Robot end position measuring device

Abstract

The utility model relates to the technical field of robot end position measurement, in particular to a robot end position measuring device. Comprising a base, an index plate assembly, a supporting rod, a linear fine adjustment assembly, a laser, a fixed target and a movable target, the index plate assembly is installed on the base, one end of the supporting rod is installed on the index plate assembly, and the other end of the supporting rod is connected with the linear fine adjustment assembly. The laser is installed on the linear fine tuning assembly. According to the robot end position measuring device of the utility model, through combined use of the index plate assembly, the linear fine tuning assembly, the laser, the fixed target and the movable target, rapid measurement of an angle and an axis distance is realized, measurement efficiency is improved, and cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robot end position measurement, and more specifically, to a robot end position measurement device. Background Art

[0002] During the production and testing process of the scoliosis correction robot, it is necessary to measure the motion parameters of its robotic arm to ensure that its assembly accuracy meets the technical requirements. The height data of the robotic arm can be obtained by measuring with a height gauge, and the difference in vector motion distance can be obtained by measuring with a dial indicator. For the measurement of the angle and axis center distance of the robotic arm, at this stage, a laser tracker is required to measure the corresponding spatial coordinate points using the traditional coordinate positioning method through a target fixed on the robotic arm, and then the corresponding measurement parameters can be obtained through modeling calculations. In the actual measurement process, it was found that this measurement method can accurately measure the angle and axis center distance parameters of the end of the robotic arm, but the measurement operation is cumbersome, and it takes an average of 3 hours to measure a set of data. In addition, the equipment investment cost is high, and the entire set of equipment costs more than 1 million. For the actual research and development, production, and quality control of scoliosis correction robots, this laser tracker is not cost-effective. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the existing scoliosis correction robot end position measurement operation is cumbersome, time-consuming, and provide a robot end position measurement device that can quickly measure the position parameters of the robot end, the operation is simple and fast.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A robot end position measuring device is provided, comprising a base, a dividing plate assembly, a support rod, a linear fine-tuning assembly, a laser, and a fixed target and a movable target for installation at the end position of the robot; the dividing plate assembly is installed on the base, one end of the support rod is installed on the dividing plate assembly, and the other end is connected to the linear fine-tuning assembly; the laser is installed on the linear fine-tuning assembly.

[0006] The utility model provides a kind of robot end position measuring device, when using, the base of the device is fixed in the pelvic clamping device of central scoliosis correction robot, then fixed target and mobile target are respectively installed in robot end position, for example, first joint at mechanical arm and mechanical arm end connecting rod;First, mechanical arm is moved to specified value according to setting parameter, then adjust index plate assembly and linear fine adjustment component, so that the laser line emitted by laser is parallel through fixed target and mobile target, the angle of index plate assembly and the parameter of linear fine adjustment component translation are read respectively, and the position parameter of actual mechanical arm can be obtained.

[0007] Further, the fixed target and the mobile target are provided with linear light slot for positioning. The linear light slot is arranged on the mobile target and the fixed target, which facilitates the positioning of the measuring device main body part. The laser line emitted by the laser sequentially passes through the light slots of the mobile target and the fixed target, achieving positioning.

[0008] Further, the index plate assembly includes a fixed disc, a movable disc, a transmission mechanism and an adjusting knob. The fixed disc is fixedly installed on the base. The movable disc is coaxially connected with the fixed disc. The output end of the transmission mechanism is connected with the movable disc. The input end of the transmission mechanism is connected with the adjusting knob. The support rod is installed on the movable disc. In use, the adjusting knob is rotated to drive the transmission mechanism to operate. The transmission mechanism drives the movable disc to rotate. The movable disc is coaxially installed with the fixed disc. The angle of the movable disc relative to the fixed disc is obtained, and the angle parameter of the robot end position is obtained.

[0009] Further, the support rod includes a first support rod, a second support rod and a first limiting piece. One end of the first support rod is slidably connected with one end of the second support rod. The first limiting piece is installed on the first support rod and detachably connected with the second support rod. The other end of the first support rod is connected with the movable disc. The other end of the second support rod is connected with the linear fine adjustment component. The support rod has an extendable structure. The height of the telescopic rod is adjusted to realize the position adjustment of the laser in the vertical direction, which facilitates the positioning of the laser.

