Mechanical arm adjusting device of lofting robot

Abstract

The utility model belongs to the technical field of engineering lofting under high-speed rails, and discloses a lofting robot mechanical arm adjusting device which comprises a first degree-of-freedom adjusting assembly, a second degree-of-freedom adjusting assembly, a third degree-of-freedom adjusting assembly, a fourth degree-of-freedom adjusting assembly and a fifth degree-of-freedom adjusting assembly which are sequentially connected. And a detection assembly and a control assembly. By means of multi-degree-of-freedom adjustment, errors are reduced, accurate positioning is achieved, and the accuracy of the lofting position is guaranteed. The degree-of-freedom adjusting assemblies are electrically connected with the control assembly respectively and can act in sequence or simultaneously, response is quick, the structure is simple, and operation is easy.

Description

Technical Field

[0001] This utility model belongs to the field of high-speed railway line engineering layout technology, specifically relating to a layout robot arm adjustment device. Background Technology

[0002] Currently, construction projects have strict requirements and controls on construction accuracy and scope, necessitating the application of construction surveying and setting-out techniques to provide a basis and reference for construction. Construction setting-out is a surveying task conducted at the beginning of construction, based on design drawings, to determine the plan position and elevation of the building or structure to be constructed onto the actual site. Extensive setting-out positioning and measurement verification are required in building engineering and other related engineering fields.

[0003] Currently, BIM (Building Information Modeling) based layout robots are generally used for engineering layout. The layout robot adjusts the angle of the robotic arm, which then moves the inkjet unit to the required marking position to achieve accurate layout. Existing robotic arms can generally only achieve 1 to 3 degrees of freedom, which can move the inkjet unit to the required marking position, but cannot guarantee that the bottom surface of the inkjet unit is parallel to the ground. When the bottom surface of the inkjet unit is not parallel to the ground, it is easy to cause inkjet misalignment. At the same time, the adjustment of existing robotic arms is relatively complex and the response is slow. Therefore, the development of a layout robot with multiple degrees of freedom, simple adjustment, and rapid response has great market potential. Utility Model Content

[0004] The purpose of this invention is to solve the problems existing in the prior art and to provide a lofting robot arm adjustment device.

[0005] To solve the technical problem, the technical solution of this utility model is: a lofting robot arm adjustment device, comprising a first degree of freedom adjustment component, a second degree of freedom adjustment component, a third degree of freedom adjustment component, a fourth degree of freedom adjustment component and a fifth degree of freedom adjustment component connected in sequence, as well as a detection component and a control component;

[0006] A coordinate system is established with the plane of the rotating connector at the top of the first degree of freedom adjustment component as the reference plane. The plane of the upper end face of the rotating connector is parallel to the layout ground. The axis of the first degree of freedom adjustment component is the Z-axis. The axes of the first degree of freedom adjustment component and the second degree of freedom adjustment component are perpendicular. The axis of the second degree of freedom adjustment component is the X-axis. The first degree of freedom adjustment component drives the second degree of freedom adjustment component to swing by an angle α on the reference plane.

[0007] The second degree of freedom adjustment component is coaxial with the third degree of freedom adjustment component, and the second degree of freedom adjustment component drives the third degree of freedom adjustment component to move a distance S along the X-axis;

[0008] The axes of the third degree of freedom adjustment component and the fourth degree of freedom adjustment component are perpendicular. The third degree of freedom adjustment component drives the fourth degree of freedom adjustment component to swing by an angle γ with the X-axis of its position as the center, so that the axis of the fourth degree of freedom adjustment component is parallel to the Y-axis of the coordinate system.

[0009] The axes of the fourth degree of freedom adjustment component and the fifth degree of freedom adjustment component are perpendicular. The fourth degree of freedom adjustment component drives the fifth degree of freedom adjustment component to swing around the axial center of the fourth degree of freedom adjustment component by an angle β, so that the axis of the fifth degree of freedom adjustment component is parallel to the Z-axis, and at the same time, the bottom surface of the fifth degree of freedom adjustment component is parallel to the layout ground.

[0010] The bottom surface of the fifth degree of freedom adjustment component is connected to the inkjet component or the ink pressing component. The fifth degree of freedom adjustment component moves a distance h along the Z-axis to perform inkjet or ink pressing to achieve lofting marking.

