Calibration device

Abstract

The utility model discloses a calibration device, which comprises a bracket, a trigger part and a fixing jig, and is characterized in that the bracket is fixedly provided with a first position sensor and a second position sensor; the triggering part can trigger the first position sensor or trigger the second position sensor or not trigger the first position sensor and the second position sensor through movement; the fixing jig is arranged on the device to be tested. The to-be-tested device drives the fixing jig to move so as to drive the triggering part to move; when the first position sensor and the second position sensor are not triggered, the original point position of the device to be detected does not change; when the first position sensor is not triggered and the second position sensor is triggered, the original point position of the device to be detected generates radial change or axial forward change; when the first position sensor is triggered and the second position sensor is not triggered, the original point position of the to-be-detected device has an axial reverse change.

Description

Technical Field

[0001] This application relates to the field of position detection technology, and in particular to a calibration device. Background Technology

[0002] In current production lines, robots are often used to replace manual labor in processing, which reduces labor costs and makes it easier to ensure the processing accuracy and consistency of products.

[0003] The robot has a processing origin, and it moves accordingly based on this origin. The processing origin greatly affects the robot's processing accuracy. However, current robots struggle to determine if the processing origin has changed. When a robot fails to grasp or place a part, it cannot determine whether the failure is due to a change in the robot's origin, gripper deformation, or improper mold positioning. This results in excessively long troubleshooting times and reduced processing efficiency. Utility Model Content

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a calibration device capable of detecting whether the robot's origin has changed.

[0005] According to a first aspect of this application, the calibration apparatus includes a bracket, a triggering component, and a fixing fixture. The bracket is fixedly equipped with a first position sensor and a second position sensor. The triggering component can trigger the first position sensor, or trigger the second position sensor, or not trigger both the first and second position sensors by moving. The fixing fixture is disposed on the device under test, and the fixing fixture drives the triggering component to move by moving.

[0006] The calibration device according to the embodiments of this application has at least the following beneficial effects: the device under test drives the fixed fixture to move, thereby driving the triggering component to move. The triggering component can trigger the first position sensor or the second position sensor. The operator can determine the change of the origin of the device under test based on the triggering status of the first position sensor and the second position sensor. When neither the first position sensor nor the second position sensor is triggered, the origin position of the device under test does not change. When the first position sensor is not triggered and the second position sensor is triggered, the origin position of the device under test undergoes a radial change or a positive axial change. When the first position sensor is triggered and the second position sensor is not triggered, the origin position of the device under test undergoes a reverse axial change.

[0007] According to some embodiments of this application, the calibration device further includes a telescopic component, which is movably disposed on the bracket and fixedly connected to the trigger component. The fixing fixture moves to push the telescopic component, thereby driving the trigger component to move.

[0008] According to some embodiments of this application, the fixing fixture has a protruding structure, and the telescopic component has a recessed structure that matches the protruding structure. When the origin of the device under test does not change radially, the fixing fixture drives the protruding structure to insert into the recessed structure by moving.

[0009] According to some embodiments of this application, the bracket is fixedly provided with a hollow guide component, and the telescopic component is inserted into the hollow portion of the guide component and forms a sliding connection with the guide component.

[0010] According to some embodiments of this application, a guide structure is provided between the guide component and the telescopic component, the guide structure being used to guide the telescopic component to move.

[0011] According to some embodiments of this application, the guide structure includes a guide block disposed on the telescopic component and a guide groove disposed on the guide component, the guide groove extending axially, and the guide block being able to slide within the range of the guide groove.

[0012] According to some embodiments of this application, an elastic member is provided between the telescopic member and the guide member, and the elastic member is used to apply an elastic force to the telescopic member.

[0013] According to some embodiments of this application, the elastic member is sleeved on the outside of the telescopic member, the side wall of the telescopic member is provided with a boss, one end of the elastic member is connected to the boss, and the other end of the elastic member is connected to the guide member.

[0014] According to some embodiments of this application, the triggering component includes a connecting portion, a first triggering portion, and a second triggering portion. The triggering component is connected to the telescopic component through the connecting portion. The first triggering portion is at an angle to the connecting portion and is used to trigger the first position sensor. The second triggering portion is at an angle to the connecting portion and is used to trigger the second position sensor.

