left side of the first rack is fixedly installed with the right side of the T-shaped slider. The outer surface of the gear meshes with the upper surface of the first rack. The lower surface of the second rack meshes with the outer surface of the gear. The right side of the abutment plate is fixedly installed with the left side of the second rack, and the abutment plate abuts against the right side of the sliding support seat after the sliding support seat is braked.

[0009] Preferably, the preload compensation mechanism includes a fixed plate, a rotating rod, a cam, a rectangular block, a U-shaped block, a rotating shaft, a roller, a contact block, a second buffer spring, and a second telescopic rod. The bottom of the fixed plate is fixedly installed on the upper surface of the connecting block. The outer surface of the rotating rod is rotatably installed on the inner wall of the fixed plate. The interior of the cam is fixedly installed at the center of the outer surface of the rotating rod. A rectangular groove is formed inside the connecting block. The front of the rectangular block is slidably installed on the inner wall of the rectangular groove. The front of the U-shaped block is fixedly installed on the back of the rectangular block. The outer surface of the rotating shaft is rotatably installed on the inner wall of the U-shaped block. The interior of the roller is fixedly installed on the outer surface of the rotating shaft. The upper surface of the contact block is in contact with the outer surface of the roller. One end of the second buffer spring is fixedly installed on the bottom of the contact block. One end of the second telescopic rod is fixedly installed on the bottom of the contact block.

[0010] Preferably, the connecting pipe has a sliding groove inside, and the left side inside the sliding groove is fixedly installed with one end of the buffer spring and the telescopic rod.

[0011] Preferably, a contact block is fixedly installed on the right side of the sliding support, and the right side of the contact block can abut against the left side of the T-shaped slider after the electric slide rail is braked.

[0012] Preferably, a limiting block is fixedly installed on the upper surface of the base, the interior of the limiting block is slidably connected to the outer surface of the contact block, and the outer surface of the limiting block is slidably connected to the outer surface of the rack.

[0013] Preferably, the outer surface of one end of the rotating rod is fixedly installed to the inner wall of the gear.

[0014] Preferably, one end of the second buffer spring is fixedly installed to the bottom end of the rectangular groove, and one end of the second telescopic rod is fixedly installed to the bottom end of the rectangular groove.

[0015] A calibration method for a robotic arm with a position calibration structure includes the following specific steps: S1. After the robotic arm body drives the sliding support to move along the electric slide rail to the target position and brakes, the sliding support continues to move forward due to inertia, causing the contact block on it to strike the T-shaped slider. The T-shaped slider slides inside the connecting tube and stretches the buffer spring, starting to absorb the overshoot energy. The movement of the S2 and T-shaped sliders causes the rack one fixed to it to move. The rack one drives the gear to rotate, which in turn drives the rack two meshing with it and the abutment plate fixed to it to move to the left until the abutment plate tightly abuts against the right side of the sliding support, forming a rigid mechanical limit and completing precise positioning. S3. As the gear rotates, the cam fixed on the same rotating rod rotates synchronously. Its contour presses against the roller, and through the U-shaped block and rectangular block assembly, it moves downward against the elastic force of the second buffer spring. Finally, through the compression of the second buffer spring and the second telescopic rod, it plays an important role in buffering and shock absorption. S4. Upon receiving the release command, the electric slide rail drives the sliding support to move to the left, disengaging from the contact plate. Buffer spring one pushes the T-shaped slider and rack one to reset, while buffer spring two pushes the rectangular block and other components to reset upwards. The cam then rotates, and the entire calibration system returns to its initial state, ready to perform the next operation.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This type of robotic arm with a position calibration structure uses a contact block to impact a T-shaped slider and utilizes a buffer spring for initial energy absorption, effectively dissipating most of the excessive kinetic energy during the braking of the robotic arm body. Furthermore, through a motion conversion mechanism composed of rack one, gears, and rack two, the horizontal inertial force is converted into a vertically upward abutting force on the abutment plate, thereby providing a rigid and definite mechanical limit for the sliding support seat. This ensures that the robotic arm body can be stopped at the same precise position each time, solving the problem of stopping point deviation caused by structural flexibility and vibration, and achieving calibrated positioning accuracy.