[0011] The detection component is located on the front side of the fifth degree of freedom adjustment component;

[0012] The first degree-of-freedom adjustment component, the second degree-of-freedom adjustment component, the third degree-of-freedom adjustment component, the fourth degree-of-freedom adjustment component, the fifth degree-of-freedom adjustment component, and the detection component are electrically connected to the control component.

[0013] Preferably, the first degree of freedom adjustment component includes a rotary connector, a turntable connecting plate, a shim block, and a first servo module. The turntable connecting plate is fixedly connected to the power output end of the first servo module through the shim block. The first servo module is electrically connected to the control component. The top of the turntable connecting plate is keyed to the rotary connector. The top of the rotary connector is fixedly connected to the second degree of freedom adjustment component. The first servo module is fixedly installed on the lofting trolley of the lofting robot. The first servo module drives the rotary connector to rotate by an angle α on the reference surface.

[0014] Preferably, the second degree-of-freedom adjustment assembly includes a rotating square tube, a rotating tube end cap, a second servo module, a lead screw, a lead screw nut, a lateral telescopic arm, and a lateral telescopic arm end cap. One end of the rotating square tube is connected to the rotating tube end cap, and the lower side of the end of the rotating square tube connected to the rotating tube end cap is fixed to a rotating connector. The second servo module is coaxially fixedly installed inside the rotating square tube and is electrically connected to the control assembly. The power output end of the second servo module is connected to the lead screw, and the lead screw nut is fitted onto the lead screw. One end face of the lead screw nut is fixedly connected to one end of the lateral telescopic arm, which is fitted inside the rotating square tube. The other end of the lateral telescopic arm is connected to the lateral telescopic arm end cap. One end of the third degree-of-freedom adjustment assembly is fixed to the lateral telescopic arm end cap. The rotating connector drives the rotating square tube to rotate by an angle α on the reference plane, and the second servo module drives the lateral telescopic arm, the lateral telescopic arm end cap, and the third degree-of-freedom adjustment assembly to move a distance S along the X-axis.

[0015] Preferably, both the rotating square tube and the lateral telescopic arm are square tubes, and the two sides of the rotating square tube in the width direction are fixed to the rotating connector by heightening studs.

[0016] Preferably, the second servo module is coaxially fixed inside the rotating square tube via a joint module mounting component.

[0017] Preferably, the third degree of freedom adjustment component includes a third servo module and a U-shaped gimbal mechanism connector. The third servo module is electrically connected to the control component and is fixedly installed on the end cover of the horizontal telescopic arm. The power output end of the third servo module is connected to the U-shaped gimbal mechanism connector. A fourth degree of freedom adjustment component is installed between the two opposite sides of the U-shaped gimbal mechanism connector. The third servo module drives the U-shaped gimbal mechanism connector to swing by an angle γ with the axis of the third servo module at its position as the center, so that the axis of the fourth degree of freedom adjustment component is parallel to the Y-axis.

[0018] Preferably, the fourth degree of freedom adjustment component includes a fourth servo module, a rotating component, and a vertical rotating arm. The fourth servo module is electrically connected to the control component. One end of the fourth servo module is fixed to one side of the U-shaped gimbal mechanism connector. One end of the vertical rotating arm is sleeved on the outside of the fourth servo module, and one sidewall of the vertical rotating arm is connected to the power output end of the fourth servo module through the rotating component. The other end of the rotating component is rotatably mounted on the other side of the U-shaped gimbal mechanism connector. The fourth servo module drives the vertical rotating arm to rotate by an angle β around the center of the axis of the fourth servo module. The fifth degree of freedom adjustment component is coaxially mounted in the vertical rotating arm, and the detection component is mounted on the side of the vertical rotating arm away from the third degree of freedom adjustment component.

[0019] Preferably, the fifth degree of freedom adjustment component includes a fifth servo module and a telescopic component. The fifth servo module is electrically connected to the control component. The power output end of the fifth servo module is connected to the telescopic component. The bottom of the telescopic component is connected to an inkjet component or an ink pressing component. The fifth servo module drives the telescopic component to move a distance h along the axial direction of the fifth servo module.

[0020] Preferably, the detection component includes a camera, an angle sensor, and a laser sensor. The shooting direction of the camera is perpendicular to the fifth degree of freedom adjustment component. The position of the angle sensor corresponds to the position of the fourth servo module. The laser emission direction of the laser sensor is parallel to the axis of the fifth degree of freedom adjustment component. The camera, angle sensor, and laser sensor are electrically connected to the control component.

