Automatic calibration system

Abstract

The utility model discloses an automatic calibration system, which is applied to a three-dimensional scanning system and comprises a mechanical arm, a placing bracket and a mounting bracket, a calibration rod for calibration is arranged on the placing bracket, and a to-be-clamped part is arranged on the calibration rod; the mounting bracket is fixed on the mechanical arm, a driving unit, a movable clamping block and a fixed clamping block are arranged on the mounting bracket, the fixed clamping block and the movable clamping block form a clamp, and the driving unit controls the movable clamping block to linearly move and is used for adjusting a gap of the clamp. In one measurement process, only the set position needs to be obtained in advance, and every time the mechanical arm moves to the set position, the calibration rod can be clamped from the same position of the placing support and can also be placed back to the same position of the placing support; the purpose that the mechanical arm automatically picks and places the calibration rod is achieved, and follow-up automatic calibration work can be completed for many times. Compared with the prior art, manual participation in calibration operation can be effectively reduced, damage to equipment and danger to personnel in the calibration process are avoided, the overall scanning work efficiency is higher, the operation process is smoother, and the automation degree of the overall equipment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to three -dimensional scanning technical field, concretely relates to automatic calibration system. BACKGROUND

[0002] The automatic calibration system of the utility model discloses a kind of automatic calibration systems, including mechanical arm, be applied to three-dimensional scanning system, including

[0003] The above-mentioned two all need artificial excessive participation, there is low efficiency, calibration position is not accurate etc. With the degree of automation of application scene becomes higher, the demand of calibration part automation is increasingly strong.If calibration still needs manual calibration, one is the loss of labor cost, two, personnel enter scanning environment and carry out calibration operation, there is certain danger. UTILITY MODEL CONTENT

[0004] In view of the above defects existing in prior art, an automatic calibration system is provided, which automatically takes and places a tool with a calibration rod by a mechanical arm, realizes overall automation, reduces personnel participation in calibration operation, improves calibration efficiency, and reduces the risk of calibration operation.

[0005] The utility model discloses a kind of automatic calibration systems, including mechanical arm, be applied to three-dimensional scanning system, including

[0006] Automatic calibration system, including mechanical arm, applied to three-dimensional scanning system, including

[0007] Placement support, calibration rod for calibration is equipped on placement support, and waiting to be clamped portion is equipped on calibration rod;

[0008] Mounting bracket, mounting bracket is fixed on mechanical arm, driving unit, movable clamp block and fixed clamp block are equipped on mounting bracket, clamp is formed by fixed clamp block and movable clamp block, and movable clamp block is controlled linearly to move by driving unit, for adjusting the gap of clamp;Mechanical arm moves to the set position relative to placement support, and driving unit controls clamp to clamp or release waiting to be clamped portion.

[0009] According to the above technical scheme, the limit recess and the limit protrusion are matched between the clamp and the waiting to be clamped portion, the limit recess includes at least three adjacent guide inclined surfaces;When the clamp clamps the waiting to be clamped portion, the limit protrusion is attached to the inner wall surface of the limit recess, to limit the movement of the clamped portion in the clamp.

[0010] Further, the waiting to be clamped portion is provided with opposite first clamping surface and second clamping surface;

[0011] The limiting groove and the limiting protrusion are provided on the first clamping surface and the fixed clamping block, and the contact surface of the second clamping surface and the movable clamping block are both set as planes;

[0012] Alternatively, the limiting groove and the limiting protrusion are provided on the second clamping surface and the movable clamping block, and the contact surfaces on the first clamping surface and the fixed clamping block are both set as planes;

[0013] Alternatively, limiting grooves and limiting protrusions may be provided on the first clamping surface and the fixed clamping block, and on the second clamping surface and the movable clamping block.

[0014] According to the above technical solution, the part to be clamped is provided with a first clamping surface and a second clamping surface;

[0015] Limiting slots and limiting protrusions matching the limiting slots are provided between the first clamping surface and the fixed clamping block, and between the second clamping surface and the movable clamping block. The limiting slots include two opposing limiting inclined surfaces.

[0016] According to the above technical solution, the drive unit adopts a linear telescopic power source or a motor drive power source;

[0017] The linear telescopic power source directly drives the movable clamping block to move linearly.