[0017] 2. This type of robotic arm with a position calibration structure, when the gears rotate, will synchronously drive the rotating rod and cam to rotate. The cam, through the pressure roller, drives the U-shaped block and rectangular block assembly to move downward, and then applies an adjustable vertical downward pressure through the contact block. The compression of the buffer spring and the telescopic rod can play an important role in buffering and shock absorption, preventing it from oscillating near the target point, and improving the instantaneous stability and long-term accuracy under load.

[0018] 3. This type of robotic arm with a position calibration structure completes the entire calibration, locking, and compensation process through the linkage of mechanical components. It has a simple structure, rapid response, and strong anti-interference ability. Moreover, it disperses and absorbs impact energy mechanically, reducing the direct impact on the main structure such as the electric slide rail and base, effectively alleviating structural fatigue, extending the service life of the equipment, and reducing the system's maintenance costs and dependence on the control system. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention; Figure 2 For the present invention Figure 1 A top-view structural diagram; Figure 3 For the present invention Figure 1 A schematic diagram of the rear view structure; Figure 4 For the present invention Figure 1 Schematic diagram of the right-side cross-sectional structure; Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structure at point A; Figure 6 For the present invention Figure 5 Enlarged schematic diagram of the structure at point B; Figure 7 For the present invention Figure 4 A schematic diagram of one side of the structure; Figure 8 For the present invention Figure 7 A magnified schematic diagram of the structure at point C.

[0020] In the diagram: 1. Base; 2. Electric slide rail; 3. Sliding support seat; 4. Robotic arm body; 5. Connecting block; 6. Contact block; 7. Connecting pipe; 8. T-shaped slider; 9. Buffer spring one; 10. Telescopic rod one; 11. Sliding groove; 12. Rack one; 13. Fixing plate; 14. Rotating rod; 15. Gear; 16. Rack two; 17. Abutment plate; 18. Limiting block; 19. Cam; 20. Rectangular groove; 21. Rectangular block; 22. U-shaped block; 23. Rotating shaft; 24. Roller; 25. Fitting block; 26. Buffer spring two; 27. Telescopic rod two. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 A robotic arm with a position calibration structure includes a base 1, an electric slide rail 2 fixedly installed at the center of the upper surface of the base 1, a sliding support seat 3 slidably installed on the inner wall of the electric slide rail 2, a robotic arm body 4 provided on the upper surface of the sliding support seat 3, and connecting blocks 5 provided at the four corners of the upper surface of the base 1, with a hysteresis return position calibration mechanism provided on the upper surface of the connecting blocks 5. The hysteresis return calibration mechanism consists of a buffer reset mechanism and a preload compensation mechanism. The buffer reset mechanism converts the elastic force and braking force of the robotic arm body 4 into a calibration force. The buffer reset mechanism performs different degrees of calibration operations based on the different elastic force and braking force of the robotic arm body 4. The power output end of the buffer reset mechanism is equipped with a preload compensation mechanism that converts the meshing rotational force into downward pressure. The buffer reset mechanism includes a connecting pipe 7, a T-shaped slider 8, a buffer spring 9, a telescopic rod 10, a rack 12, a gear 15, a rack 16, and an abutment plate 17. The bottom of the connecting pipe 7 is fixedly installed to the top of the connecting block 5. The outer surface of the T-shaped slider 8 is slidably connected to the inner wall of the connecting pipe 7. One end of the buffer spring 9 is fixedly installed to the left side of the T-shaped slider 8. One end of the telescopic rod 10 is fixedly installed to the left side of the T-shaped slider 8. The left side of the rack 12 is fixedly installed to the right side of the T-shaped slider 8. The outer surface of the gear 15 meshes with the upper surface of the rack 12. The lower surface of the rack 16... The surface meshes with the outer surface of the gear 15. The right side of the abutment plate 17 is fixedly installed with the left side of the rack 16. After the sliding support 3 is braked, the abutment plate 17 abuts against the right side of the sliding support 3. The inside of the connecting pipe 7 is provided with a sliding groove 11. The left side of the inside of the sliding groove 11 is fixedly installed with one end of the buffer spring 9 and the telescopic rod 10. The right side of the sliding support 3 is fixedly installed with a contact block 6. After the electric slide rail 2 is braked, the right side of the contact block 6 can abut against the left side of the T-shaped slider 8. The upper surface of the base 1 is fixedly installed with a limit block 18. The inside of the limit block 18 is slidably connected with the outer surface of the contact block 6. The outer surface of the limit block 18 is slidably connected with the outer surface of the rack 16.