[0021] Preferably, the camera, angle sensor, and laser sensor are arranged sequentially from top to bottom on the front side of the vertical rotating arm.

[0022] Compared with the prior art, the advantages of this utility model are:

[0023] (1) This utility model discloses a lofting robot arm adjustment device, including five degree-of-freedom adjustment components. During lofting, the lofting trolley first carries the robotic arm adjustment device to the lofting point to achieve coarse positioning, with an error of ±50mm. Then, the first degree-of-freedom adjustment component swings by an angle α, and the second degree-of-freedom adjustment component moves a distance S along the X-axis to achieve two fine positioning operations, with an error of ±2mm. Next, the third degree-of-freedom adjustment component swings by an angle γ, and the fourth degree-of-freedom adjustment component swings by an angle β to achieve fine positioning on both sides, with an error of ±0.1mm, thus determining the accurate lofting position. Finally, the fifth degree-of-freedom adjustment component moves a distance h to mark the lofting position. This utility model reduces the error and achieves precise positioning through multi-degree-of-freedom adjustment, ensuring the accuracy of the lofting position.

[0024] (2) The adjustment of the five degrees of freedom of this utility model can ensure that the bottom surface of the inkjet assembly or the ink pressing assembly is parallel to the layout ground, ensure that the pattern does not deviate when the inkjet assembly sprays ink, or avoid damage to the ink pressing assembly, thereby improving the layout efficiency and the overall service life of the device.

[0025] (3) The degree-of-freedom adjustment components of this utility model are respectively connected to the rotary connector through the servo module; the lead screw is connected through the servo module, and the lead screw is matched with the lead screw nut; the U-shaped gimbal mechanism connector is connected through the servo module; the vertical rotating arm is driven to swing through the servo module. Each degree-of-freedom adjustment component is electrically connected to the control component. They can act sequentially or simultaneously, with rapid response and simple structure. Attached Figure Description

[0026] Figure 1 A schematic diagram of the main structure of a lofting robot arm adjustment device of this utility model;

[0027] Figure 2 A three-dimensional structural diagram of a lofting robot arm adjustment device according to this utility model;

[0028] Figure 3 1. An exploded view of the components of a lofting robot arm adjustment device according to this utility model;

[0029] Figure 4 1. An exploded view of the components of a lofting robot arm adjustment device according to this utility model;

[0030] Figure 5 A schematic diagram of the fourth degree of freedom adjustment component of a lofting robot robotic arm adjustment device according to this utility model.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. First degree of freedom adjustment component; 2. Second degree of freedom adjustment component; 3. Third degree of freedom adjustment component; 4. Fourth degree of freedom adjustment component; 5. Fifth degree of freedom adjustment component; 6. Detection component;

[0033] 1-1 Rotary connector; 1-2 Turntable connecting plate; 1-3 Elevating block; 1-4 First servo module;

[0034] 2-1. Rotating square tube; 2-2. Rotating tube end cap; 2-3. Second servo module; 2-4. Lead screw; 2-5. Lead screw nut; 2-6. Lateral telescopic arm; 2-7. Lateral telescopic arm end cap; 2-8. Heightening stud; 2-9. Joint module mounting part.

[0035] 3-1. Third servo module; 3-2. U-shaped gimbal mechanism connector;

[0036] 4-1. Fourth servo module; 4-2. Rotating component; 4-3. Vertical rotating arm;

[0037] 5-1. Fifth servo module; 5-2. Telescopic component;

[0038] 6-1. Camera; 6-2. Angle sensor; 6-3. Laser sensor. Detailed Implementation

[0039] The specific embodiments of this utility model are described below with reference to examples:

[0040] It should be noted that the structures, proportions, sizes, etc. shown in this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which this utility model can be implemented. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0041] Example 1

[0042] like Figures 1-4 As shown, this utility model discloses a lofting robot arm adjustment device, including a first degree of freedom adjustment component 1, a second degree of freedom adjustment component 2, a third degree of freedom adjustment component 3, a fourth degree of freedom adjustment component 4 and a fifth degree of freedom adjustment component 5 connected in sequence, as well as a detection component 6 and a control component;

[0043] A coordinate system is established with the plane of the rotating connector 1-1 at the top of the first degree of freedom adjustment component 1 as the reference plane. The plane of the upper end face of the rotating connector 1-1 is parallel to the layout ground. The axis of the first degree of freedom adjustment component 1 is the Z-axis. The axis of the first degree of freedom adjustment component 1 is perpendicular to the axis of the second degree of freedom adjustment component 2. The axis of the second degree of freedom adjustment component 2 is the X-axis. The first degree of freedom adjustment component 1 drives the second degree of freedom adjustment component 2 to swing by an angle α on the reference plane.