[0018] A gear and rack transmission pair or a lead screw and nut transmission pair is set between the motor and the movable clamping block to achieve linear movement of the movable clamping block.

[0019] According to the above technical solution, the mounting bracket is equipped with a placement platform, and the calibration rod is equipped with a support seat. The calibration rod is fixed on the placement platform by the support seat.

[0020] Furthermore, positioning holes and positioning pins are provided on the placement platform and support base;

[0021] The positioning holes are located on the surface of the mounting platform, and the positioning pins are located at the bottom of the support base;

[0022] Alternatively, the positioning hole can be located at the bottom of the mounting base, and the positioning pin can be located on the surface of the mounting platform.

[0023] Furthermore, the cross-section of the positioning hole gradually decreases from the outside to the inside, and the positioning pin matches the positioning hole; or, the cross-sectional size of the positioning pin gradually increases from the end to the connection with the support or placement platform, and the positioning hole matches the positioning pin.

[0024] Furthermore, sensors for detecting the support base or calibration rod are provided on the side of the mounting platform.

[0025] According to the technical scheme, the support seat is arranged at the middle part of the calibration rod, the conical positioning pin is arranged at the bottom of the support seat, the placing support is arranged with the placing platform, and the placing platform is arranged with the circular hole or the conical hole matched with the positioning pin.

[0026] The to-be-clamped part is provided with opposite first and second clamping surfaces, and a limiting slot and a limiting protrusion matched with the limiting slot are arranged between the first clamping surface and the fixed clamping block and between the second clamping surface and the movable clamping block respectively; a matching limiting slope is arranged between the limiting slot and the limiting protrusion on the left side and the right side, and a matching limiting slope is arranged between the limiting slot and the limiting protrusion on the upper side and the lower side.

[0027] The driving unit comprises a motor, a screw nut transmission pair, a mounting seat and a guide rod; the mounting seat is located between the motor and the movable clamping block, the output shaft of the motor is connected with one end of the screw, and the other end of the screw is rotatably connected to the mounting seat; the screw is sleeved with the nut between the motor and the mounting seat, at least one through hole is arranged on the mounting seat, the guide rod matched with the diameter of the through hole is passed through the through hole, and the two ends of the guide rod are connected between the nut and the movable clamping block.

[0028] According to the technical scheme, the support seat is arranged at the middle part of the calibration rod, the conical positioning pin is arranged at the bottom of the support seat, the placing support is arranged with the placing platform, and the placing platform is arranged with the circular hole or the conical hole matched with the positioning pin.

[0029] The to-be-clamped part is provided with opposite first and second clamping surfaces, and a limiting slot and a limiting protrusion matched with the limiting slot are arranged between the first clamping surface and the fixed clamping block and between the second clamping surface and the movable clamping block respectively; a matching limiting slope is arranged between the limiting slot and the limiting protrusion on the left side and the right side, and a matching limiting slope is arranged between the limiting slot and the limiting protrusion on the upper side and the lower side.

[0030] The driving unit comprises a motor, a screw nut transmission pair, a guide sleeve and a mounting seat; the mounting seat is located between the motor and the movable clamping block, the guide sleeve is fixed on the nut, and a guide hole matched with the guide sleeve is arranged on the mounting seat; one end of the screw is connected to the output shaft of the motor, and the other end of the screw passes through the nut and the guide sleeve; the guide sleeve passes through the guide hole and is connected with the movable clamping block.

[0031] The utility model has the following beneficial effects:

[0032] 1. The placing support is arranged in the to-be-measured area, and the calibration rod is placed on the placing support. Before or after the calibration operation, the movable clamping block and the fixed clamping block are moved to the set position by the mechanical arm to form a clamp, and the movable clamping block is driven to move by the driving unit fixed on the mechanical arm, so that the to-be-clamped part of the calibration rod is clamped or released.

[0033] In the above process, in one measurement process, only the set position is acquired in advance, each time the mechanical arm moves to the set position, the calibration rod can be clamped from the same position of the placing support, and the calibration rod can also be placed back to the same position of the placing support; the purpose of automatically taking and placing the calibration rod by the mechanical arm is achieved, so as to complete subsequent multiple automatic calibration operations. The above measures can effectively reduce the participation of manual calibration operation, avoid damage to the equipment and danger to the personnel in the calibration process, make the overall scanning work efficiency higher, the running process more smooth, and the automation degree of the overall equipment improved.

