Automatic laser calibration device for mechanical arm

Abstract

The utility model relates to the technical field of mechanical arm laser calibration equipment, in particular to an automatic laser calibration device for a mechanical arm, which comprises a laser calibrator body, a mounting seat and a support frame. When the laser automatic calibration device for the mechanical arm is used, through the design that a friction pad is additionally arranged at the bottom end of the supporting frame, the contact friction force between the device and the ground is increased through the friction pad, and therefore the effect of stably supporting the whole device is achieved; through the design that the gravity plumb bob is arranged at the supporting center position of the device, the plumb bob is used for providing vertical line reference and helping to ensure that transmitting and receiving points of a laser beam are vertically aligned with a datum line, so that the calibration accuracy is improved, and meanwhile the effect of stably supporting the device to a certain extent is achieved through the gravity action of the plumb bob.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arm laser calibration equipment, and particularly relates to a laser automatic calibration device for a robotic arm. Background Technique

[0002] A robotic arm is a mechanical device that mimics the structure of a human arm. It is usually composed of multiple joints and a series of actuators and is used to complete various tasks. It is widely used in industrial production, automation, medical treatment, services, scientific research and other fields. Generally, robotic arms need to be laser-calibrated regularly. The laser calibration method helps to determine the difference between the actual working position and the theoretical position of the robotic arm, thereby improving its working accuracy. A laser calibrator is a commonly used calibration device.

[0003] Since the existing laser calibrator is composed of an instrument body and a simple support frame, during actual use, it is only supported by three support legs, and the contact points with the ground are only the local three support feet for point support. Therefore, it is very difficult for manual adjustment of the support to ensure that the instrument is in a horizontal state after installation. Furthermore, on the basis that the stable support of the laser calibrator cannot be guaranteed, the subsequent emitted light beam is likely to deviate, thus affecting the final robotic arm calibration result. However, the existing device has not made improvements to this problem, and the overall practical effect is somewhat poor. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a laser automatic calibration device for a robotic arm to solve the above problems. The existing laser calibrator is composed of an instrument body and a simple support frame. During actual use, it is only supported by three support legs, and the contact points with the ground are only the local three support feet for point support. Therefore, it is very difficult for manual adjustment of the support to ensure that the instrument is in a horizontal state after installation. Furthermore, on the basis that the stable support of the laser calibrator cannot be guaranteed, the subsequent emitted light beam is likely to deviate, thus affecting the final robotic arm calibration result.

[0005] A laser automatic calibration device for a robotic arm, comprising a laser calibrator body, a mounting base, and a support frame: The outer wall of the bottom end of the laser calibrator body is fitted with a mounting base, and the outer wall of the side of the mounting base is rotatably installed with a support frame at equal angles. A reinforcement support mechanism for enhancing the stability of the device is arranged below the support frame. A regulating and mounting mechanism for combining with the mounting base is arranged below the laser calibrator body. A horizontal reinforcement mechanism for stably placing the whole device is arranged below the mounting base. The reinforcement support mechanism includes a support bottom plate, an auxiliary mounting plate, a resisting clamping column, a resisting clamping groove, and a friction pad. The outer wall of the bottom end of the support frame is provided with a support bottom plate, the outer wall of the bottom end of the support bottom plate is fitted with an auxiliary mounting plate, two groups of resisting clamping columns are symmetrically arranged on the outer wall of the top end of the auxiliary mounting plate, two groups of resisting clamping grooves are symmetrically opened on the outer wall of the bottom end of the support bottom plate, the resisting clamping column and the resisting clamping groove are installed in a clamping manner, and a friction pad is arranged on the outer wall of the bottom end of the auxiliary mounting plate.

[0006] Preferably, the regulating and mounting mechanism includes a support column, a positioning T-shaped strip, and a cylindrical groove. The outer wall of the bottom end of the laser calibrator body is provided with a support column, the outer wall of the side of the support column is symmetrically provided with positioning T-shaped strips, and a cylindrical groove is penetrated and opened on the outer wall of the top end of the mounting base.

[0007] Preferably, a positioning T-shaped groove is penetrated and opened corresponding to the outer wall of the top end of the mounting base at the position of the cylindrical groove. The support column and the cylindrical groove are installed in a sliding manner, and the positioning T-shaped strip and the positioning T-shaped groove are slidably connected.