[0023] Specifically, by setting hysteresis return calibration mechanisms at the four corners of the upper surface of the base 1, when the robotic arm body 4 moves and brakes along with the sliding support 3 on the electric slide rail 2, the hysteresis return calibration mechanisms can calibrate the positions of the sliding support 3 and the robotic arm body 4. This effectively eliminates positional deviations caused by factors such as the running error of the electric slide rail 2 and the inertia of the robotic arm body 4 itself, ensuring that the robotic arm body 4 accurately reaches the predetermined position after each stop. This improves the positioning accuracy of the robotic arm and meets the requirements of high-precision operations. The presence of the hysteresis return calibration mechanism can also buffer the impact force of the robotic arm body 4 during startup and braking. When the electric slide rail 2 drives the sliding support 3 and the robotic arm body 4 to start or stop, the generated inertial force may cause the robotic arm body 4 to sway or become unstable. The hysteresis return calibration mechanism can absorb and disperse this energy, reducing the vibration of the robotic arm body 4, making the operation of the robotic arm body 4 more stable, reducing the probability of component wear and failure caused by vibration, and extending the service life of the robotic arm body 4. When the electric slide rail 2 brakes, the contact block 6 abuts against the left side of the T-shaped slider 8, pushing the T-shaped slider 8 to slide within the connecting tube 7. The buffer spring 9 is compressed, absorbing and dispersing the impact energy generated during the robotic arm's braking due to its elastic properties. This effectively reduces the impact force of the robotic arm body 4 on the base 1 and other structures, lowering the risk of component damage due to severe impacts and extending the service life of the robotic arm and related components. The telescopic rod 10, in conjunction with the buffer spring 9, plays a stabilizing guiding role during the buffering process, preventing the T-shaped slider 8 from shifting during sliding, ensuring the smoothness and reliability of the buffering action. 8. The sliding mechanism drives rack 12 to move. Since gear 15 meshes with the upper surface of rack 12, gear 15 will rotate accordingly, thereby driving rack 16, which meshes with the outer surface of gear 15, to move. Rack 16 drives the abutment plate 17 to move towards the sliding support 3. After the sliding support 3 brakes, the abutment plate 17 abuts against its right side, converting the elastic force and braking force generated during the braking process of the robotic arm body 4 into a correction force. This achieves precise calibration of the position of the robotic arm body 4, ensuring that the robotic arm body 4 can accurately stop at the predetermined position after braking, thus improving the working accuracy and stability of the robotic arm body 4. Furthermore, the setting of the limiting block 18 plays an important role in restricting and guiding the contact block 6 and the rack 16. The contact block 6 slides inside the limiting block 18, ensuring the linearity of the movement of the contact block 6 and preventing it from shaking or deviating during the movement. The outer surface of the rack 16 slides with the outer surface of the limiting block 18, restricting the movement trajectory of the rack 16 and making it move only in a specific direction. This ensures the precise coordination between the components of the entire buffer reset mechanism, improves the stability and reliability of the entire structure, and ensures that the robotic arm body 4 can work normally under various working conditions.