[0034] 2. Limiting grooves and limiting protrusions, or limiting grooves and limiting protrusions, are arranged between the clamped part and the movable clamp block, and between the clamped part and the fixed clamp block, so that the clamped part cannot slide in the clamp after being clamped by the movable clamp block and the fixed clamp block, thereby improving the connection stability between the calibration rod and the mechanical arm.

[0035] 3. Positioning pins and positioning holes are respectively arranged between the placing platform of the placing support and the support seat of the calibration rod, and the positioning pins and the positioning holes are used to further ensure that the storage position of the calibration rod before and after being taken and placed on the placing support is the same. Therefore, under the premise that the position of the placing support is unchanged, the mechanical arm can continue to move to the set position each time, and the clamp can clamp the clamped part or release the clamped part, so that the calibration rod falls in the original position placed on the placing support, thereby facilitating the clamp on the mechanical arm to clamp the clamped part subsequently.

[0036] 4. A sensor is arranged on the placing support, and the sensor is used to detect whether the clamp on the mechanical arm accurately clamps the clamped part of the calibration rod each time.

[0037] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, and the content of the specification can be implemented, the following is a detailed description of the preferred embodiments of the present application combined with the drawings. The specific implementation of the present application is given in detail by the following embodiments and their drawings. BRIEF DESCRIPTION OF DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application.

[0039] Figure 1 is a schematic diagram of the connection between the mechanical arm and the calibration rod provided by the embodiments of the present application;

[0040] Figure 2 is a structural schematic diagram of the calibration rod provided by the embodiments of the present application;

[0041] Figure 3 This is a schematic diagram of the structure of the clamping part provided in an embodiment of this utility model;

[0042] Figure 4 This is a front view of the clamping part provided in an embodiment of this utility model;

[0043] Figure 5 This is a top view of the clamping part provided in an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the structure of the drive unit driving the movable clamping block to clamp the part to be clamped according to an embodiment of the present invention;

[0045] Figure 7 This is a detailed drawing of the drive unit provided in an embodiment of the present invention;

[0046] Figure 8 This is a schematic diagram of the structure of the storage rack provided in an embodiment of this utility model;

[0047] Figure 9 This is a front view of the storage rack provided in an embodiment of this utility model;

[0048] In the diagram, 1. Robotic arm; 2. Placement bracket; 2-1. Placement platform; 3. Calibration rod; 3-1. Support base; 4. Part to be clamped; 4-1. First clamping surface; 4-2. Second clamping surface; 5. Mounting bracket; 6. Drive unit; 6-1. Motor; 6-2. Lead screw; 6-3. Nut; 6-4. Mounting base; 6-5. Guide rod; 7. Movable clamping block; 8. Fixed clamping block; 9. Limiting slot; 10. Limiting protrusion; 11. Limiting inclined surface; 12. Positioning hole; 13. Positioning pin; 14. Sensor; 15. Weight reduction cavity. Detailed Implementation

[0049] The following is in conjunction with the appendix Figures 1-9 The principles and features of this utility model are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of this utility model. The utility model is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of this utility model will become clearer from the following description and claims. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of this utility model.

[0050] It should be understood that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In addition, it should be understood that when an element is referred to as being "connected, coupled, or "disposed" to another element, it can be directly connected, coupled, or disposed to the other element or intervening elements can also be present. As used herein, the terms "vertical", "horizontal", "left", "right", and the like are merely for the purpose of illustration and are not intended to limit the present application.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0052] Referring to Figures 1-9 The automatic calibration system provided by the application.

[0053] Embodiment 1

[0054] As shown in Figures 1-2 The application includes a mechanical arm 1, which is applied to a three-dimensional scanning system and includes a placing support 2, a calibration rod 3 for calibration is arranged on the placing support, and a clamped part 4 is arranged on the calibration rod;

[0055] The placing support 2, a calibration rod 3 for calibration is arranged on the placing support, and a clamped part 4 is arranged on the calibration rod;

[0056] The mounting support 5 is fixed on the mechanical arm, a driving unit 6, a movable clamp block 7, and a fixed clamp block 8 are arranged on the mounting support, a clamp is formed by the fixed clamp block and the movable clamp block, the movable clamp block is controlled to move linearly by the driving unit, and the gap of the clamp is adjusted; when the mechanical arm moves to a set position relative to the placing support, the clamp is controlled to clamp or release the clamped part by the driving unit.