[0008] Preferably, a first threaded groove is conductively opened on the outer wall of the side of the mounting base at the position of the cylindrical groove, and second threaded grooves are penetrated and opened at equal intervals on the outer wall of the side of the support column. The first threaded groove and the second threaded groove are threadedly installed with a fastening bolt.

[0009] Preferably, the first threaded groove and the second threaded groove are set to have the same opening diameter.

[0010] Preferably, the horizontal reinforcement mechanism includes a threaded mounting column and a threaded sleeve. The outer wall of the bottom end of the support column is provided with a threaded mounting column, the outside of the threaded mounting column is provided with a threaded sleeve, and an annular threaded groove is opened inside the threaded sleeve.

[0011] Preferably, the threaded mounting column and the annular threaded groove are threadedly installed. A connecting line is arranged on the outer wall of the bottom end of the threaded sleeve, and a counterweight plumb bob is installed at the bottom end of the connecting line.

[0012] The beneficial effects of the present utility model are:

[0013] 1. When the laser automatic calibration device for the robotic arm is in use, through the design of adding a friction pad at the bottom end of the support frame, the friction pad is used to increase the contact friction between the device and the ground, thereby achieving the effect of firmly supporting the overall device. Further, through the combination of parts, the friction pad is designed to be detachable. When the friction pad has been used for a long time and its wear causes the support stability to deteriorate, at this time, the old friction pad can be directly removed and a new friction pad can be replaced to re - achieve the effect of reinforced support. Further, through the design of setting a gravity plumb bob at the center position of the device support, the plumb bob provides a vertical line reference to help ensure that the laser beam emission and reception points are vertically aligned with the reference line, thereby improving the calibration accuracy. At the same time, to a certain extent, the gravity of the plumb bob achieves the effect of firmly supporting the device. The overall structure design is ingenious and has good practical effects;

[0014] 2. When the laser automatic calibration device for the robotic arm is in use, through the positioning effect of the positioning T - shaped strip and the positioning T - shaped groove and the locking effect of the threaded column and the fastening bolt, the device can quickly complete the installation of the laser calibrator and the mounting base. At the same time, through the design of setting multiple docking threaded grooves, the device can also adjust the installation height of the laser calibrator according to the calibration needs during use. The overall structure design is flexible and has good practical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the overall three - dimensional structure schematic diagram of the present utility model;

[0016] Figure 2 is the three - dimensional structure schematic diagram of the reinforcement support mechanism of the present utility model;

[0017] Figure 3 is the three - dimensional structure schematic diagram of the adjustment and installation mechanism of the present utility model;

[0018] Figure 4 is of the present utility model Figure 3 amplified three - dimensional structure schematic diagram at position A;

[0019] Figure 5 is the three - dimensional structure schematic diagram of the horizontal reinforcement mechanism of the present utility model.

[0020] In the figure: 1. Laser calibrator body; 2. Mounting base; 3. Support frame; 4. Reinforcement support mechanism; 41. Support bottom plate; 42. Auxiliary mounting plate; 43. Contact clamping column; 44. Contact clamping groove; 45. Friction pad; 5. Adjustment and installation mechanism; 51. Support column; 52. Positioning T - shaped strip; 53. Cylindrical groove; 54. Positioning T - shaped groove; 55. First threaded groove; 56. Second threaded groove; 57. Fastening bolt; 6. Horizontal reinforcement mechanism; 61. Threaded mounting column; 62. Threaded sleeve; 63. Connecting wire; 64. Counterweight plumb bob. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0022] During specific implementation: As Figures 1-5 shown, a laser automatic calibration device for a robotic arm includes a laser calibrator body 1, a mounting base 2, and a support frame 3: The outer wall of the bottom end of the laser calibrator body 1 is fitted with a mounting base 2, and the outer wall of the side of the mounting base 2 is rotatably installed at equal angles with a support frame 3. A reinforcement support mechanism 4 for enhancing the stability of the device is arranged below the support frame 3. An adjustment and installation mechanism 5 for combining with the mounting base 2 is arranged below the laser calibrator body 1. A horizontal reinforcement mechanism 6 for stably placing the whole device is arranged below the mounting base 2. The reinforcement support mechanism 4 includes a support bottom plate 41, an auxiliary mounting plate 42, a contact clamping column 43, a contact clamping groove 44, and a friction pad 45. The outer wall of the bottom end of the support frame 3 is provided with a support bottom plate 41. The outer wall of the bottom end of the support bottom plate 41 is fitted with an auxiliary mounting plate 42. Two groups of contact clamping columns 43 are symmetrically arranged on the outer wall of the top end of the auxiliary mounting plate 42. Two groups of contact clamping grooves 44 are symmetrically opened on the outer wall of the bottom end of the support bottom plate 41. The contact clamping column 43 and the contact clamping groove 44 are installed in a clamping manner, and a friction pad 45 is arranged on the outer wall of the bottom end of the auxiliary mounting plate 42; When it is necessary to install the friction pad 45 at the bottom end of the support frame 3, at this time, only need to adjust the auxiliary mounting plate 42 to a suitable position and then snap the contact clamping column 43 at its top into the contact clamping groove 44 at the corresponding position to complete the installation. The disassembly is the same.