[0044] The second degree of freedom adjustment component 2 and the third degree of freedom adjustment component 3 are coaxial, and the second degree of freedom adjustment component 2 drives the third degree of freedom adjustment component 3 to move a distance S along the X-axis;

[0045] The axis of the third degree of freedom adjustment component 3 is perpendicular to that of the fourth degree of freedom adjustment component 4. The third degree of freedom adjustment component 3 drives the fourth degree of freedom adjustment component 4 to swing by an angle γ with the X-axis of its position as the center, so that the axis of the fourth degree of freedom adjustment component 4 is parallel to the Y-axis of the coordinate system.

[0046] The axes of the fourth degree of freedom adjustment component 4 and the fifth degree of freedom adjustment component 5 are perpendicular. The fourth degree of freedom adjustment component 4 drives the fifth degree of freedom adjustment component 5 to swing by an angle β around the axial center of the fourth degree of freedom adjustment component 4, so that the axis of the fifth degree of freedom adjustment component 5 is parallel to the Z-axis, and at the same time, the bottom surface of the fifth degree of freedom adjustment component 5 is parallel to the layout ground.

[0047] The bottom surface of the fifth degree of freedom adjustment component 5 is connected to the inkjet component or the ink pressing component. The fifth degree of freedom adjustment component 5 moves a distance h along the Z-axis to perform inkjet or ink pressing to realize the lofting mark.

[0048] The detection component 6 is disposed on the front side of the fifth degree of freedom adjustment component 5;

[0049] The first degree of freedom adjustment component 1, the second degree of freedom adjustment component 2, the third degree of freedom adjustment component 3, the fourth degree of freedom adjustment component 4, the fifth degree of freedom adjustment component 5 and the detection component 6 are electrically connected to the control component.

[0050] Example 2

[0051] like Figure 3 , 4As shown, preferably, the first degree of freedom adjustment component 1 includes a rotary connector 1-1, a turntable connecting plate 1-2, a shim block 1-3, and a first servo module 1-4. The turntable connecting plate 1-2 is fixedly connected to the power output end of the first servo module 1-4 through the shim block 1-3. The first servo module 1-4 is electrically connected to the control component. The top of the turntable connecting plate 1-2 is keyed to the rotary connector 1-1. The top of the rotary connector 1-1 is fixedly connected to the second degree of freedom adjustment component 2. The first servo module 1-4 is fixedly installed on the lofting trolley of the lofting robot. The first servo module 1-4 drives the rotary connector 1-1 to rotate by an angle α on the reference surface.

[0052] The range of the α angle is ±30°.

[0053] The rotary connector 1-1, turntable connecting plate 1-2, shim block 1-3 and first servo module 1-4 are arranged sequentially from top to bottom, and the top of the rotary connector 1-1 is connected to the second degree of freedom adjustment component 2.

[0054] Example 3

[0055] like Figure 3 , 4 As shown, preferably, the second degree of freedom adjustment assembly 2 includes a rotating square tube 2-1, a rotating tube end cap 2-2, a second servo module 2-3, a lead screw 2-4, a lead screw nut 2-5, a lateral telescopic arm 2-6, and a lateral telescopic arm end cap 2-7. One end of the rotating square tube 2-1 is connected to the rotating tube end cap 2-2, and the lower side of the end of the rotating square tube 2-1 connected to the rotating tube end cap 2-2 is fixed to the rotating connector 1-1. The second servo module 2-3 is coaxially fixedly installed inside the rotating square tube 2-1. The second servo module 2-3 is electrically connected to the control assembly, and the power output end of the second servo module 2-3 is connected to... A lead screw 2-4 and a lead screw nut 2-5 are fitted onto the lead screw 2-4, and one end of the lead screw nut 2-5 is fixedly connected to one end of the transverse telescopic arm 2-6. The transverse telescopic arm 2-6 is fitted inside the rotating square tube 2-1, and the other end of the transverse telescopic arm 2-6 is connected to the transverse telescopic arm end cap 2-7. One end of the third degree of freedom adjustment component 3 is fixed to the transverse telescopic arm end cap 2-7. The rotating connector 1-1 drives the rotating square tube 2-1 to rotate by an angle α on the reference plane, and the second servo module 2-3 drives the transverse telescopic arm 2-6, the transverse telescopic arm end cap 2-7, and the third degree of freedom adjustment component 3 to move a distance S along the X-axis.

