Mechanical arm for laser positioning robot

Abstract

The mechanical arm for the laser positioning robot comprises a mechanical arm body, one end of the mechanical arm body is fixedly connected with a connecting sleeve, the inner wall of the connecting sleeve is connected with a connecting rod in a clamped mode, and the interior of the connecting rod and the interior of the connecting sleeve are both in threaded connection with connecting screw rods through internal thread grooves. A laser positioning cylinder is fixedly connected to one end of the connecting rod, a 3D scanning head is fixedly installed on the inner wall of the laser positioning cylinder, and sliding rail plates are fixedly connected to the surfaces, close to the top and the bottom of the laser positioning cylinder, of the laser positioning cylinder. Through the cooperation of the structures, the laser positioning structure convenient to disassemble and assemble is arranged, a worker can conveniently disassemble, assemble and replace the laser positioning structure, the two 3D scanning heads are additionally arranged to compare, scan and calculate the laser positioning position, the protection structure is additionally arranged at the laser positioning structure, and the laser positioning structure is not damaged. The portable disassembly, assembly and protection effects of the scanning comparison laser positioning structure on the mechanical arm can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of laser positioning robots, in particular to a mechanical arm for a laser positioning robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A laser positioning robot is a robot that uses lasers for ranging and positioning. It emits a laser signal and derives the distance based on the time difference of the signal reflected from the object. It then determines the angle between the object and the transmitter based on the angle of the laser emission, thereby obtaining the relative position of the object and the transmitter.

[0003] For example, a line scanning laser positioning robot with patent application number CN202120491409.3 includes a mechanical arm, a slide rail, a mechanical arm base and a line scanning laser device; the mechanical arm is fixedly arranged on the mechanical arm base and has a freely movable mechanical arm end, and the mechanical arm end is used to fix the object to be measured; the slide rail is arranged on the mechanical arm base and is parallel to the mechanical arm; the line scanning laser device is arranged on the slide rail and can move along the slide rail, and the laser generating surface of the line scanning laser device is arranged toward the mechanical arm end;

[0004] Since the above-mentioned line scanning laser positioning robot performs laser positioning through a line scanning laser device, the laser positioning points of the workpieces will also be different due to the differences in the sizes of the batch workpieces on the production line. If the laser positioning calibration of the workpiece is performed manually, it will be relatively slow, which has a certain adverse effect on actual use, and therefore needs to be improved. Utility Model Content

[0005] The purpose of the utility model is to provide a mechanical arm for a laser positioning robot, which has a laser positioning structure that is easy to disassemble and assemble, so that the staff can disassemble, assemble and replace the laser positioning structure, and two 3D scanning heads are added for comparative scanning and calculation of the laser positioning position, and a protective structure is added to the laser positioning structure, which can realize the advantages of portable disassembly and assembly and protection of the scanning and comparison laser positioning structure on the mechanical arm, which brings certain favorable effects on actual use and solves the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a mechanical arm for a laser positioning robot, comprising a mechanical arm body, one end of the mechanical arm body is fixedly connected to a connecting sleeve, the inner wall of the connecting sleeve is clamped with a connecting rod, the interior of the connecting rod and the interior of the connecting sleeve are both threadedly connected with a connecting screw through an internal thread groove, one end of the connecting rod is fixedly connected to a laser positioning cylinder, a 3D scanning head is fixedly installed on the inner wall of the laser positioning cylinder, a slide plate is fixedly connected to the surface of the laser positioning cylinder near its top and bottom, the inner wall of the slide plate is rollingly connected to an electric roller with a stop plate, the surface of the electric roller is connected to a movable baffle, the surface of the movable baffle is connected to a locking assembly, the bottom of the laser positioning cylinder is fixedly connected to an upper threaded fixed plate, the inner wall of the upper threaded fixed plate is threadedly connected to a lower threaded fixed plate, and one end of the lower threaded fixed plate is fixedly connected to a positioning laser.

[0007] Preferably, the number of the 3D scanning heads is two, and the two 3D scanning heads are connected to the laser positioning tube in upper and lower positions.

[0008] Preferably, a magnetic card slot is provided on the front side of the laser positioning tube, a magnetic card plate is clamped on the inner wall of the magnetic card slot, and a waterproof bonding plate is fixedly connected to the surface of the magnetic card plate.