[0024] Please see Figure 7 and Figure 8The preload compensation mechanism includes a fixed plate 13, a rotating rod 14, a cam 19, a rectangular block 21, a U-shaped block 22, a rotating shaft 23, a roller 24, a contact block 25, a second buffer spring 26, and a second telescopic rod 27. The bottom of the fixed plate 13 is fixedly installed on the upper surface of the connecting block 5. The outer surface of the rotating rod 14 is rotatably installed on the inner wall of the fixed plate 13. The interior of the cam 19 is fixedly installed at the center of the outer surface of the rotating rod 14. A rectangular groove 20 is opened inside the connecting block 5. The front of the rectangular block 21 is slidably installed on the inner wall of the rectangular groove 20. The front of the U-shaped block 22 is slidably installed on the inner wall of the rectangular block 21. The rear is fixedly installed. The outer surface of the rotating shaft 23 is rotatably installed with the inner wall of the U-shaped block 22. The inside of the roller 24 is fixedly installed with the outer surface of the rotating shaft 23. The upper surface of the mating block 25 is mated with the outer surface of the roller 24. One end of the second buffer spring 26 is fixedly installed with the bottom of the mating block 25. One end of the second telescopic rod 27 is fixedly installed with the bottom of the mating block 25. The outer surface of one end of the rotating rod 14 is fixedly installed with the inner wall of the gear 15. One end of the second buffer spring 26 is fixedly installed with the bottom of the rectangular groove 20. One end of the second telescopic rod 27 is fixedly installed with the bottom of the rectangular groove 20.

[0025] Specifically, the rotating rod 14 drives the cam 19 to rotate, and the special contour shape of the cam 19 changes the contact position and pressure between it and the roller 24. Since the roller 24 is mounted on the U-shaped block 22 via the rotating shaft 23, and the U-shaped block 22 is connected to the rectangular block 21, which slides within the rectangular groove 20, the rotation of the cam 19 can precisely control the vertical movement distance of the rectangular block 21 within the rectangular groove 20, thereby precisely adjusting the magnitude of the preload. This allows the robotic arm body 4 to obtain a suitable preload under different working conditions, meeting diverse work requirements. The rotating rod 14 is fixedly installed at one end to the inner wall of the gear 15. When the gear 15 rotates, it drives the rotating rod 14 and the cam 19 to rotate synchronously, smoothly transmitting the meshing force to the preload compensation mechanism. During the operation of the robotic arm body 4, if the preload changes due to factors such as component wear or temperature changes, this mechanism can automatically compensate for the preload through the interaction between the cam 19 and the roller 24, as well as the elastic adjustment of the buffer spring 26 and the telescopic rod 27. This ensures that the robotic arm body 4 always maintains a stable working state, reducing errors and malfunctions caused by changes in preload. The buffer spring 26 and the telescopic rod 27 play an important role in buffering and shock absorption. When the robotic arm is subjected to external impact or vibration, the contact block 25 will be subjected to force, the buffer spring 26 will be compressed or stretched, and the telescopic rod 27 will play a stabilizing and guiding role, preventing the contact block 25 from shifting. Together, they absorb and disperse the impact energy, reduce the impact on other components of the robotic arm body 4, protect the structural integrity of the robotic arm body 4, and extend its service life.

[0026] A calibration method for a robotic arm with a position calibration structure includes the following specific steps: S1. When the robotic arm body 4 drives the sliding support 3 to move along the electric slide rail 2 to the target position and brakes, the sliding support 3 continues to move forward due to inertia, causing the contact block 6 on it to strike the T-shaped slider 8. The T-shaped slider 8 slides inside the connecting tube 7 and stretches the buffer spring 9, starting to absorb the overshoot energy. The movement of the S2 and T-shaped slider 8 drives the rack 12 fixed thereon to move. The rack 12 drives the gear 15 to rotate, which in turn drives the rack 16 meshing with it and the abutment plate 17 fixed thereon to move to the left until the abutment plate 17 tightly abuts against the right side of the sliding support 3, forming a rigid mechanical limit and completing precise positioning. S3. As gear 15 rotates, cam 19, fixed on the same rotating rod 14, rotates synchronously. Its contour presses against roller 24, and through the assembly of U-shaped block 22 and rectangular block 21, it moves downward against the elastic force of buffer spring 26. Finally, through the compression of buffer spring 26 and telescopic rod 27, it plays an important role in buffering and shock absorption. S4. Upon receiving the release command, the electric slide rail 2 drives the sliding support 3 to move to the left, disengaging from the contact plate 17. The buffer spring 9 pushes the T-shaped slider 8 and rack 12 to reset. At the same time, the buffer spring 26 pushes the rectangular block 21 and other components to reset upwards. The cam 19 then rotates back, and the entire calibration system returns to its initial state, ready to perform the next operation.