[0056] The distance S is 0~100mm.

[0057] like Figure 3 , 4 As shown, preferably, both the rotating square tube 2-1 and the transverse telescopic arm 2-6 are square tubes, and the two sides of the rotating square tube 2-1 in the width direction are fixed to the rotating connector 1-1 by heightening studs 2-8.

[0058] like Figure 3 , 4 As shown, preferably, the second servo module 2-3 is coaxially fixedly installed inside the rotating square tube 2-1 via the joint module mounting piece 2-9.

[0059] Example 4

[0060] like Figure 3 , 4 As shown, preferably, the third degree of freedom adjustment component 3 includes a third servo module 3-1 and a U-shaped gimbal mechanism connector 3-2. The third servo module 3-1 is electrically connected to the control component. The third servo module 3-1 is fixedly installed on the end cover 2-7 of the horizontal telescopic arm. The power output end of the third servo module 3-1 is connected to the U-shaped gimbal mechanism connector 3-2. A fourth degree of freedom adjustment component 4 is installed between the two opposite sides of the U-shaped gimbal mechanism connector 3-2. The third servo module 3-1 drives the U-shaped gimbal mechanism connector 3-2 to swing by an angle γ with the axis of the third servo module 3-1 at its position as the center, so that the axis of the fourth degree of freedom adjustment component 4 is parallel to the Y-axis.

[0061] The γ angle is ±30°.

[0062] like Figures 3-5 As shown, preferably, the fourth degree of freedom adjustment component 4 includes a fourth servo module 4-1, a rotating component 4-2, and a vertical rotating arm 4-3. The fourth servo module 4-1 is electrically connected to the control component. One end of the fourth servo module 4-1 is fixed on one side of the U-shaped gimbal mechanism connector 3-2. One end of the vertical rotating arm 4-3 is sleeved on the outside of the fourth servo module 4-1, and one sidewall of the vertical rotating arm 4-3 is connected to the power output end of the fourth servo module 4-1 through the rotating component 4-2. The other end of the rotating component 4-2 is rotatably mounted on the other side of the U-shaped gimbal mechanism connector 3-2. The fourth servo module 4-1 drives the vertical rotating arm 4-3 to rotate by an angle β around the center of the axis of the fourth servo module 4-1. The fifth degree of freedom adjustment component 5 is coaxially mounted in the vertical rotating arm 4-3, and the detection component 6 is mounted on the side of the vertical rotating arm 4-3 away from the third degree of freedom adjustment component 3.

[0063] The β angle is ±10°.

[0064] like Figure 3 , 4As shown, preferably, the fifth degree of freedom adjustment component 5 includes a fifth servo module 5-1 and a telescopic component 5-2. The fifth servo module 5-1 is electrically connected to the control component. The power output end of the fifth servo module 5-1 is connected to the telescopic component 5-2. The bottom of the telescopic component 5-2 is connected to the inkjet component or the ink pressing component. The fifth servo module 5-1 drives the telescopic component 5-2 to move a distance h along the axial direction of the fifth servo module 5-1.

[0065] The specific connection method between the telescopic component 5-2 and the fifth servo module 5-1 is described in detail in another utility model (a stamping mechanism for a lofting robot), and is not repeated in this application.

[0066] Example 5

[0067] like Figure 3 , 4 As shown, preferably, the detection component 6 includes a camera 6-1, an angle sensor 6-2, and a laser sensor 6-3. The shooting direction of the camera 6-1 is perpendicular to the fifth degree of freedom adjustment component 5. The position of the angle sensor 6-2 corresponds to the position of the fourth servo module 4-1. The laser emission direction of the laser sensor 6-3 is parallel to the axis of the fifth degree of freedom adjustment component 5. The camera 6-1, the angle sensor 6-2, and the laser sensor 6-3 are electrically connected to the control component.