[0009] Preferably, the locking assembly includes a locking card plate and a locking card slot, the locking card plate is fixedly connected to the movable baffle plate on the left, the locking card slot is opened on the movable baffle plate on the right, and the inner wall of the locking card slot and the surface of the locking card plate are snap-fitted and adapted.

[0010] Preferably, a restraining sleeve is fixedly connected to the side of the movable baffle, a restraining slot is provided on the side of the laser positioning tube, and the inner wall of the restraining slot is slidably connected to the surface of the restraining sleeve.

[0011] Preferably, the overall shape of the restraining sleeve is a side I-shaped plate, the overall shape of the restraining slot is an arc-shaped groove with an arc-shaped slide, and the surface of the arc-shaped slide in the arc-shaped groove is in sliding contact with the concave surface of the restraining sleeve.

[0012] Preferably, a lower groove is opened at the top of the lower threaded fixed plate, a bolt ring is fixedly connected to the inner wall of the lower groove, and a tough rope is fixedly connected to the bottom of the upper threaded fixed plate, and one end of the tough rope is bolted to the inner wall of the bolt ring.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. In the utility model, the connecting rod on the mechanical arm body can be inserted into the interior of the connecting sleeve, and then the connecting screw is rotated to enter the internal thread groove of the connecting rod and the connecting sleeve for positioning connection. Through the thread positioning effect of the lower thread fixing plate and the upper thread fixing plate, the positioning laser can be quickly disassembled and assembled to enhance the portability of the laser positioning structure on the mechanical arm;

[0015] 2. In the utility model, the shape of the workpiece can be scanned and compared by the set 3D scanning head, and the two 3D scanning heads can perform comparative scanning to determine the shape of the workpiece, so as to avoid the deviation of the scanned workpiece shape, and then the active positioning laser is used for laser positioning again after the internal calculation of the robot. When the laser positioning of a single type of workpiece is performed in batches, the electric roller can be driven and controlled to move in the inner wall of the slide plate, and the left and right movable baffles can be moved closer to the middle position. Under the action of the locking card plate and the locking card slot, the two adjacent movable baffles can be locked with each other. The constraint card sleeve and the constraint card slot are added for guiding the movement, so as to avoid the movable baffle from tilting or even falling sideways during the movement. Then, the magnetic card plate on the waterproof plywood is abutted against the magnetic card slot for positioning and clamping, so that the waterproof plywood can shield and abut against the joint of the two movable baffles, and the scanning and comparison operation before the laser positioning of the workpiece can be performed in an integrated manner.

[0016] 3. In the utility model, if the positioning laser falls accidentally during use, the added tough rope can be used to prevent it from falling and pull the support, that is, the bolting effect of the tough rope connected to the bolt ring can ensure that the secondary connection of the upper threaded fixing plate and the lower threaded fixing plate is prevented from falling off, thereby achieving the protective effect of the laser positioning structure on the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the mechanical arm body in the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the laser positioning tube in the utility model;

[0019] Figure 3 This is a schematic diagram of the disassembled structure of the laser positioning tube in the utility model;

[0020] Figure 4 It is a structural schematic diagram of the movable baffle in the utility model;

[0021] Figure 5 It is an enlarged view of point A of the utility model;

[0022] Figure 6 It is an enlarged view of point B of the present utility model.