[0023] The adjustment and installation mechanism 5 includes a support column 51, a positioning T-shaped strip 52, and a cylindrical groove 53. The outer wall of the bottom end of the laser alignment instrument body 1 is provided with a support column 51. The outer walls of the sides of the support column 51 are symmetrically provided with positioning T-shaped strips 52. A cylindrical groove 53 is penetrated and opened on the outer wall of the top end of the mounting base 2. A positioning T-shaped groove 54 is correspondingly penetrated and opened on the outer wall of the top end of the mounting base 2 at the position of the cylindrical groove 53. The support column 51 and the cylindrical groove 53 are slidably installed. The positioning T-shaped strip 52 and the positioning T-shaped groove 54 are slidably connected. A first threaded groove 55 is conductively opened on the outer wall of the side of the mounting base 2 at the position of the cylindrical groove 53. Second threaded grooves 56 are penetrated and opened at equal intervals on the outer wall of the side of the support column 51. The first threaded groove 55 and the second threaded groove 56 are threadedly installed with a fastening bolt 57. When it is necessary to install the laser alignment instrument body 1 into the inside of the mounting base 2, first, the laser alignment instrument body 1 needs to be adjusted to a suitable position, and then the positioning T-shaped strip 52 at its bottom end is pushed into the positioning T-shaped groove 54 at the corresponding position. Subsequently, the laser alignment instrument body 1 is adjusted to a suitable installation height and held by hand. Then, the fastening bolt 57 is passed through the first threaded groove 55 on the side of the mounting base 2 and screwed into the second threaded groove 56 at the corresponding position to complete the installation process of the laser alignment instrument body 1. The disassembly is the same principle.

[0024] The first threaded groove 55 and the second threaded groove 56 are set to have the same opening diameter; setting the first threaded groove 55 and the second threaded groove 56 to have the same opening diameter allows the above-mentioned fastening bolt 57 to pass through the first threaded groove 55 and the second threaded groove 56 at one time during installation, and due to the matching of the thread hole diameters, it is relatively stable after installation and not prone to loosening.

[0025] The horizontal reinforcement mechanism 6 includes a threaded installation column 61 and a threaded sleeve 62. The outer wall of the bottom end of the support column 51 is provided with a threaded installation column 61. The outside of the threaded installation column 61 is provided with a threaded sleeve 62. An annular threaded groove is opened inside the threaded sleeve 62. The threaded installation column 61 and the annular threaded groove are threadedly installed. The outer wall of the bottom end of the threaded sleeve 62 is provided with a connecting line 63. A weight plumb bob 64 is installed at the bottom end of the connecting line 63. When it is necessary to install the weight plumb bob 64 at the bottom end of the device, only the threaded sleeve 62 needs to be screwed onto the outside of the threaded installation column 61 from bottom to top. Then, after the threaded sleeve 62 is installed, the installation of the connecting line 63 and the weight plumb bob 64 is automatically completed. The disassembly is the same principle.

[0026] When the present utility model is in use, when it is necessary to install the friction pad 45 at the bottom end of the support frame 3, only the auxiliary installation plate 42 needs to be adjusted to a suitable position, and then the abutting column 43 at its top end is engaged into the corresponding abutting slot 44 to complete the installation. The disassembly is the same principle;

[0027] Then install the laser alignment instrument body 1 into the inside of the mounting base 2. At this time, first adjust the laser alignment instrument body 1 to the appropriate position and push the positioning T-shaped bar 52 at its bottom end into the positioning T-shaped slot 54 at the corresponding position. Then adjust the laser alignment instrument body 1 to the appropriate installation height and hold it with your hand. Then, pass the fastening bolt 57 through the first threaded groove 55 on the side of the mounting base 2 and screw it into the second threaded groove 56 at the corresponding position to complete the installation process of the laser alignment instrument body 1.