[0027] Working principle: During use, when the sliding support 3 carrying the load brakes on the electric slide rail 2, it will continue to move forward due to inertia, causing the contact block 6 on it to strike the T-shaped slider 8. The T-shaped slider 8 slides inside the connecting tube 7, stretching the buffer spring 9, and begins to convert the overshoot kinetic energy into the spring's potential energy. This process constitutes the initial buffer. The rightward movement of the T-shaped slider 8 causes the rack 12 on it to move synchronously. The rack 12 drives the gear 15 to rotate, which in turn drives the rack 16 meshing with the gear 15 to move to the left. The leftward movement of the rack 16 finally pushes the abutment plate 17 to firmly abut against the right side of the sliding support 3 from its left side, forming a rigid, lateral mechanical limit, forcibly preventing it from moving forward further, thereby achieving precise positioning. During calibration, the rotating rod 14, coaxially fixed with gear 15, drives cam 19 to rotate. The contour of cam 19 presses against roller 24, forcing the entire assembly of U-shaped block 22 and rectangular block 21 to move downwards against the elastic force of buffer spring 26, playing an important role in buffering and shock absorption, and ensuring the stability of positioning. When calibration needs to be released, electric slide rail 2 reverses its drive, sliding support 3 moves to the left, disengaging from contact with abutment plate 17. At this time, the stretched buffer spring 9 pushes T-shaped slider 8 to reset, and through gear 15, abutment plate 17 moves to the right. At the same time, buffer spring 26 pushes rectangular block 21 and other components to reset, and cam 19 rotates in the opposite direction, releasing the vertical preload. The entire system returns to its initial state, ready for the next calibration.

[0028] In this calibration structure, the buffer spring 9 can be a steel cylindrical compression spring, and its matching telescopic rod 10 is a No. 45 steel optical shaft with hard chrome plating to ensure guiding accuracy and corrosion resistance. When the sliding bearing seat 3 moves forward inertia, it pushes the T-shaped slider 8 through the contact block 6, causing the buffer spring 9 to be compressed and stored. At the same time, it drives the 40Cr material rack 12 fixed on the T-shaped slider 8 to produce a horizontal displacement, which in turn drives the carburized and quenched gear 15 that meshes with it to rotate. This rotation drives the steel rack 16 to move vertically upward, pushing the abutment plate 17 to complete rigid locking. On the other hand, it drives the cam mechanism through the coaxially connected rotating rod 14. At this time, the buffer spring 26 installed in the rectangular groove 20 is a 304 stainless steel butterfly spring assembly, which can work together with the telescopic rod 27 to provide controllable elastic resistance when the cam 19 presses the roller 24.