[0015] According to some embodiments of this application, the first position sensor is provided with a first slot, and the triggering component moves to drive the first triggering part into the first slot to trigger the first position sensor; the second position sensor is provided with a second slot, and the triggering component moves to drive the second triggering part into the second slot to trigger the second position sensor.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The present application will be further illustrated below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments illustrated in the following drawings are exemplary and are only used to explain the present application, and should not be construed as limiting the present application.

[0018] Figure 1 This is a schematic diagram of the calibration device according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the calibration device according to an embodiment of this application after removing the housing;

[0020] Figure 3 This is a schematic diagram of the telescopic component in the calibration device of this application embodiment.

[0021] Figure 4 This is a schematic diagram showing the cooperation between the fixed fixture and the telescopic component in the calibration device of this application embodiment;

[0022] Figure 5 This is a schematic diagram of the guide component in the calibration device according to an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the trigger component in the calibration device of this application embodiment;

[0024] Figure 7 This is a schematic diagram of the structure of the bracket, the first position sensor, and the second position sensor in the calibration device of this application embodiment.

[0025] Figure label:

[0026] 101. Bracket; 102. First position sensor; 1021. First slot; 103. Second position sensor; 1031. Second slot; 104. Housing;

[0027] 201. Triggering component; 2011. Connecting part; 2012. First triggering part; 2013. Second triggering part;

[0028] 301. Fixture; 3011. Protruding structure;

[0029] 401. Telescopic component; 4011. Recessed structure; 4012. Boss; 402. Elastic component;

[0030] 501. Guide component; 5011. Guide block; 5012. Guide groove. Detailed Implementation

[0031] The embodiments of this application are described in detail below with reference to the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0032] In the description of this application, it should be understood that the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0033] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0034] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] In the description of this application, the use of terms such as "one embodiment," "some embodiments," "an example," "some instances," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0036] like Figure 1 and Figure 2 As shown in the figure, this application provides a calibration device, which includes a bracket 101, a triggering component 201 and a fixing fixture 301.

[0037] The bracket 101 is the main support of the calibration device. The bracket 101 is equipped with a first position sensor 102 and a second position sensor 103. The first position sensor 102 and the second position sensor 103 are located in different positions.

[0038] Simultaneously, the triggering component 201 is movable. During the movement of the triggering component 201, the triggering process for each position sensor falls into three categories: triggering only the first position sensor 102, triggering only the second position sensor 103, and neither the first position sensor 102 nor the second position sensor 103 is triggered. The operator can determine whether the origin of the device under test has changed position and what kind of position change has occurred based on the specific triggering situation.

[0039] Furthermore, a fixture 301 is disposed on the device under test (DUT). The DUT moves to move the fixture 301, which in turn drives the triggering component 201 to move. Specifically, the DUT in this application is a robot.

[0040] The contents of this application are described in detail below with reference to specific embodiments. It should be noted that the following description is merely illustrative and not a specific limitation of this application.

[0041] In some examples, the bracket 101 is formed as a plate-like structure, which is bent to form an upwardly curved portion and a horizontal portion that remains horizontal. A first position sensor 102 and a second position sensor 103 are fixedly disposed on the horizontal portion of the bracket 101, and the first position sensor 102 and the second position sensor 103 are disposed at different axial positions. It is understood that the axial direction here refers to... Figure 1 and Figure 2 The distance from the first position sensor 102 to the upturned part of the bracket 101 and the distance from the second position sensor 103 to the upturned part of the bracket 101 are different in the X-axis direction.

[0042] Furthermore, in the first position sensor 102 and the second position sensor 103, the first position sensor 102 is closer to the upward-curved portion of the bracket 101, while the second position sensor 103 is farther away from the upward-curved portion of the bracket 101. Therefore, when the triggering component 201 triggers only the first position sensor 102, the triggering component 201 moves a small distance along the axial direction; when the triggering component 201 triggers only the second position sensor 103, the triggering component 201 moves a larger distance along the axial direction; and when neither the first position sensor 102 nor the second position sensor 103 is triggered, the triggering component 201 moves a moderate distance along the axial direction.