[0010] Furthermore, the linear fine-tuning assembly includes a guide rail mount, a linear guide rail, a slider, and a second stopper; the guide rail mount is fixedly connected to the support rod, the linear guide rail is fixedly mounted on the guide rail mount, and the slider is slidably connected to the linear guide rail; the second stopper is mounted on the slider and abuts the linear guide rail; and the laser is mounted on the slider. The linear fine-tuning assembly is used to adjust the horizontal position of the laser, achieving horizontal movement of the laser, so that the laser line emitted by the laser can horizontally pass through the light slots of the fixed target and the movable target.

[0011] Furthermore, the fixed plate and the movable plate are both mounted horizontally on the base, and the support rod is mounted vertically on the movable plate. The fixed plate and the movable plate are mounted horizontally to achieve horizontal angle measurement; the support rod is mounted vertically to achieve vertical height adjustment.

[0012] Furthermore, the linear guide rail is installed horizontally, which enables horizontal displacement adjustment.

[0013] Furthermore, the fixed plate and the movable plate are both provided with scales, and the linear guide rail and the slider are both provided with scales. The scale lines are provided to facilitate better reading of angle parameters and displacement parameters.

[0014] Furthermore, it also includes a fixing seat, and the first support rod is installed on the movable disk through the fixing seat.

[0015] Furthermore, the base, the fixed target and the movable target are all provided with a plurality of mounting holes. The base, the fixed target and the movable target are provided with mounting holes to facilitate installation and positioning.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The utility model provides a robot end position measuring device, which realizes rapid measurement of angles and axis center distances through the combined use of a dividing plate component, a linear fine-tuning component, a laser, a fixed target and a movable target, thereby improving measurement efficiency and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0019] Figure 2 This is a structural diagram of the utility model in the first perspective when in use.

[0020] Figure 3 This is a structural diagram of the second viewing angle of the utility model in use.

[0021] In the accompanying drawings: 1. Base; 2. Indexing plate assembly; 3. Support rod; 4. Linear fine-tuning assembly; 5. Laser; 6. Fixed target; 7. Moving target; 8. Light trough; 100. Robotic arm; 200. Pelvic clamping device. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic, not actual, representations. They should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0023] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and so on indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0024] Example 1

[0025] like Figure 1 As shown, this embodiment is the first embodiment of a robot end position measuring device, which provides a robot end position measuring device, including a base 1, a dividing plate assembly 2, a support rod 3, a linear fine-tuning assembly 4, a laser 5, and a fixed target 6 and a movable target 7 for installation at the end position of the robot; the dividing plate assembly 2 is installed on the base 1, one end of the support rod 3 is installed on the dividing plate assembly 2, and the other end is connected to the linear fine-tuning assembly 4; the laser 5 is installed on the linear fine-tuning assembly 4.

[0026] Both the fixed target 6 and the movable target 7 are provided with linear light slots 8 for positioning. Providing linear light slots 8 on the movable target 7 and the fixed target 6 facilitates positioning of the main body of the measuring device. The laser light emitted by the laser 5 sequentially passes through the light slots 8 of the movable target 7 and the fixed target 6 to achieve positioning.

[0027] A plurality of mounting holes are provided on the base 1, the fixed target 6 and the movable target 7. The mounting holes are provided on the base 1, the fixed target 6 and the movable target 7 to facilitate installation and positioning.

[0028] The working principle of the embodiment is as follows: the index plate assembly 2, the linear fine adjustment assembly 4 and the laser 5 are installed on the pelvic clamping device 200 in the center of the scoliosis correction robot through the base, the movable target 7 and the fixed target 6 are installed on the mechanical arm of the robot, the laser 5 is moved in the horizontal direction through the linear fine adjustment assembly 4, the laser 5 is rotated through the index plate assembly 2, so that the laser emitted by the laser 5 passes through the straight optical fiber groove 8 of the movable target 7 and the fixed target 6 in parallel, and positioning is completed, and the position parameters of the end of the robot are obtained by reading the translation value of the linear fine adjustment assembly 4 and the angle of rotation of the index plate assembly 2.