[0068] like Figure 3 , 4 As shown, preferably, the camera 6-1, the angle sensor 6-2, and the laser sensor 6-3 are arranged sequentially from top to bottom on the front side of the vertical rotating arm 4-3.

[0069] The working principle of this utility model is as follows:

[0070] like Figures 1-5As shown, this utility model discloses an adjustment device for a lofting robot arm, including a first degree-of-freedom adjustment assembly 1, a second degree-of-freedom adjustment assembly 2, a third degree-of-freedom adjustment assembly 3, a fourth degree-of-freedom adjustment assembly 4, and a fifth degree-of-freedom adjustment assembly 5 connected in sequence, as well as a detection assembly 6 and a control assembly. The first degree-of-freedom adjustment assembly 1 is fixedly installed on the lofting trolley of the lofting robot. The second degree-of-freedom adjustment assembly 2 is installed on top of the first degree-of-freedom adjustment assembly 1, and the first degree-of-freedom adjustment assembly 1 drives the second degree-of-freedom adjustment assembly 2 to rotate by an angle α on a reference plane. The third degree-of-freedom adjustment assembly 3 is coaxial with the second degree-of-freedom adjustment assembly 2 and is installed at the end of the second degree-of-freedom adjustment assembly 2, and the second degree-of-freedom adjustment assembly 2 drives the third degree-of-freedom adjustment assembly 3. The third degree of freedom adjustment component 3 moves a distance S. A fourth degree of freedom adjustment component 4 is installed between the two sides of the U-shaped gimbal mechanism connector 3-2. The third degree of freedom adjustment component 3 drives the fourth degree of freedom adjustment component 4 to swing by an angle γ. A fifth degree of freedom adjustment component 5 is coaxially installed in the vertical rotating arm 4-3 of the fourth degree of freedom adjustment component 4. The fourth degree of freedom adjustment component 4 drives the fifth degree of freedom adjustment component 5 to swing by an angle β, so that the bottom surface of the fifth degree of freedom adjustment component 5 is parallel to the layout ground. The fifth servo module 5-1 drives the telescopic component 5-2 to move a distance h along the axis of the fifth servo module 5-1 to perform inkjet or ink pressure to achieve layout marking. This utility model reduces errors and achieves accurate layout marking in engineering by adjusting five degrees of freedom.

[0071] This utility model discloses a robotic arm adjustment device for a lofting robot, comprising five degree-of-freedom adjustment components. During lofting, the robotic arm adjustment device is first carried by a lofting trolley to the lofting point for coarse positioning, with an error of ±50mm. Then, the first degree-of-freedom adjustment component swings by an angle α, and the second degree-of-freedom adjustment component moves a distance S along the X-axis for two fine positioning operations, with an error of ±2mm. Next, the third degree-of-freedom adjustment component swings by an angle γ, and the fourth degree-of-freedom adjustment component swings by an angle β for two-sided fine positioning, with an error of ±0.1mm, thus determining the accurate position. Finally, the fifth degree-of-freedom adjustment component moves a distance h to mark the lofting position. This utility model reduces errors and achieves precise positioning through multi-degree-of-freedom adjustment, ensuring the accuracy of the lofting position.

[0072] The five degrees of freedom adjustment of this utility model can ensure that the bottom surface of the inkjet assembly or the ink pressing assembly is parallel to the layout ground, ensure that the pattern does not deviate when the inkjet assembly sprays ink, or avoid damage to the ink pressing assembly, thereby improving the layout efficiency and extending the overall service life of the device.

[0073] This utility model's degree-of-freedom adjustment components are connected to a rotary connector via a servo module; a lead screw is connected via a servo module, with the lead screw engaging a lead screw nut; a U-shaped gimbal mechanism connector is connected via a servo module; and a vertical rotating arm is driven to swing via a servo module. Each degree-of-freedom adjustment component is electrically connected to a control component, allowing for sequential or simultaneous operation with rapid response and a simple, easy-to-operate structure.

[0074] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

[0075] Many other changes and modifications can be made without departing from the concept and scope of this utility model. It should be understood that this utility model is not limited to the specific embodiments, and the scope of this utility model is defined by the appended claims.

