Grabbing positioner of mechanical arm

Abstract

The utility model relates to the technical field of positioning devices, in particular to a grabbing positioner of a mechanical arm, which comprises a mechanical arm positioning pin, a clamp positioning pin, a plurality of datum plates mounted on the clamp positioning pin and a plurality of laser mounting plates mounted on the mechanical arm positioning pin, and the datum plates and the laser mounting plates can be overlapped for use; two mutually symmetrical cross-shaped positioning parts are arranged on the reference plate, each cross-shaped positioning part comprises a light-transmitting hole I located in the center of the reference plate and a cross-shaped groove formed in the surface of the reference plate by taking the light-transmitting hole as the axis, and the cross-shaped groove is internally coated with pigment different from the reference plate and the laser mounting plate; a laser generator and an electronic gyroscope are mounted on the laser mounting plate at the same time; according to the scheme, the laser is projected to the cross groove to confirm the overlap ratio, and the perpendicularity is finely adjusted in cooperation with real-time data of the electronic gyroscope, so that the problem that adjustment of the point position of the mechanical arm excessively depends on professional quality of operators can be solved, and the working efficiency of a production site can be guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of positioning devices, and particularly relates to a grasping positioner for a robotic arm. Background Technique

[0002] A robotic arm is a mechanism designed to imitate a human arm and belongs to a serial robotic mechanism. By equipping different end effectors at the wrist of the robotic arm, such as grippers, drills, welding torches, etc., which are a series of end effectors with different working purposes, and then through the kinematic pairs of the upper arm, forearm and even the wrist in the robotic arm, the purpose position and posture of the executing member are changed to complete different work tasks.

[0003] Regarding the positioning accuracy of a robotic arm, it refers to the deviation between the end effector and the target point when the robotic arm executes a specific task. The level of the robotic arm positioning accuracy will directly affect the production efficiency and product quality. Therefore, improving the robotic arm positioning accuracy is one of the important tasks in automated production.

[0004] In the actual application process, in order to achieve co-line production of multiple models, the equipment fixture mostly adopts a mother-daughter board design, and a quick-change structure is also mostly adopted between the robotic arm and the end effector. In this way, cumulative errors are likely to occur during the assembly process when they are used in combination. To ensure the positioning accuracy of the robotic arm, it is necessary to eliminate the assembly error in time and re-adjust the points of the robotic arm. However, in the practical process, the process of re-adjusting the points requires observing some subtle changes based on the experience of the operator, which requires a high professional quality of the operator. If the operator lacks experience, it is necessary to repeatedly correct the subtle deviation, resulting in too long adjustment time and the working efficiency at the production site cannot be guaranteed. Content of the Utility Model

[0005] The utility model provides a grasping positioner for a robotic arm, which can solve the problem of over-reliance on the professional quality of the operator when adjusting the points of the robotic arm, so as to ensure the working efficiency at the production site.

[0006] The present application provides the following technical solutions:

[0007] A grasping locator for a robotic arm, comprising a robotic arm positioning pin and a fixture positioning pin, further comprising multiple overlapping reference plates mounted on the fixture positioning pin and multiple overlapping laser mounting plates mounted on the robotic arm positioning pin; the reference plates include a front side and a back side, and overlapping cross-positioning parts are respectively arranged on the front side and the back side, the cross-positioning part includes a light-transmitting hole one located at the center of the reference plate, and a cross groove opened on the surface of the reference plate with the light-transmitting hole as the axis, and a pigment different from the reference plate and the laser mounting plate is coated in the cross groove; a laser generator and an electronic gyroscope are simultaneously mounted on a laser mounting plate far from the reference plate, a light-transmitting hole two aligned with the light-transmitting hole one is arranged at the center of the laser mounting plate, and the emitting end of the laser generator is aligned with the light-transmitting hole two.

[0008] Beneficial effects:

[0009] 1. It reduces the dependence on the professional quality of operators during the process of adjusting the robotic arm position points. Previously, similar mother-daughter board tools like reference plates and laser mounting plates were also used in the process of adjusting the robotic arm position points, but more relied on the naked eye observation of operators and the use of manual measurement tools, which had relatively high requirements for the professional qualities and work experience of operators; in this solution, a cross-positioning part including a cross groove is opened on the reference plate, a laser generator is arranged on the laser mounting plate, and the coincidence degree of the laser mounting plate and the reference plate is confirmed by using the laser beam projected onto the cross groove, intuitively indicating the alignment situation of the laser mounting plate and the reference plate. This step simplifies the complicated process, reduces the dependence on the subjective judgment of operators, and the introduction of the electronic gyroscope is another major highlight. It can capture and display the minute perpendicularity deviation on the laser mounting plate in real time, guiding the operator to finely adjust the robotic arm to an ideal state, ensuring the accuracy of the robotic arm position points. This solution can solve the problem that the process of adjusting the robotic arm position points overly relies on the professional quality of operators, not only reducing the downtime waiting time at the production site, but also ensuring the stability and operation accuracy of the robotic arm positioning, laying a solid foundation for the subsequent production process and promoting the improvement of the overall work efficiency.