[0043] Meanwhile, both the first position sensor 102 and the second position sensor 103 are equipped with corresponding indicator lights, namely the first indicator light and the second indicator light. When the first position sensor 102 is triggered, the first indicator light illuminates; when the second position sensor 103 is triggered, the second indicator light illuminates. The brightness of the first and second indicator lights reflects the moving distance of the triggering component 201, allowing the operator to intuitively understand the moving distance of the triggering component 201 and thus determine the change in the origin position of the device under test.

[0044] In addition, the fixture 301 is fixedly mounted on the device under test and drives the triggering component 201 to move, so that the moving distance of the triggering component 201 can reflect the moving distance of the device under test.

[0045] Specifically, when the distance that the fixing fixture 301 drives the triggering component 201 to move is equal to a preset distance, neither the first position sensor 102 nor the second position sensor 103 is triggered, indicating that the origin position of the device under test has not changed; when the distance that the fixing fixture 301 drives the triggering component 201 to move is less than the preset distance, only the first position sensor 102 is triggered, indicating that the origin position of the device under test has undergone an axial reverse change; when the distance that the fixing fixture 301 drives the triggering component 201 to move is greater than the preset distance, only the second position sensor 103 is triggered, indicating that the origin position of the device under test has undergone an axial positive change, or that the origin position of the device under test has undergone a radial change. See Figure 1 and... Figure 2 Here, the positive direction of the axial direction is the positive direction of the X-axis, and the negative direction of the axial direction is the negative direction of the X-axis. The Y-axis and Z-axis directions are both radial.

[0046] like Figure 3 As shown, in some examples, the calibration device further includes a telescopic component 401, which serves as a transmission element between the fixed fixture 301 and the triggering component 201. One end of the telescopic component 401 is fixedly connected to the triggering component 201, and the other end is used to contact the fixed fixture 301. When the fixed fixture 301 contacts the telescopic component 401, if the fixed fixture 301 moves, the fixed fixture 301 can push the telescopic component 401, thereby causing the telescopic component 401 and the triggering component 201 to move together.

[0047] The telescopic component 401 is generally formed as a rod-shaped structure and is movably connected to the bracket 101, so that the telescopic component 401 can drive the trigger component 201 to move.

[0048] Specifically, the upturned part of the bracket 101 is provided with a through hole, the telescopic component 401 passes through the through hole, and can move in a telescopic manner within the range of the through hole.

[0049] like Figure 4As shown, in some examples, the end of the fixing fixture 301 that contacts the telescopic member 401 is provided with a protruding structure 3011, and the end of the telescopic member 401 that contacts the fixing fixture 301 is provided with a recessed structure 4011. The shape of the protruding structure 3011 matches the shape of the recessed structure 4011, so that the protruding structure 3011 can be inserted into the recessed structure 4011.

[0050] When the origin position of the device under test does not change radially, the protruding structure 3011 is aligned with the recessed structure 4011. As the fixing fixture 301 moves, the protruding structure 3011 can be inserted into the recessed structure 4011. After the protruding structure 3011 is inserted into the recessed structure 4011, the fixing fixture 301 further moves the telescopic component 401 and the triggering component 201. At this time, if the origin position of the device under test changes axially in either the forward or reverse direction, the second position sensor 103 or the first position sensor 102 is triggered; if the origin position of the device under test does not change axially, neither the first position sensor 102 nor the second position sensor 103 is triggered.

[0051] Furthermore, when the origin position of the device under test changes radially, the protruding structure 3011 will deviate from the recessed structure 4011. As the fixing fixture 301 moves, the protruding structure 3011 cannot be inserted into the recessed structure 4011 and abuts against the edge of the recessed structure 4011, causing the telescopic component 401 and the triggering component 201 to move a large distance, thereby triggering the second position sensor 103. Therefore, when the origin position of the device under test changes radially, the triggering component 201 only triggers the second position sensor 103 by moving.

[0052] like Figure 5 As shown, in some examples, the bracket 101 is provided with a guide member 501, which is fixedly connected to the bracket 101 and is formed as a hollow structure.