[0029] It should be noted that the electrical components and equipment mentioned above all use external power sources. The circuits, electronic components, and modules involved in this invention are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The scope of protection of this invention does not involve improvements to the internal structure and methods. Furthermore, in this document, relational terms such as "first" and "second" are used only 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. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm with a position calibration structure, characterized in that: Includes a base (1), an electric slide rail (2) is fixedly installed at the center of the upper surface of the base (1), a sliding support seat (3) is slidably installed on the inner wall of the electric slide rail (2), a robotic arm body (4) is provided on the upper surface of the sliding support seat (3), and connecting blocks (5) are provided at the four corners of the upper surface of the base (1), and a hysteresis return calibration mechanism is provided on the upper surface of the connecting blocks (5). The hysteresis return calibration mechanism consists of a buffer reset mechanism and a preload compensation mechanism. The buffer reset mechanism rotates the elastic force and braking force of the robotic arm body (4) into a calibration force. The buffer reset mechanism performs different degrees of calibration operations based on the different elastic force and braking force of the robotic arm body (4). The power output end of the buffer reset mechanism is equipped with a preload compensation mechanism that converts the engagement rotation power into downward pressure. The buffer reset mechanism includes a connecting pipe (7), a T-shaped slider (8), a buffer spring (9), a telescopic rod (10), a rack (12), a gear (15), a rack (16), and an abutment plate (17). The bottom of the connecting pipe (7) is fixedly installed to the top of the connecting block (5). The outer surface of the T-shaped slider (8) is slidably connected to the inner wall of the connecting pipe (7). One end of the buffer spring (9) is fixedly installed to the left side of the T-shaped slider (8). The telescopic rod (10) is... One end of the rack (12) is fixedly installed on the left side of the T-shaped slider (8), the left side of the rack (12) is fixedly installed on the right side of the T-shaped slider (8), the outer surface of the gear (15) meshes with the upper surface of the rack (12), the lower surface of the rack (16) meshes with the outer surface of the gear (15), the right side of the abutment plate (17) is fixedly installed on the left side of the rack (16), and the abutment plate (17) abuts against the right side of the sliding support seat (3) after the sliding support seat (3) is braked; The preload compensation mechanism includes a fixed plate (13), a rotating rod (14), a cam (19), a rectangular block (21), a U-shaped block (22), a rotating shaft (23), a roller (24), a fitting block (25), a second buffer spring (26), and a second telescopic rod (27). The bottom of the fixed plate (13) is fixedly installed on the upper surface of the connecting block (5). The outer surface of the rotating rod (14) is rotatably installed on the inner wall of the fixed plate (13). The interior of the cam (19) is fixedly installed at the center of the outer surface of the rotating rod (14). A rectangular groove (20) is provided inside the connecting block (5). The front of the rectangular block (21) is slidably installed with the inner wall of the rectangular groove (20), the front of the U-shaped block (22) is fixedly installed with the back of the rectangular block (21), the outer surface of the rotating shaft (23) is rotatably installed with the inner wall of the U-shaped block (22), the inside of the roller (24) is fixedly installed with the outer surface of the rotating shaft (23), the upper surface of the fitting block (25) is fitted with the outer surface of the roller (24), one end of the second buffer spring (26) is fixedly installed with the bottom of the fitting block (25), and one end of the second telescopic rod (27) is fixedly installed with the bottom of the fitting block (25).

2. The robotic arm with a position calibration structure according to claim 1, characterized in that: The connecting pipe (7) has a sliding groove (11) inside, and the left side of the sliding groove (11) is fixedly installed with one end of the buffer spring (9) and the telescopic rod (10).

3. The robotic arm with a position calibration structure according to claim 1, characterized in that: A contact block (6) is fixedly installed on the right side of the sliding support (3), and after the electric slide rail (2) is braked, the right side of the contact block (6) can abut against the left side of the T-shaped slider (8).

4. A robotic arm with a position calibration structure according to claim 1, characterized in that: A limiting block (18) is fixedly installed on the upper surface of the base (1). The interior of the limiting block (18) is slidably connected to the outer surface of the contact block (6), and the outer surface of the limiting block (18) is slidably connected to the outer surface of the rack (16).

5. A robotic arm with a position calibration structure according to claim 1, characterized in that: The outer surface of one end of the rotating rod (14) is fixedly installed on the inner wall of the gear (15).

6. A robotic arm with a position calibration structure according to claim 1, characterized in that: One end of the second buffer spring (26) is fixedly installed inside the bottom of the rectangular groove (20), and one end of the second telescopic rod (27) is fixedly installed inside the bottom of the rectangular groove (20).

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