[0010] 2. Regarding the reason for setting multiple reference plates and laser mounting plates and using them overlappingly, first, the positioning pins of the robotic arm are usually not completely perpendicular to the horizontal plane but have a certain inclination angle. Therefore, the electronic gyroscope must record this inclination angle as the origin attitude before use. By overlapping multiple reference plates, the electronic gyroscope can record the plane data of the current laser mounting plate as the origin attitude, providing a reference for adjusting the perpendicularity deviation later. If a single laser mounting plate is used, it is prone to assembly errors when installed on the robotic arm positioning pin, which is not conducive to providing accurate origin attitude data. In this solution, during use, multiple overlapping mounting plates with confirmed tightly attached end faces are used to correct the errors generated during assembly, providing a more accurate reference for adjusting the perpendicularity deviation later. Second, using the overlapping reference plates and laser mounting plates reduces the distance between the reference plate and the laser mounting plate, enabling the laser output by the laser generator to act more concentratedly on the cross groove on the reference plate, which is beneficial for the staff to observe and confirm the positioning.

[0011] Further, as an improvement, both the reference plate and the laser mounting plate are made of epoxy resin material, and white pigment is coated in the cross groove.

[0012] Beneficial effects: Epoxy resin material is widely used in 3D printing technology. Both the reference plate and the laser mounting plate are made of epoxy resin by 3D printing, which can achieve high precision, facilitate the overlapping use of the reference plate and the laser mounting plate, and can directly generate reference plates and laser mounting plates of any shape from computer graphic data. The processing speed is also fast, and it can adapt to robotic arm positioning pins and fixture positioning pins of different specifications and positions, with good general performance.

[0013] Further, as an improvement, the marking layer is a circular blind hole communicating with the cross groove.

[0014] Beneficial effects: Circular blind holes are easy to identify, and setting them to communicate with the cross groove facilitates processing.

[0015] Further, as an improvement, it further includes a mobile display terminal. A Bluetooth module is installed in the electronic gyroscope, and the Bluetooth module is wirelessly connected to the mobile display terminal.

[0016] Beneficial effects: Setting the mobile display terminal to be network-connected to the electronic gyroscope enables the real-time data monitored by the electronic gyroscope to be timely fed back to the operator carrying the mobile display terminal, eliminating the problem that it is not convenient to directly observe due to the narrow space inside the device. Description of the Drawings

[0017] Figure 1 It is the front view of the first embodiment of a grasping positioner of a robotic arm of the present invention;

[0018] Figure 2For Figure 1 Top view of the reference plate 1 in

[0019] Figure 3 For Figure 2 A - A cross - sectional view of

[0020] Figure 4 For Figure 1 Bottom view of the laser mounting plate 2 in Specific implementation mode

[0021] The following is a further detailed description through specific implementation modes:

[0022] The marking layers in the attached drawings of the specification include: reference plate 1, front surface 11, back surface 12, cross - shaped positioning part 13, light - transmitting hole 131, cross - shaped groove 132, marking layer 14, connecting hole 15, pin hole 16, laser mounting plate 2, light - transmitting hole 21, connecting hole 22, pin hole 23, laser generator 3, and electronic gyroscope 4.

[0023] Embodiment 1

[0024] As Figures 1 - 4 shown, a grasping locator for a robotic arm includes a robotic - arm positioning pin, a fixture positioning pin, a reference plate 1 mounted on the fixture positioning pin, a laser mounting plate 2 mounted on the robotic - arm positioning pin, and a mobile display terminal. Multiple reference plates 1 and laser mounting plates 2 are provided and can be overlapped for use. The robotic - arm positioning pin is located at the end of the robotic arm for assembling end - effectors such as grippers, and the fixture positioning pin was originally used for assembling equipment fixtures.

[0025] The reference plate 1 is made of epoxy resin material by 3D printing. The reference plate 1 includes a front surface 11 and a back surface 12. The machining accuracy requirement of the front surface 11 is higher than that of the back surface 12. Two mutually symmetric cross - shaped positioning parts 13 are respectively provided on the front surface 11 and the back surface 12 of the reference plate 1. The cross - shaped positioning part 13 includes a light - transmitting hole 131 located at the center of the reference plate 1 and a cross - shaped groove 132 opened on the surface of the reference plate 1 with the light - transmitting hole as the axis. A pigment different from that of the reference plate 1 and the laser mounting plate 2 is coated in the cross - shaped groove 132. In this embodiment, since the epoxy resin is a transparent material, the pigment coated in the cross - shaped groove 132 is selected as white pigment; a marking layer 14 for identifying the front surface 11 and the back surface 12 is provided on the front surface 11 of the reference plate 1. In this embodiment, the marking layer 14 is a circular blind hole communicating with the cross - shaped groove 132. Connecting holes 15 for fixing when overlapping the reference plates 1 and pin holes 16 for assembling the fixture positioning pin are respectively provided at the four diagonals of the reference plate 1.