[0023] In the figure: 1. Robot arm body; 2. Connecting sleeve; 3. Connecting rod; 4. Connecting screw; 5. Laser positioning cylinder; 6. 3D scanning head; 7. Slide plate; 8. Electric roller; 9. Movable baffle; 10. Upper threaded fixing plate; 11. Lower threaded fixing plate; 12. Positioning laser; 13. Magnetic card slot; 14. Magnetic card plate; 15. Waterproof bonding plate; 16. Locking card plate; 17. Locking card slot; 18. Constraint card sleeve; 19. Constraint card slot; 20. Bolt ring; 21. Tough rope. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] Example 1, please refer to Figures 1 to 6 The utility model provides a technical solution: a mechanical arm for a laser positioning robot, comprising a mechanical arm body 1, one end of the mechanical arm body 1 is fixedly connected to a connecting sleeve 2, the inner wall of the connecting sleeve 2 is clamped with a connecting rod 3, the interior of the connecting rod 3 and the interior of the connecting sleeve 2 are both threadedly connected with a connecting screw 4 through an internal thread groove, one end of the connecting rod 3 is fixedly connected to a laser positioning cylinder 5, the inner wall of the laser positioning cylinder 5 is fixedly installed with a 3D scanning head 6, the surface of the laser positioning cylinder 5 near its top and bottom is fixedly connected with a slide plate 7, the inner wall of the slide plate 7 is rollingly connected to an electric roller 8 with a stop plate, the surface of the electric roller 8 is connected with a movable baffle 9, the surface of the movable baffle 9 is connected with a locking assembly, the bottom of the laser positioning cylinder 5 is fixedly connected with an upper threaded fixed plate 10, the inner wall of the upper threaded fixed plate 10 is threadedly connected with a lower threaded fixed plate 11, and one end of the lower threaded fixed plate 11 is fixedly connected with a positioning laser 12.

[0026] Furthermore, there are two 3D scanning heads 6 , which are connected to the laser positioning tube 5 in upper and lower positions. The two 3D scanning heads 6 can perform comparative scanning to determine the shape of the workpiece, thereby avoiding deviation in the shape of the scanned workpiece.

[0027] Furthermore, the locking assembly includes a locking card plate 16 and a locking card slot 17, wherein the locking card plate 16 is fixedly connected to the movable baffle 9 on the left side, and the locking card slot 17 is opened on the movable baffle 9 on the right side. The inner wall of the locking card slot 17 and the surface of the locking card plate 16 are snap-fitted and adapted. Under the action of the locking card plate 16 and the locking card slot 17, the two adjacent movable baffles 9 can be locked with each other.

[0028] Furthermore, a restraining sleeve 18 is fixedly connected to the side of the movable baffle 9, and a restraining slot 19 is provided on the side of the laser positioning cylinder 5, and the inner wall of the restraining slot 19 is slidably connected to the surface of the restraining sleeve 18. The overall shape of the restraining sleeve 18 is a side I-shaped plate, and the overall shape of the restraining slot 19 is an arc groove with an arc slide, and the surface of the arc slide in the arc groove is slidably abutted against the concave surface of the restraining sleeve 18. The restraining sleeve 18 and the restraining slot 19 are added for guiding movement, which can prevent the movable baffle 9 from tilting or even falling sideways during movement.

[0029] Example 2, please refer to Figures 1 to 6 The difference between this embodiment and the first embodiment is that: a magnetic card slot 13 is provided on the front side of the laser positioning tube 5, and a magnetic card plate 14 is clamped on the inner wall of the magnetic card slot 13, and a waterproof plywood 15 is fixedly connected to the surface of the magnetic card plate 14. The magnetic card plate 14 on the waterproof plywood 15 is abutted in the magnetic card slot 13 for positioning and clamping, so that the waterproof plywood 15 can shield and abut the joint of the two movable baffles 9. A lower groove is provided on the top of the lower threaded fixed plate 11, and a bolt ring 20 is fixedly connected to the inner wall of the lower groove. A tough rope 21 is fixedly connected to the bottom of the upper threaded fixed plate 10, and one end of the tough rope 21 is bolted to the inner wall of the bolt ring 20. The added tough rope 21 is used for anti-drop pulling support, that is, the bolting effect of the tough rope 21 connected to the bolt ring 20 can ensure the secondary connection of the upper threaded fixed plate 10 and the lower threaded fixed plate 11 to prevent the positioning laser 12 from falling during use.

