Mechanical arm positioning device

Abstract

The utility model relates to a mechanical arm positioning device, and belongs to the technical field of mechanical arms, the mechanical arm positioning device comprises a mobile rack and a mechanical arm mounted on the mobile rack, the end part of the mechanical arm is connected with a gun head, a horizontal laser instrument is mounted on the mobile rack at the same side end of the mechanical arm, and a visual camera is arranged at the front end of the mechanical arm. According to the mechanical arm positioning device, the horizontal laser instrument is arranged to align the axis between the mechanical arm and the vulcanizing machine, the sliding rod extending from the end of the mechanical arm and the abutting block are used for making contact with the vulcanizing machine so as to determine the distance between the end of the mechanical arm and the vulcanizing machine, and a certain error interval is provided through the limiting plate and the baffle; and it is guaranteed that spraying treatment of high-pressure jet cleaning on the tire mold is always in a proper distance, the center position of the mold is fitted through the arranged visual camera, mechanical arm positioning can be suitable for vulcanizing machines of various models and types, and the practicability of the device is improved.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, and specifically to a robotic arm positioning device. Background Art

[0002] A robotic arm is an automated device that can imitate the movements of a human arm and is widely used in industries such as industrial, medical, and service. It usually consists of multiple joints and actuators and can perform various operations such as grasping, handling, welding, and spraying.

[0003] When using a robotic arm to perform jet treatment on a tire mold by means of high-pressure jet, it is necessary to center-align the robotic arm and the corresponding tire processing equipment, namely a vulcanizer, to achieve effective positioning of the robotic arm relative to the vulcanizer.

[0004] For high-pressure jet using dry ice cleaning, the gun head needs to be at a position 3 - 5 cm away from the mold. If it is too far, it will affect the cleaning quality, and if it is too close, it will damage the mold. Currently, the position of the muzzle of the robotic arm end and the mold is determined by a tape measure (allowing a certain error). In this way, positioning requires staff to stand between the front end of the robotic arm and the vulcanizer mold for measurement, which has certain inconveniences. For this, a robotic arm positioning device is proposed to solve the above-mentioned problems. Utility Model Content

[0005] In view of the deficiencies of the prior art, this application provides a robotic arm positioning device, which has the advantages of being convenient for quickly finding the spacing and positioning between the robotic arm and the vulcanizer mold.

[0006] To achieve the above object, this application provides the following technical solution: A robotic arm positioning device includes a mobile gantry and a robotic arm installed on the mobile gantry. A gun head is connected to the end of the robotic arm. A horizontal laser is installed on the same-side end of the mobile gantry where the robotic arm is located. A vision camera is provided at the front end of the robotic arm, and a distance detection structure is provided on the front end of the robotic arm.

[0007] The distance detection structure includes a fixing plate fixedly installed on the front end of the robotic arm, a bending rod installed on the fixing plate, and an abutting member slidably connected to the bending rod.

[0008] Further, universal wheels for the movement of the mobile gantry are installed at the bottom of the mobile gantry, and a hydraulic support is also installed at the lower end of the mobile gantry.

[0009] Further, a control cabinet for controlling the robotic arm and a dry ice compressor are installed inside the mobile gantry.

[0010] Further, the bent rod is an L-shaped rod, and the abutting member includes a sliding rod that penetrates and is slidably connected to the bent rod, and an abutting block fixed to one end of the sliding rod extending outside the bent rod.

[0011] Further, a connecting shaft is rotatably installed at the end of the bent rod, and the connecting shaft is rotatably connected to the fixing plate.

[0012] Further, a spring seat is fixedly installed on the side surface of the bent rod, a baffle abutting against the L-shaped position of the bent rod is fixedly installed at one end of the sliding rod extending to the inner side of the bent rod, and a spring is connected between the spring seat and the baffle.

[0013] Further, a limiting plate is fixedly installed on the outside of the sliding rod, and the distance between the limiting plate and the baffle is two centimeters.

[0014] Further, a hydraulic cylinder is fixedly installed on the fixing plate, the power end of the hydraulic cylinder is connected to the bent rod through a rocker, and a support table is fixedly installed on the front surface of the fixing plate. The bent rod is in a horizontal state when it abuts against the support table.

[0015] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0016] For this robotic arm positioning device, the axis between the robotic arm and the vulcanizer is aligned by setting a horizontal laser level, and the distance between the end of the robotic arm and the vulcanizer is determined by the sliding rod and the abutting block extending from the end of the robotic arm to contact the vulcanizer. Moreover, a certain error range is provided by the limiting plate and the baffle to ensure that the jet treatment of the high-pressure jet on the tire mold is always at an appropriate distance. The center position of the fitting mold is fitted by the set vision camera, so that this robotic arm positioning can be applied to various models and types of vulcanizers, improving the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present application;

[0018] Figure 2 is a three-dimensional view of the overall structure of the present application;

[0019] Figure 3 is a front view of the distance detection structure of the present application;

[0020] Figure 4 is a side view of the bent rod of the present application.