[0026] The laser mounting plate 2 is made of epoxy resin material by 3D printing. A laser generator 3 and an electronic gyroscope 4 are installed on the laser mounting plate 2 at the same time. The working principle of the electronic gyroscope 4 is to utilize the principle of the force and deflection of electrons under the action of a magnetic field or an electric field to measure the direction and speed, so as to provide high-precision attitude angle data. A Bluetooth 5.3 module for realizing Bluetooth connection with the mobile display terminal is installed in the electronic gyroscope 4 to wirelessly transmit the data to the mobile display terminal. In this embodiment, the mobile display terminal selects a microcomputer with a display screen. A light-transmitting hole two 21 with the same diameter as the light-transmitting hole one 131 is provided in the center of the laser mounting plate 2. The emitting end of the laser generator 3 is aligned with the light-transmitting hole two 21. Connecting holes two 22 for fixing when overlapping the laser mounting plate 2 and pin holes two 23 for assembling the robotic arm positioning pins are respectively provided at the four diagonals of the laser mounting plate 2.

[0027] The connecting hole one 15 on the reference plate 1 and the connecting hole two 22 on the laser mounting plate 2 are both selected as internal threaded holes. By installing screws into the connecting hole one 15 and the connecting hole two 22, the overlapping reference plate 1 and laser mounting plate 2 can be fastened.

[0028] The specific application process includes the following steps:

[0029] S1: Determine the number of reference plates 1 to be overlapped according to the height of the fixture positioning pin. As Figure 1 shown, 4 reference plates 1 are overlapped and used to ensure that the front surface 11 and the back surface 12 of adjacent reference plates 1 are completely fitted and the reference plate 1 completely covers the top of the fixture positioning pin. Then, screws are installed into the connecting hole one 15 of the four reference plates 1 to realize the installation of the reference plate 1 on the fixture positioning pin.

[0030] S2: The installation of the laser mounting plate 2 on the robotic arm positioning pin is the same as the installation of the reference plate 1 in step S1. It should be noted that only the topmost laser mounting plate 2 is installed with the laser generator 3 and the electronic gyroscope 4, and the installation positions of the laser generator 3 and the electronic gyroscope 4 are on the side of the topmost laser mounting plate 2 away from the reference plate 1.

[0031] S3: Turn on the laser generator 3. The laser beam emitted by the laser generator 3 is projected onto the cross slot 132 on the reference plate 1 through the light-transmitting hole two 21. At this time, if it is observed that the four sides of the cross slot 132 are simultaneously illuminated by the laser beam to show fluorescence, it proves that the reference plate 1 and the laser mounting plate 2 are basically coincident. At this time, the perpendicularity is adjusted through the real-time data reported by the mobile display terminal to complete the entire adjustment process of the robotic arm point position.

[0032] This solution uses a laser beam projected onto the cross slot 132 to determine the coincidence degree between the reference plate 1 and the laser mounting plate 2, and then fine-tunes the verticality in combination with the real-time data of the electronic gyroscope 4, which can solve the problem of over-reliance on the professional quality of operators when adjusting the positions of the robotic arm, and is beneficial to ensuring the work efficiency at the production site.

[0033] The above are only the embodiments of the present utility model. The present utility model is not limited to the fields involved in this embodiment. Common knowledge such as the specific structures and characteristics known in the solution is not described in detail here. It should be noted that for those skilled in the art, without departing from the structure of the present utility model, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present utility model, which will not affect the implementation effect of the present utility model and the practicability of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners described in the specification can be used to interpret the content of the claims.

Claims

1. A gripping locator for a robot arm, comprising a robot arm locating pin and a fixture locating pin, characterized in that: Also included are a plurality of overlapping reference plates mounted on the fixture positioning pins and a plurality of overlapping laser mounting plates mounted on the robot arm positioning pins; The reference plate comprises a front side and a back side, and overlapping cross positioning parts are respectively arranged on the front side and the back side, and the cross positioning part comprises a light-transmitting hole located in the center of the reference plate, and a cross groove opened on the surface of the reference plate with the light-transmitting hole as the axis, and a pigment different from the reference plate and the laser mounting plate is coated in the cross groove; A laser generator and an electronic gyroscope are simultaneously installed on a layer of laser mounting plate far away from the reference plate, a second light-transmitting hole aligned with the first light-transmitting hole is arranged in the center of the laser mounting plate, and the emission end of the laser generator is aligned with the second light-transmitting hole; The reference plate and the laser mounting plate are both made of epoxy resin material, and white pigment is coated in the cross groove.

2. A gripping positioner for a robotic arm according to claim 1, characterized in that: It also includes a mobile display terminal. A Bluetooth module is installed in the electronic gyroscope, and the Bluetooth module is wirelessly connected to the mobile display terminal.

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