Claims

1. A setting-out robot arm adjustment device, characterized in that: The first freedom adjustment assembly (1), the second freedom adjustment assembly (2), the third freedom adjustment assembly (3), the fourth freedom adjustment assembly (4) and the fifth freedom adjustment assembly (5) are sequentially connected, and the detection assembly (6) and the control assembly are further included; A coordinate system is established with a plane where a rotating connecting piece (1-1) at the top of the first freedom adjustment assembly (1) as a reference plane, the plane where the upper end surface of the rotating connecting piece (1-1) is located is parallel to the lofting ground, the axis of the first freedom adjustment assembly (1) is the Z axis, the axis of the first freedom adjustment assembly (1) and the second freedom adjustment assembly (2) is perpendicular, the axis of the second freedom adjustment assembly (2) is the X axis, the first freedom adjustment assembly (1) drives the second freedom adjustment assembly (2) to swing by an angle of α on the reference plane. The second freedom adjustment assembly (2) is coaxial with the third freedom adjustment assembly (3), and the second freedom adjustment assembly (2) drives the third freedom adjustment assembly (3) to move along the X axis by a distance of S. The third freedom adjustment assembly (3) is perpendicular to the axis of the fourth freedom adjustment assembly (4), the third freedom adjustment assembly (3) drives the fourth freedom adjustment assembly (4) to swing by an angle of γ with the X axis at the position of the fourth freedom adjustment assembly (4) as the center, so that the axis of the fourth freedom adjustment assembly (4) is parallel to the Y axis of the coordinate system. The fourth freedom adjustment assembly (4) is perpendicular to the axis of the fifth freedom adjustment assembly (5), the fourth freedom adjustment assembly (4) drives the fifth freedom adjustment assembly (5) to swing by an angle of β with the axis of the fourth freedom adjustment assembly (4) as the center, so that the axis of the fifth freedom adjustment assembly (5) is parallel to the Z axis, and the bottom surface of the fifth freedom adjustment assembly (5) is parallel to the lofting ground. The bottom surface of the fifth freedom adjustment assembly (5) is connected with an ink jet assembly or an ink pressing assembly, the fifth freedom adjustment assembly (5) moves along the Z axis by a distance of h, and ink jetting or ink pressing is performed to realize lofting marking. The detection assembly (6) is arranged on the front side of the fifth freedom adjustment assembly (5). The first freedom adjustment assembly (1), the second freedom adjustment assembly (2), the third freedom adjustment assembly (3), the fourth freedom adjustment assembly (4), the fifth freedom adjustment assembly (5) and the detection assembly (6) are respectively electrically connected with the control assembly.

2. The setting-out robot arm adjustment device according to claim 1, characterized in that: The first freedom adjustment assembly (1) includes a rotating connecting piece (1-1), a turntable connecting plate (1-2), a heightening block (1-3) and a first servo module (1-4), the turntable connecting plate (1-2) is fixedly connected with the power output end of the first servo module (1-4) through the heightening block (1-3), the first servo module (1-4) is electrically connected with the control assembly, the top of the turntable connecting plate (1-2) is keyed with the rotating connecting piece (1-1), the top of the rotating connecting piece (1-1) is fixedly connected with the second freedom adjustment assembly (2), the first servo module (1-4) is fixedly installed on a lofting trolley of a lofting robot, and the first servo module (1-4) drives the rotating connecting piece (1-1) to rotate by an angle of α on the reference plane.

3. The setting-out robot arm adjustment device according to claim 2, characterized in that: The second degree of freedom adjusting assembly (2) comprises a rotating square tube (2-1), a rotating tube end cover (2-2), a second servo module (2-3), a lead screw (2-4), a lead screw nut (2-5), a horizontal telescopic arm (2-6) and a horizontal telescopic arm end cover (2-7), one end of the rotating square tube (2-1) is connected with the rotating tube end cover (2-2), the lower side of the one end of the rotating square tube (2-1) connected with the rotating tube end cover (2-2) is fixed on the rotating connecting piece (1-1), the second servo module (2-3) is coaxially fixedly installed in the rotating square tube (2-1), the second servo module (2-3) is electrically connected with the control assembly, the power output end of the second servo module (2-3) is connected with the lead screw (2-4), the lead screw nut (2-5) is sleeved on the lead screw (2-4), and one end surface of the lead screw nut (2-5) is fixedly connected with one end of the horizontal telescopic arm (2-6), the horizontal telescopic arm (2-6) is sleeved in the rotating square tube (2-1), the other end of the horizontal telescopic arm (2-6) is connected with the horizontal telescopic arm end cover (2-7), and one end of the third degree of freedom adjusting assembly (3) is fixed on the horizontal telescopic arm end cover (2-7); the rotating connecting piece (1-1) drives the rotating square tube (2-1) to rotate an angle α on a reference surface, and the second servo module (2-3) drives the horizontal telescopic arm (2-6), the horizontal telescopic arm end cover (2-7) and the third degree of freedom adjusting assembly (3) to move a distance S along the X axis.