[0057] In the above structure, before use, the set position is obtained by being calculated in advance by a worker according to the relative position of the clamped part of the calibration rod on the placing support and the clamp on the mounting support of the mechanical arm.

[0058] After the set position is obtained, the mechanical arm is controlled to move to the set position, at this time, the fixed clamp block and the movable clamp block of the clamp are located on both sides of the clamped part, the movable clamp block is controlled to move towards the fixed clamp block by the driving unit, the clamp clamps the clamped part, and the fixation of the calibration rod on the mechanical arm is realized.

[0059] Subsequent calibration work is then performed.

[0060] After the calibration work is completed, the mechanical arm moves to the set position again, at this time the driving unit drives the control movable clamp block to move away from the fixed clamp block, the clamp releases the to-be-clamped part, realizes the separation of the calibration rod and the mechanical arm, and the calibration rod is placed in the original position, which is convenient for the clamp on the mechanical arm to take the calibration rod again next time.

[0061] In the above process, in one measurement process, only the set position needs to be obtained in advance, and each time the mechanical arm moves to the set position, the calibration rod can be clamped from the same position of the placement support, and the calibration rod can also be placed back to the same position of the placement support; the purpose of automatically taking and placing the calibration rod by the mechanical arm is realized, so as to complete subsequent multiple automatic calibration work. The above measures can effectively reduce the participation of artificial calibration work, avoid damage to the equipment and danger to the personnel in the calibration process, make the overall scanning work efficiency higher, the running process more smooth, and the automation degree of the overall equipment improved.

[0062] In order to avoid the clamp from falling off the to-be-clamped part of the calibration rod during the process of clamping the to-be-clamped part of the calibration rod, it is necessary to set a structure between the fixed clamp block and the to-be-clamped part, or between the movable clamp block and the to-be-clamped part, or between the fixed clamp block and the to-be-clamped part, and between the movable clamp block and the to-be-clamped part

[0063] Embodiment 2

[0064] The structure and principle of embodiment 2 are close to those of embodiment 1, and the difference lies in that another preferred structure form between the movable clamp block, the fixed clamp block and the to-be-clamped part is given.

[0065] The to-be-clamped part is provided with opposite first clamping surface 4-1 and second clamping surface 4-2;

[0066] Limiting grooves 9 and limiting protrusions 10 matched with the limiting grooves are respectively arranged between the first clamping surface and the fixed clamp block, and between the second clamping surface and the movable clamp block, and the limiting groove includes two opposite limiting inclined surfaces 11.

[0067] The limiting groove in embodiment 3 and the limiting groove structure in embodiment 2 are different, the circumferential side of the limiting groove and the limiting protrusion is matched, so as to limit the movement of the to-be-clamped part in any direction. The limiting groove is limited by the two opposite limiting inclined surfaces to the limiting protrusion, and can only limit the movement of the to-be-clamped part in part direction, and two groups of limiting grooves and limiting protrusions need to be arranged to realize the movement of the to-be-clamped part in any direction.

[0068] Embodiment 3

[0069] The structure and principle of embodiment 3 are similar to those of embodiment 1, with the difference that a preferred structure of the movable clamp block, the fixed clamp block and the part to be clamped is given.

[0070] A limiting recess and a limiting protrusion are arranged between the clamp and the part to be clamped, the limiting recess comprises at least three guide inclined surfaces adjacent to each other; when the clamp clamps the part to be clamped, the limiting protrusion is attached to the inner wall surface of the limiting recess, thereby limiting the movement of the part to be clamped in the clamp.

[0071] In embodiment 2, the four peripheral walls of the limiting recess and the four peripheral walls of the limiting protrusion are limited, thereby avoiding the sliding of the part to be clamped in the clamp. The limiting recess adopts a multi-prism table or a multi-prism pyramid structure, and the inclined surfaces of the multi-prism table and the multi-prism pyramid are used for guiding and limiting.