[0021] In the figure: 1. Mobile gantry; 2. Universal wheel; 3. Hydraulic support; 4. Control cabinet; 5. Dry ice compressor; 6. Robot arm; 7. Nozzle; 8. Horizontal laser level; 9. Vision camera; 10. Fixed plate; 11. Bent rod; 12. Connecting shaft; 13. Slide bar; 14. Contact block; 15. Baffle; 16. Spring seat; 17. Spring; 18. Limit plate; 19. Hydraulic cylinder; 20. Rocker; 21. Support table. Detailed implementation manner

[0022] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0023] Please refer to Figures 1 to 4 , a robot arm positioning device in this embodiment includes a mobile gantry 1 and a robot arm 6 installed on the mobile gantry 1. The end of the robot arm 6 is connected with a movable nozzle 7 through a servo and a crank-slider to complete dry ice cleaning.

[0024] Among them, the robot arm 6 is specifically a six-axis robot arm. The six axes of the six-axis robot arm are usually numbered according to their functions and positions on the robot arm 6. Each axis has a specific movement range and direction and is responsible for different actions of the robot arm 6; the joints of the robot arm 6 are connected to each other through mechanical connectors such as gear racks to ensure the transmission of motion and the application of force; the control system of the Estun robot arm is responsible for receiving motion commands and calculating corresponding motor control signals to drive the joints of the robot arm 6.

[0025] Universal wheels 2 for the movement of the mobile gantry 1 are installed at the bottom of the mobile gantry 1, and a hydraulic support 3 is also installed at the lower end of the mobile gantry 1. The hydraulic support 3 has a self-locking structure for fixing the position of the mobile gantry 1 after accurately positioning the movement.

[0026] In this embodiment, a control cabinet 4 for controlling the robot arm 6 and a dry ice compressor 5 are installed in the mobile gantry 1. The control cabinet 4 is specifically a PLC electrical control cabinet and a transformer for controlling the robot arm 6. In addition, a display for observing control data is also provided on the mobile gantry 1.

[0027] It should be noted that a horizontal laser level 8 is installed on the same side end of the mobile gantry 1 as the robot arm 6. The light emitted by the horizontal laser level 8 irradiates on the nut position and the center position of the vulcanizer to prove that the center positions of the mobile gantry 1 and the vulcanizer are aligned. Subsequently, the position of the robot arm 6 can be determined by controlling the front and rear distances.

[0028] Since vulcanizers are divided into multiple models and different molds are installed on the same vulcanizer, a vision camera 9 is provided at the front end of the robotic arm 6 in this embodiment.

[0029] In specific implementation, the vision camera 9 uses vision positioning. The camera takes pictures of the mold from four positions to fit the center position of the mold. Specifically, it takes pictures of four positions of the mold, decomposes the mold model captured by the vision camera 9 into a point cloud composed of countless small points, determines four groups of mold point clouds, and fits the small points of the four groups of mold point clouds together, thereby calculating the center position of the mold so that the gun head 7 can accurately find the center position of the mold.

[0030] In order to accurately find the front-back distance between the gun head 7 and the mold, in this embodiment, a distance detection structure is provided at the front end of the robotic arm 6. The distance detection structure includes a fixing plate 10 fixedly installed at the front end of the robotic arm 6, a bending rod 11 installed on the fixing plate 10, and an abutting member slidably connected to the bending rod 11.

[0031] Preferably, the bending rod 11 is an L-shaped rod, and the abutting member includes a sliding rod 13 penetrating and slidably connected to the bending rod 11 and an abutting block 14 fixed to the end of the sliding rod 13 extending outside the bending rod 11.

[0032] By sliding the sliding rod 13 relative to the bending rod 11, the abutting block 14 can be slid and adjusted relative to the bending rod 11.

[0033] It should be noted that a connecting shaft 12 is rotatably installed at the end of the bending rod 11, and the connecting shaft 12 is rotatably connected to the fixing plate 10. Through the connection of the connecting shaft 12, the abutting member can swing and retract relative to the fixing plate 10.

[0034] In this embodiment, a spring seat 16 is also fixedly installed on the side of the bending rod 11. A baffle 15 that abuts against the L-shaped position of the bending rod 11 is fixedly installed at the end of the sliding rod 13 extending inside the bending rod 11. A spring 17 is connected between the spring seat 16 and the baffle 15 to push the sliding rod 13 to extend.

[0035] In this embodiment, one end of the spring 17 is fixedly connected to the baffle 15, and the other end is fixedly connected to the spring seat 16. The spring 17 pushes the baffle 15 to abut against the end position of the bending rod 11.

[0036] It should be noted that a limiting plate 18 is also fixedly installed on the outside of the sliding rod 13. The limiting plate 18 is used to limit the extreme position of the sliding rod 13 relative to the bending rod 11, so that the sliding rod 13 can only move relative to the bending rod 11 within a certain range.