[0029] The robot end position measuring device provided by the utility model is used, Figure 1 and Figure 2 as shown, the base 1 of the device is fixed on the pelvic clamping device 200 in the center of the scoliosis correction robot, then the fixed target 6 and the movable target 7 are respectively installed at the end position of the robot, for example, at the first joint of the mechanical arm 100 and on the end connecting rod of the mechanical arm 100, the mechanical arm 100 is moved to the specified value according to the set parameters first, then the index plate assembly 2 and the linear fine adjustment assembly 4 are adjusted, so that the laser line emitted by the laser 5 passes through the fixed target 6 and the movable target 7 in parallel, and the position parameters of the actual mechanical arm 100 can be obtained by reading the angle of the index plate assembly 2 and the translation parameters of the linear fine adjustment assembly 4. The robot end position measuring device provided by the utility model can quickly realize the measurement of the end position of the scoliosis correction robot, improve the measurement efficiency and reduce the cost.

[0030] Embodiment two

[0031] The second embodiment of the robot end position measuring device is similar to the first embodiment, and the difference lies in that the index plate assembly 2 comprises a fixed disc, a movable disc, a transmission mechanism and an adjusting knob, the fixed disc is fixedly installed on the base 1, the index plate is coaxially connected with the fixed disc, the output end of the transmission mechanism is connected with the movable disc, and the input end of the transmission mechanism is connected with the adjusting knob, the supporting rod 3 is installed on the movable disc, and scales are arranged on the fixed disc and the movable disc. The fixed disc and the movable disc are horizontally installed on the base 1, and the supporting rod 3 is vertically installed on the movable disc.

[0032] In use, the adjusting knob is rotated to drive the transmission mechanism to operate, the transmission mechanism drives the movable disc to rotate, the movable disc is coaxially installed with the fixed disc, and the angle parameters of the end position of the robot can be obtained by acquiring the angle of rotation of the movable disc relative to the fixed disc. The fixed disc and the movable disc are horizontally installed to realize horizontal angle measurement, and the supporting rod 3 is vertically installed to realize vertical height adjustment.

[0033] The working principle of the embodiment is as follows: the fixed disc is fixedly installed on the base, and the movable disc is coaxially and rotatably installed on the fixed disc; the fixed disc and the movable disc are both provided with scale lines; the input end of the transmission mechanism is connected with the adjusting knob, and the output end is connected with the movable disc; the adjusting knob is rotated to drive the movable disc to rotate; since the laser is installed on the movable disc through the support rod, the movable disc drives the laser to rotate, and the rotation angle of the laser can be obtained by reading the rotation angle of the movable disc relative to the fixed disc.

[0034] Embodiment three

[0035] The third embodiment of the robot end position measuring device is similar to the first embodiment, except that the support rod 3 comprises a first support rod, a second support rod and a first limiting piece; one end of the first support rod is slidably connected with one end of the second support rod, the first limiting piece is installed on the first support rod and detachably connected with the second support rod; the other end of the first support rod is connected with the movable disc; the other end of the second support rod is connected with the linear fine adjustment assembly 4; the first support rod is installed on the movable disc through the fixed seat. The support rod 3 is a telescopic structure, and the height of the telescopic rod is adjusted to realize the position adjustment of the laser 5 in the vertical direction, so as to better realize the positioning of the laser 5.

[0036] The working principle of the embodiment is as follows: in the embodiment, the first support rod is slidably connected with the second support rod; when it is necessary to adjust the height of the laser, the first limiting piece is first loosened, so that the second support rod can slide relative to the first support rod; the relative position of the first support rod and the second support rod is adjusted, so that the length of the entire support rod is changed, that is, the height of the laser is adjusted; when the desired position is reached, the second limiting piece is connected with the second support rod to realize the connection and fixation of the first support rod and the second support rod, and the two cannot slide relative to each other.

[0037] Embodiment four

[0038] The fourth embodiment of the robot end position measuring device is similar to the first embodiment, except that the linear fine adjustment assembly 4 comprises a guide rail fixed seat, a linear guide rail, a sliding block and a second limiting piece; the guide rail fixed seat is fixedly connected with the support rod 3, the linear guide rail is fixedly installed on the guide rail fixed seat, and the sliding block is slidably connected with the linear guide rail; the second limiting piece is installed on the sliding block and abuts against the linear guide rail; the laser 5 is installed on the sliding block. The linear guide rail is horizontally installed. The horizontal displacement adjustment is realized by the horizontal installation of the linear guide rail. The scales are arranged on the linear guide rail and the sliding block. The scale lines are arranged to facilitate better reading of the angle parameters and displacement parameters. The linear fine adjustment assembly 4 is used to adjust the position of the laser 5 in the horizontal direction, so as to realize the movement of the laser 5 in the horizontal direction, so that the laser line emitted by the laser 5 can horizontally pass through the light line groove 8 of the fixed target 6 and the movable target 7.