[0028] Finally, install the counterweight plumb bob 64 to the bottom of the device. At this time, you only need to screw the threaded sleeve 62 from bottom to top onto the outside of the threaded mounting column 61. After the threaded sleeve 62 is installed, the installation of the connecting line 63 and the counterweight plumb bob 64 is automatically completed. The same applies to disassembly.

[0029] When the device needs to be used to perform laser calibration on the robotic arm, it is only necessary to pry open the three support frames 3 on the side of the device and install the laser calibration instrument body 1 in the designated laser calibration position, and then perform the laser calibration operation according to the existing operating technical requirements. It is noted here that the installation method of the support frame 3 in this application is consistent with the installation structure in the prior art, and both are adjustable support installations, so no excessive structural description is given.

[0030] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A laser automatic calibration device for a robotic arm, characterized in that, It includes a laser calibrator body (1), a mounting base (2) and a support frame (3): The outer wall of the bottom end of the laser calibrator body (1) is fitted with a mounting base (2). The support frame (3) is rotatably installed on the outer wall of the side of the mounting base (2) at equal angles. A reinforcement support mechanism (4) for enhancing the stability of the device placement is arranged below the support frame (3). An adjustment and installation mechanism (5) for combining with the mounting base (2) is arranged below the laser calibrator body (1). A horizontal reinforcement mechanism (6) for stably placing the whole device is arranged below the mounting base (2). The reinforcement support mechanism (4) includes a support bottom plate (41), an auxiliary mounting plate (42), a contact clamping column (43), a contact clamping groove (44) and a friction pad (45). The outer wall of the bottom end of the support frame (3) is provided with a support bottom plate (41). The auxiliary mounting plate (42) is fitted on the outer wall of the bottom end of the support bottom plate (41). Two groups of contact clamping columns (43) are symmetrically arranged on the outer wall of the top end of the auxiliary mounting plate (42). Two groups of contact clamping grooves (44) are symmetrically opened on the outer wall of the bottom end of the support bottom plate (41). The contact clamping column (43) and the contact clamping groove (44) are installed in a clamping manner, and the friction pad (45) is arranged on the outer wall of the bottom end of the auxiliary mounting plate (42).

2. The laser automatic calibration device for a robotic arm according to claim 1, wherein: The adjustment and installation mechanism (5) includes a support column (51), a positioning T-shaped strip (52) and a cylindrical groove (53). The outer wall of the bottom end of the laser calibrator body (1) is provided with a support column (51). The positioning T-shaped strips (52) are symmetrically arranged on the outer wall of the side of the support column (51). A cylindrical groove (53) is penetrated and opened on the outer wall of the top end of the mounting base (2).

3. The laser automatic calibration device for a robotic arm according to claim 2, characterized in that: A positioning T-shaped groove (54) is correspondingly penetrated and opened on the outer wall of the top end of the mounting base (2) at the position of the cylindrical groove (53). The support column (51) and the cylindrical groove (53) are installed in a sliding manner. The positioning T-shaped strip (52) and the positioning T-shaped groove (54) are slidably connected.

4. A laser automatic calibration device for a robotic arm according to claim 3, characterized in that: A first threaded groove (55) is conductively opened on the outer wall of the side of the mounting base (2) at the position of the cylindrical groove (53). Second threaded grooves (56) are penetrated and opened on the outer wall of the side of the support column (51) at equal intervals. The first threaded groove (55) and the second threaded grooves (56) are threadedly installed with a fastening bolt (57).

5. The laser automatic calibration device for a robotic arm according to claim 4, characterized in that: The first threaded groove (55) and the second threaded grooves (56) are set to have the same opening diameter.

6. The laser automatic calibration device for a robotic arm according to claim 2, wherein: The horizontal reinforcement mechanism (6) includes a threaded installation column (61) and a threaded sleeve (62). The threaded installation column (61) is arranged on the outer wall of the bottom end of the support column (51). The threaded sleeve (62) is arranged outside the threaded installation column (61). An annular threaded groove is opened inside the threaded sleeve (62).

7. The laser automatic calibration device for a robotic arm according to claim 6, characterized in that: The threaded installation column (61) and the annular threaded groove are threadedly installed. A connecting line (63) is arranged on the outer wall of the bottom end of the threaded sleeve (62). A counterweight plumb bob (64) is installed at the bottom end of the connecting line (63).

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