[0037] Preferably, the distance between the limiting plate 18 and the baffle plate 15 is two centimeters. By providing a certain error range through the limiting plate 18, the distance between the gun head 7 and the mold can be determined when the abutting block 14 contacts the mold, and a certain error range is reserved.

[0038] It should be supplemented that the robotic arm 6 will set up a tool coordinate. Taking the center of the gun head 7 as the coordinate point, the axis moves while the gun head remains stationary. Taking the center point of the visual feedback as the starting point (for example, from the visual feedback center to 4 cm above the mold, the gun head moves in a straight line, and the other axes move in a curved motion to achieve the optimal solution of the motion). When the trajectory of the gun head remains unchanged, the postures of the other axes are changed to avoid interference from other machines.

[0039] In order to drive the bending rod 11 to move, a hydraulic cylinder 19 is also fixedly installed on the fixing plate 10 in this embodiment. The power end of the hydraulic cylinder 19 is connected to the bending rod 11 through a rocker 20. The rocker 20 is composed of the connected ends of multiple rods and is used to convert the horizontal traction of the hydraulic cylinder 19 into power to drive the bending rod 11 to rotate.

[0040] In this embodiment, a support table 21 is also fixedly installed on the front surface of the fixing plate 10. When the bending rod 11 abuts against the support table 21, it is in a horizontal state, which is used to assist in leveling the bending rod 11.

[0041] The working principle of the above embodiment is as follows:

[0042] The user pushes the mobile gantry 1. The universal wheels 2 under the mobile gantry 1 roll, so that the mobile gantry 1 is pushed to a position in front of the vulcanizer. The horizontal laser instrument 8 emits laser light and irradiates it on the vulcanizer. The mobile gantry 1 is adjusted so that the laser is aligned with the nut of the vulcanizer, that is, the center position of the vulcanizer, so that the mobile gantry 1 and the vulcanizer are on the same axis. Subsequently, the mobile gantry 1 is pushed along the laser direction towards the vulcanizer. After the abutting block 14 extended from the end of the robotic arm 6 contacts the mold, at this time, the gun head 7 at the end of the robotic arm 6 and the mold are adjusted to the appropriate positions. Subsequently, the hydraulic support 3 is controlled hydraulically to stabilize the position of the mobile gantry 1. The visual camera 9 on the robotic arm 6 takes pictures of the mold to determine the center position of the mold, and then the dry ice cleaning can be carried out through the gun head 7.

[0043] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0044] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robotic arm positioning device, comprising a mobile gantry (1) and a robotic arm (6) mounted on the mobile gantry (1), characterized in that: The end of the robotic arm (6) is connected to a gun head (7). A horizontal laser rangefinder (8) is installed on the same-side end of the mobile gantry (1) where the robotic arm (6) is located. A vision camera (9) is provided at the front end of the robotic arm (6), and a distance detection structure is provided on the front end of the robotic arm (6). The distance detection structure includes a fixing plate (10) fixedly installed on the front end of the robotic arm (6), a bent rod (11) installed on the fixing plate (10), and an abutting member slidably connected to the bent rod (11).

2. The robotic arm positioning device according to claim 1, characterized in that: Universal wheels (2) for the movement of the mobile gantry (1) are installed at the bottom of the mobile gantry (1), and a hydraulic support (3) is also installed at the lower end of the mobile gantry (1).

3. A robotic arm positioning device according to claim 1, characterized in that: A control cabinet (4) for controlling the robotic arm (6) and a dry ice compressor (5) are installed inside the mobile gantry (1).

4. A robotic arm positioning device according to claim 1, characterized in that: The bent rod (11) is an L-shaped rod. The abutting member includes a sliding rod (13) penetrating and slidably connected to the bent rod (11) and an abutting block (14) fixed to the outer end of the sliding rod (13) extending outside the bent rod (11).

5. A robotic arm positioning device according to claim 1, characterized in that: A connecting shaft (12) is rotatably installed at the end of the bent rod (11), and the connecting shaft (12) is rotatably connected to the fixing plate (10).

6. A robotic arm positioning device according to claim 4, characterized in that: A spring seat (16) is also fixedly installed on the side of the bent rod (11). A baffle (15) abutting against the L-shaped position of the bent rod (11) is fixedly installed at one end of the sliding rod (13) extending inside the bent rod (11). A spring (17) is connected between the spring seat (16) and the baffle (15).

7. An arm positioning device according to claim 6, characterized in that: A limiting plate (18) is also fixedly installed on the outside of the sliding rod (13), and the distance between the limiting plate (18) and the baffle (15) is two centimeters.

8. A robotic arm positioning device according to claim 1, characterized in that: A hydraulic cylinder (19) is also fixedly installed on the fixing plate (10). The power end of the hydraulic cylinder (19) is connected to the bent rod (11) through a rocker (20). A support table (21) is also fixedly installed on the front of the fixing plate (10). The bent rod (11) is in a horizontal state when it abuts against the support table (21).

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