[0072] In embodiment 2, the part to be clamped is provided with opposite first and second clamping surfaces.

[0073] The limiting recess and the limiting protrusion are arranged on the first clamping surface and the fixed clamp block, and the contact surfaces of the second clamping surface and the movable clamp block are both flat surfaces.

[0074] Or the limiting recess and the limiting protrusion are arranged on the second clamping surface and the movable clamp block, and the contact surfaces of the first clamping surface and the fixed clamp block are both flat surfaces.

[0075] Or the limiting recess and the limiting protrusion are arranged on both the first clamping surface and the fixed clamp block and on both the second clamping surface and the movable clamp block.

[0076] Embodiment 4

[0077] The structure and principle of embodiment 4 are similar to those of embodiments 1-3, with the difference that a preferred structure of the placement support and the calibration rod is given on the basis of embodiments 1-4. As shown in Figures 8-9 A placement platform 2-1 is arranged on the placement support, and a support seat 3-1 is arranged on the calibration rod, thereby preventing the calibration rod from being placed on the placement platform.

[0078] In order to ensure that the position of the calibration rod on the placement platform is the same before and after the calibration operation of the mechanical arm is started, the effect of “original taking and original placing” is achieved, so as to facilitate the subsequent calibration operation, thereby achieving the purpose of automatic calibration.

[0079] In embodiment 5, in order to reduce the precision requirement of achieving the above-mentioned “original taking and original placing”, a positioning hole 12 and a positioning pin 13 are arranged on the placement platform and the support seat; at least one set of positioning pin and positioning hole is arranged, and two sets of positioning pin and positioning hole are preferably arranged in the preferred embodiment.

[0080] The positioning hole is arranged on the surface of the placement platform, and the positioning pin is arranged at the bottom of the support seat.

[0081] Or the positioning hole is arranged at the bottom of the mounting base, and the positioning pin is arranged on the surface of the placing platform.

[0082] The cross section of the positioning hole gradually decreases from outside to inside, and the positioning pin is matched with the positioning hole. When the positioning pin is placed in the positioning hole, the end of the positioning pin can be smoothly inserted into the positioning hole because the size of the end of the positioning pin is smaller than the external size of the positioning hole. After the positioning pin is inserted into the positioning hole, the position of the positioning pin in the positioning hole is the same each time under the guidance of the inner wall of the positioning hole.

[0083] Or the cross section size of the positioning pin gradually increases from the end to the connecting part of the supporting seat or the placing platform, and the positioning hole is matched with the positioning pin. When the positioning pin is placed in the positioning hole, the end of the positioning pin can be smoothly inserted into the positioning hole because the size of the end of the positioning pin is smaller than the external size of the positioning hole. After the positioning pin is inserted into the positioning hole, the position of the positioning pin in the positioning hole is the same each time under the guidance of the inner wall of the positioning hole.

[0084] Preferably, in order to facilitate the external controller to judge whether the calibration rod is placed on the placing support, a sensor 14 for detecting the supporting seat or the calibration rod is arranged on the side of the placing platform. The sensor is used to detect whether the clamp on the mechanical arm accurately clamps the to-be-clamped part of the calibration rod each time.

[0085] In order to reduce the weight of the to-be-clamped part, a weight-reducing cavity 15 is arranged inside the to-be-clamped part.

[0086] Embodiment 5

[0087] The structure and principle of Embodiment 5 are similar to those of Embodiments 1-4, and the difference is that in Embodiment 1, the driving unit is used to drive the linear movement of the movable clamp block, and thus two preferred structure forms of the driving unit are given, that is, the linear extension power source or the motor-driven power source is used.

[0088] The linear extension power source directly drives the linear movement of the movable clamp block.

[0089] A gear and rack transmission pair or a screw and nut transmission pair is arranged between the motor and the movable clamp block, so as to realize the linear movement of the movable clamp block.

[0090] In combination with the above-mentioned Embodiments 1-5, two specific calibration systems with the motor-driven power source are given according to actual requirements.