[0030] Working principle: When the mechanical arm of a laser positioning robot is in use, the staff can control the mechanical arm body 1 to be installed at the work site. When the laser positioning operation of the workpiece is required, the connecting rod 3 can be inserted into the interior of the connecting sleeve 2, and then the connecting screw 4 can be rotated to enter the internal thread groove of the connecting rod 3 and the connecting sleeve 2 for positioning and connection. Before laser positioning of the workpiece, the 3D scanning head 6 can perform shape scanning and comparison of the workpiece, and the two 3D scanning heads 6 can perform comparative scanning to determine the shape of the workpiece to avoid deviation in the shape of the scanned workpiece. After the internal calculation of the robot, the active positioning laser 12 is used again for laser positioning. When laser positioning of a single type of workpiece is performed in batches, the electric roller 8 can be driven and controlled to move in the inner wall of the slide plate 7 to move the left and right movable baffles 9 to the center. The two movable baffles 9 are moved together and locked together under the action of the locking card plate 16 and the locking card slot 17. The restraining sleeve 18 and the restraining card slot 19 are added to guide the movement, which can prevent the movable baffle 9 from tilting or even falling sideways during the movement. Then the magnetic card plate 14 on the waterproof plywood 15 is abutted against the magnetic card slot 13 for positioning and clamping, so that the waterproof plywood 15 can cover and abut against the joint of the two movable baffles 9. If the positioning laser 12 accidentally falls during use, the added tough rope 21 can be used to prevent it from falling and pulling the support, that is, the bolting effect of the tough rope 21 connected to the bolt ring 20 can ensure that the secondary connection of the upper threaded fixed plate 10 and the lower threaded fixed plate 11 is prevented from falling off, and the portable disassembly and assembly as well as the protection effect of the scanning comparison laser positioning structure on the robot arm can be realized.

[0031] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm for a laser positioning robot, comprising a mechanical arm body (1), characterized in that: One end of the robot arm body (1) is fixedly connected to a connecting sleeve (2), the inner wall of the connecting sleeve (2) is clamped with a connecting rod (3), the interior of the connecting rod (3) and the interior of the connecting sleeve (2) are both threadedly connected to a connecting screw (4) through an internal thread groove, one end of the connecting rod (3) is fixedly connected to a laser positioning tube (5), the inner wall of the laser positioning tube (5) is fixedly mounted with a 3D scanning head (6), and the surface of the laser positioning tube (5) near its top and bottom is fixedly connected to A slide rail plate (7) is provided, the inner wall of the slide rail plate (7) is rollingly connected to an electric roller (8) with a stop plate, the surface of the electric roller (8) is connected to a movable baffle (9), the surface of the movable baffle (9) is connected to a locking assembly, the bottom of the laser positioning tube (5) is fixedly connected to an upper threaded fixed plate (10), the inner wall of the upper threaded fixed plate (10) is threadedly connected to a lower threaded fixed plate (11), and one end of the lower threaded fixed plate (11) is fixedly connected to a positioning laser (12).

2. A mechanical arm for a laser positioning robot according to claim 1, characterized in that: The number of the 3D scanning heads (6) is two, and the two 3D scanning heads (6) are connected to the laser positioning tube (5) in upper and lower positions.

3. The mechanical arm for a laser positioning robot according to claim 1, characterized in that: The front side of the laser positioning tube (5) is provided with a magnetic card slot (13), the inner wall of the magnetic card slot (13) is clamped with a magnetic card plate (14), and the surface of the magnetic card plate (14) is fixedly connected with a waterproof bonding plate (15).

4. The mechanical arm for a laser positioning robot according to claim 1, characterized in that: The locking assembly comprises a locking card plate (16) and a locking card slot (17); the locking card plate (16) is fixedly connected to the movable baffle (9) located on the left side; the locking card slot (17) is provided on the movable baffle (9) located on the right side; the inner wall of the locking card slot (17) is engaged and adapted with the surface of the locking card plate (16).

5. The mechanical arm for a laser positioning robot according to claim 1, characterized in that: A restraining sleeve (18) is fixedly connected to the side of the movable baffle (9), a restraining slot (19) is provided on the side of the laser positioning tube (5), and the inner wall of the restraining slot (19) is slidably connected to the surface of the restraining sleeve (18).

6. The mechanical arm for a laser positioning robot according to claim 5, characterized in that: The overall shape of the restraining sleeve (18) is a side profile plate, and the overall shape of the restraining slot (19) is an arcuate slot with an arcuate slide, wherein the surface of the arcuate slide in the arcuate slot is in sliding contact with the concave surface of the restraining sleeve (18).

7. The mechanical arm for a laser positioning robot according to claim 1, characterized in that: A lower groove is provided at the top of the lower threaded fixed plate (11), a bolt ring (20) is fixedly connected to the inner wall of the lower groove, and a tough rope (21) is fixedly connected to the bottom of the upper threaded fixed plate (10), one end of the tough rope (21) is bolted to the inner wall of the bolt ring (20).

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