[0039] The working principle of this embodiment is as follows: the slider is slidably installed on the linear guide rail, and scale lines are provided on the linear guide rail and the slider. Moving the slider drives the laser to move horizontally, and the moving position of the laser is obtained by reading the scales on the linear guide rail and the slider.

[0040] In summary, the present invention provides a robot end position measurement device. When in use, the base of the device is fixed to the pelvic clamping device in the center of the scoliosis correction robot, and then the fixed target and the movable target are respectively installed at the end position of the robot, such as the first joint of the robot arm and the end connecting rod of the robot arm; first, the robot arm is moved to the specified value according to the set parameters, and then the dividing plate assembly, the linear fine-tuning assembly, and the support rod are adjusted to adjust the angle, height, and horizontal position of the laser, so that the laser line emitted by the laser passes through the fixed target and the movable target in parallel, and then the angle of the dividing plate assembly and the translation parameters of the linear fine-tuning assembly are read respectively to obtain the actual position parameters of the robot arm. The robot end position measurement device provided by the present invention can quickly realize the measurement of the end position of the scoliosis correction robot, improve the measurement efficiency, and reduce the cost.

[0041] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. A person skilled in the art will be able to make other variations or modifications based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A robot end position measuring device, characterized in that: The robot comprises a base (1), a dividing plate assembly (2), a support rod (3), a linear fine-tuning assembly (4), a laser (5), and a fixed target (6) and a movable target (7) for being mounted on the end position of the robot; the dividing plate assembly (2) is mounted on the base (1); one end of the support rod (3) is mounted on the dividing plate assembly (2), and the other end is connected to the linear fine-tuning assembly (4); and the laser (5) is mounted on the linear fine-tuning assembly (4).

2. The robot end position measuring device according to claim 1, characterized in that: The fixed target (6) and the movable target (7) are both provided with a linear light groove (8) for positioning.

3. The robot end position measuring device according to claim 1, characterized in that: The indexing disk assembly (2) comprises a fixed disk, a movable disk, a transmission mechanism, and an adjusting knob; the fixed disk is fixedly mounted on the base (1); the indexing disk is coaxially rotatably connected to the fixed disk; the output end of the transmission mechanism is connected to the movable disk; and the input end of the transmission mechanism is connected to the adjusting knob; the support rod (3) is mounted on the movable disk.

4. The robot end position measuring device according to claim 3, characterized in that: The support rod (3) includes a first support rod, a second support rod and a first limiting member; one end of the first support rod is slidably connected to one end of the second support rod, the first limiting member is installed on the first support rod and is detachably connected to the second support rod; the other end of the first support rod is connected to the movable disk; the other end of the second support rod is connected to the linear fine-tuning component (4).

5. The robot end position measuring device according to claim 3, characterized in that: The linear fine-tuning assembly (4) comprises a guide rail fixing seat, a linear guide rail, a slider, and a second limiting member; the guide rail fixing seat is fixedly connected to the support rod (3), the linear guide rail is fixedly mounted on the guide rail fixing seat, and the slider is slidably connected to the linear guide rail; the second limiting member is mounted on the slider and abuts against the linear guide rail; the laser (5) is mounted on the slider.

6. The robot end position measuring device according to claim 5, characterized in that: The fixed disk and the movable disk are both horizontally mounted on the base (1), and the support rod (3) is vertically mounted on the movable disk.

7. The robot end position measuring device according to claim 6, characterized in that: The linear guide rail is installed horizontally.

8. The robot end position measuring device according to claim 5, characterized in that: Scales are provided on both the fixed disk and the movable disk; and scales are provided on both the linear guide rail and the slider.

9. The robot end position measuring device according to claim 4, characterized in that: It also includes a fixing seat, and the first support rod is installed on the movable disk through the fixing seat.

10. The robot end position measuring device according to any one of claims 1 to 8, characterized in that: The base (1), the fixed target (6) and the movable target (7) are all provided with a plurality of mounting holes.

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