[0091] The first kind is shown in FIG. 1. A supporting seat is arranged at the middle part of the calibration rod, a conical positioning pin is arranged at the bottom of the supporting seat, a placing platform is arranged on the placing support, and a circular hole or a conical hole matched with the positioning pin is arranged on the placing platform. Figures 1-9 ​

[0092] The to-be-clamped part is provided with opposite first clamping surface and second clamping surface, and the first clamping surface and the fixed clamping block, the second clamping surface and the movable clamping block are respectively provided with a limiting slot and a limiting protrusion matched with the limiting slot; a limiting inclined surface matched with the limiting slot and the limiting protrusion is arranged between the left side and the right side of one limiting slot and limiting protrusion, and a limiting inclined surface matched with the limiting slot and the limiting protrusion is arranged between the upper side and the lower side of the other limiting slot and limiting protrusion.

[0093] The driving unit comprises a motor 6-1, a screw nut transmission pair (screw 6-2 and nut 6-3 in the drawing), a mounting seat 6-4 and a guide rod 6-5; the mounting seat is located between the motor and the movable clamping block, the output shaft of the motor is connected with one end of the screw, and the other end of the screw is rotatably connected to the mounting seat; the nut is sleeved on the screw between the motor and the mounting seat, at least one through hole is arranged on the mounting seat, the guide rod matched with the diameter of the through hole passes through the through hole, and the two ends of the guide rod are connected between the nut and the movable clamping block.

[0094] The second kind: a supporting seat is arranged in the middle of the calibration rod, a conical positioning pin is arranged at the bottom of the supporting seat, a placing platform is arranged on the placing support, and a circular hole or a conical hole matched with the positioning pin is arranged on the placing platform;

[0095] The to-be-clamped part is provided with opposite first clamping surface and second clamping surface, and the first clamping surface and the fixed clamping block, the second clamping surface and the movable clamping block are respectively provided with a limiting slot and a limiting protrusion matched with the limiting slot; a limiting inclined surface matched with the limiting slot and the limiting protrusion is arranged between the left side and the right side of one limiting slot and limiting protrusion, and a limiting inclined surface matched with the limiting slot and the limiting protrusion is arranged between the upper side and the lower side of the other limiting slot and limiting protrusion.

[0096] The driving unit comprises a motor, a screw nut transmission pair, a guide sleeve and a mounting seat; the mounting seat is located between the motor and the movable clamping block, the guide sleeve is fixed on the nut, and a guide hole matched with the guide sleeve is arranged on the mounting seat; one end of the screw is connected to the output shaft of the motor, and the other end of the screw passes through the nut and the guide sleeve; the guide sleeve passes through the guide hole and is connected with the movable clamping block.

[0097] The above merely describes preferred embodiments of the present application, and is not intended to limit the present application in any form; any person skilled in the art can smoothly implement the present application according to the drawings shown in the specification and the above description; however, any person skilled in the art can make slight changes, modifications and equivalent changes of the present application within the scope of the technical scheme of the present application, and the equivalent embodiments of the present application are still within the protection scope of the technical scheme of the present application.

Claims

1. An automated calibration system comprising a robotic arm, characterized by: Applied to a three-dimensional scanning system, comprising A placing support is provided with a calibration rod for calibration, and a to-be-clamped part is arranged on the calibration rod; A mounting support is fixed on a mechanical arm, and a driving unit, a movable clamp block, and a fixed clamp block are arranged on the mounting support. The fixed clamp block and the movable clamp block form a clamp, and the driving unit controls the linear movement of the movable clamp block to adjust the gap of the clamp. When the mechanical arm moves to a set position relative to the placing support, the driving unit controls the clamp to clamp or release the to-be-clamped part.

2. The automatic calibration system of claim 1, wherein: A limiting groove and a limiting protrusion are arranged between the clamp and the to-be-clamped part, and the limiting groove includes at least three guide inclined surfaces adjacent to each other. When the clamp clamps the to-be-clamped part, the limiting protrusion is attached to the inner wall surface of the limiting groove to limit the movement of the to-be-clamped part in the clamp.