4. The setting-out robot arm adjustment device according to claim 3, characterized in that: The rotating square tube (2-1) and the horizontal telescopic arm (2-6) are square tubes, and the rotating square tube (2-1) is fixed on the rotating connecting piece (1-1) through high-rise studs (2-8) on the two sides in the width direction.

5. The setting-out robot arm adjustment device according to claim 3, characterized in that: The second servo module (2-3) is coaxially fixedly installed in the rotating square tube (2-1) through a joint module mounting piece (2-9).

6. The setting-out robot arm adjustment device according to claim 3, characterized in that: The third degree of freedom adjusting assembly (3) comprises a third servo module (3-1) and a U-shaped holder mechanism connecting piece (3-2), the third servo module (3-1) is electrically connected with the control assembly, the third servo module (3-1) is fixedly installed on the horizontal telescopic arm end cover (2-7), the power output end of the third servo module (3-1) is connected with the U-shaped holder mechanism connecting piece (3-2), the fourth degree of freedom adjusting assembly (4) is installed between the opposite two sides of the U-shaped holder mechanism connecting piece (3-2), the third servo module (3-1) drives the U-shaped holder mechanism connecting piece (3-2) to swing an angle γ with the axis of the third servo module (3-1) at the position of the U-shaped holder mechanism connecting piece (3-2) as the center, so that the axis of the fourth degree of freedom adjusting assembly (4) is parallel to the Y axis.

7. The setting-out robot arm adjustment device according to claim 6, characterized in that: The fourth degree of freedom adjusting assembly (4) comprises a fourth servo module (4-1), a rotating piece (4-2) and a vertical rotating arm (4-3), the fourth servo module (4-1) is electrically connected with the control assembly, one end of the fourth servo module (4-1) is fixed on one side of the U-shaped holder mechanism connecting piece (3-2), one end of the vertical rotating arm (4-3) is sleeved outside the fourth servo module (4-1), and one end of the vertical rotating arm (4-3) is connected with the power output end of the fourth servo module (4-1) through the rotating piece (4-2), the other end of the rotating piece (4-2) is rotatably installed on the other side of the U-shaped holder mechanism connecting piece (3-2), the fourth servo module (4-1) drives the vertical rotating arm (4-3) to rotate by β degrees with the center of the axis of the fourth servo module (4-1) as the center, the fifth degree of freedom adjusting assembly (5) is coaxially installed in the vertical rotating arm (4-3), and the detection assembly (6) is installed on the side face of the vertical rotating arm (4-3) away from the third degree of freedom adjusting assembly (3).

8. The setting-out robot arm adjustment device according to claim 7, characterized in that: The fifth degree of freedom adjusting assembly (5) comprises a fifth servo module (5-1) and an extension piece (5-2), the fifth servo module (5-1) is electrically connected with the control assembly, the power output end of the fifth servo module (5-1) is connected with the extension piece (5-2), the bottom of the extension piece (5-2) is connected with the ink jet assembly or the ink pressing assembly, and the fifth servo module (5-1) drives the extension piece (5-2) to move by h distance along the axis direction of the fifth servo module (5-1).

9. The setting-out robot arm adjustment device according to claim 7, characterized in that: The detection assembly (6) comprises a camera (6-1), an angle sensor (6-2) and a laser sensor (6-3), the shooting direction of the camera (6-1) is perpendicular to the fifth degree of freedom adjusting assembly (5), the position of the angle sensor (6-2) corresponds to the position of the fourth servo module (4-1), the laser emission direction of the laser sensor (6-3) is parallel to the axis of the fifth degree of freedom adjusting assembly (5), and the camera (6-1), the angle sensor (6-2) and the laser sensor (6-3) are electrically connected with the control assembly respectively.

10. The setting-out robot arm adjustment device according to claim 9, characterized in that: The camera (6-1), the angle sensor (6-2) and the laser sensor (6-3) are sequentially arranged on the front side of the vertical rotating arm (4-3) from top to bottom.

Images