3. The automatic calibration system of claim 2, wherein: The to-be-clamped part is provided with opposite first and second clamping surfaces; The limiting groove and the limiting protrusion are arranged on the first clamping surface and the fixed clamp block, and the contact surfaces of the second clamping surface and the movable clamp block are both flat surfaces; Or the limiting groove and the limiting protrusion are arranged on the second clamping surface and the movable clamp block, and the contact surfaces of the first clamping surface and the fixed clamp block are both flat surfaces; Or the limiting groove and the limiting protrusion are arranged on the first clamping surface and the fixed clamp block, and on the second clamping surface and the movable clamp block.

4. The automatic calibration system of claim 1, wherein: The to-be-clamped part is provided with opposite first and second clamping surfaces; A limiting groove and a limiting protrusion are arranged between the first clamping surface and the fixed clamp block, and between the second clamping surface and the movable clamp block, respectively. The limiting groove includes two opposite limiting inclined surfaces.

5. The automatic calibration system of claim 1, wherein: The driving unit adopts a linear extension power source or a motor-driven power source; The linear extension power source directly drives the linear movement of the movable clamp block; A gear and rack transmission pair or a screw and nut transmission pair is arranged between the motor and the movable clamp block to realize the linear movement of the movable clamp block.

6. The automatic calibration system of claim 1, wherein: The placing support is provided with a placing platform, and the calibration rod is provided with a support seat. The calibration rod is prevented from being placed on the placing platform through the support seat.

7. The automatic calibration system of claim 6, wherein: Positioning holes and positioning pins are arranged on the placing platform and the support seat; The positioning holes are arranged on the surface of the placing platform, and the positioning pins are arranged on the bottom of the support seat; Or the positioning holes are arranged on the bottom of the mounting bottom, and the positioning pins are arranged on the surface of the placing platform.

8. The automatic calibration system of claim 7, wherein: The cross section of the positioning hole gradually decreases from the outside to the inside, and the positioning pin matches the positioning hole. Alternatively, the cross-sectional size of the positioning pin gradually increases from the end to the connection part of the support seat or the placing platform, and the positioning hole matches the positioning pin.

9. The automatic calibration system of claim 6, wherein: A sensor for detecting the support seat or the calibration rod is arranged on the side of the placing platform.

10. The automatic calibration system of claim 1, wherein: A support seat is arranged in the middle of the calibration rod, a conical positioning pin is arranged at the bottom of the support seat, a placing platform is arranged on the placing support, and a circular hole or a conical hole matching the positioning pin is arranged on the placing platform. The to-be-clamped part is provided with opposite first clamping surface and second clamping surface, and the first clamping surface and the fixed clamping block, the second clamping surface and the movable clamping block are respectively provided with a limiting slot and a limiting protrusion matched with the limiting slot; a limiting inclined surface matched with the limiting slot and the limiting protrusion is arranged between the other limiting slot and the limiting protrusion. The driving unit comprises a motor, a screw nut transmission pair, a mounting seat and a guide rod; the mounting seat is located between the motor and the movable clamping block, the output shaft of the motor is connected with one end of the screw, and the other end of the screw is rotatably connected to the mounting seat; the nut is sleeved on the screw between the motor and the mounting seat, at least one through hole is arranged on the mounting seat, the guide rod matched with the diameter of the through hole is passed through the through hole, and the two ends of the guide rod are connected between the nut and the movable clamping block.

11. The automatic calibration system of claim 1, wherein: A supporting seat is arranged in the middle of the calibration rod, a conical positioning pin is arranged at the bottom of the supporting seat, a placing platform is arranged on the placing support, and a circular hole or a conical hole matched with the positioning pin is arranged on the placing platform; The to-be-clamped part is provided with opposite first clamping surface and second clamping surface, and the first clamping surface and the fixed clamping block, the second clamping surface and the movable clamping block are respectively provided with a limiting slot and a limiting protrusion matched with the limiting slot; a limiting inclined surface matched with the limiting slot and the limiting protrusion is arranged between the other limiting slot and the limiting protrusion. The driving unit comprises a motor, a screw nut transmission pair, a guide sleeve and a mounting seat; the mounting seat is located between the motor and the movable clamping block, the guide sleeve is fixed on the nut, and a guide hole matched with the guide sleeve is arranged on the mounting seat; one end of the screw is connected to the output shaft of the motor, and the other end of the screw passes through the nut and the guide sleeve; the guide sleeve is connected with the movable clamping block through the guide hole.

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