[0053] The telescopic component 401 is inserted into the hollow portion of the guide component 501 and forms a sliding connection with the guide component 501. It can be understood that the shape of the hollow portion of the guide component 501 corresponds to the shape of the telescopic component 401 to prevent the telescopic component 401 from wobbling when it slides inside the guide component 501.

[0054] In some examples, if the telescopic component 401 rotates during movement, the trigger component 201 will also rotate, thereby affecting the correspondence between the trigger component 201 and the first position sensor 102 and the second position sensor 103.

[0055] Therefore, a guide structure is provided between the guide component 501 and the telescopic component 401. The guide structure can guide the telescopic component 401 to move and prevent the telescopic component 401 from rotating during the movement.

[0056] In some examples, the guide structure includes a guide block 5011 and a guide groove 5012. The guide block 5011 is disposed on the telescopic member 401, and the guide groove 5012 is disposed on the guide member 501. The guide block 5011 is embedded in the guide groove 5012 and can slide within the range of the guide groove 5012. Therefore, the direction of movement of the telescopic member 401 is the same as the direction of extension of the guide groove 5012.

[0057] Furthermore, the guide groove 5012 extends axially in a straight line, thereby limiting the axial movement of the telescopic member 401.

[0058] In some examples, an elastic member 402 is provided between the telescopic member 401 and the guide member 501. When the telescopic member 401 is in its initial position, the trigger member 201 approaches the upward-curved portion of the bracket 101, at which point the elastic member 402 is in its natural or compressed state. When the fixing fixture 301 pushes the telescopic member 401 to move, the trigger member 201 gradually moves away from the upward-curved portion of the bracket 101, at which point the spring is further compressed, facilitating the telescopic member 401 to reset according to the elastic force of the elastic member 402 after it has disengaged from the fixing fixture 301.

[0059] In some examples, the elastic member 402 is a spring, which is sleeved on the outside of the telescopic member 401. Meanwhile, the side wall of the telescopic member 401 is provided with a boss 4012, one end of the elastic member 402 is connected to the boss 4012, and the other end is connected to the guide member 501.

[0060] like Figure 6 As shown, in some examples, the triggering component 201 includes a connecting part 2011, a first triggering part 2012, and a second triggering part 2013. The triggering component 201 may be formed by bending a plate-like structure.

[0061] The connecting portion 2011 connects to the telescopic component 401. The first trigger portion 2012 is at an angle to the connecting portion 2011, and the second trigger portion 2013 is also at an angle to the connecting portion 2011. Furthermore, the first trigger portion 2012 and the second trigger portion 2013 are located on opposite sides of the connecting portion 2011, and are parallel to each other. Specifically, the connecting portion 2011 is horizontally positioned, and both the first trigger portion 2012 and the second trigger portion 2013 are perpendicular to the connecting portion 2011, meaning they are vertically positioned.

[0062] Simultaneously, the first trigger unit 2012 is used to trigger the first position sensor 102, and the second trigger unit 2013 is used to trigger the second position sensor 103. It is understood that the setting position of the first position sensor 102 corresponds to the position of the first trigger unit 2012, and the setting position of the second position sensor 103 corresponds to the position of the second trigger unit 2013.

[0063] like Figure 7 As shown, in some examples, the first position sensor 102 is provided with a first slot 1021, and the second position sensor 103 is provided with a second slot 1031. When the fixing fixture 301 pushes the telescopic member 401 and the trigger member 201 to move, if the first trigger part 2012 enters the range of the first slot 1021, the first position sensor 102 is triggered, and if the second trigger part 2013 enters the range of the second slot 1031, the second position sensor 103 is triggered.

[0064] In some examples, the calibration device also includes a housing 104 that covers the outside of the support 101, the triggering member 201, and the telescopic member 401, thereby protecting the support 101, the triggering member 201, and the telescopic member 401.

[0065] In actual implementation, the device under test (DUT) moves the fixing fixture 301, which in turn moves the telescopic component 401 and the triggering component 201. When neither the first position sensor 102 nor the second position sensor 103 is triggered, the movement distance of the triggering component 201 is moderate and meets the predetermined value, indicating that the origin position of the DUT has not changed. When the first position sensor 102 is not triggered and the second position sensor 103 is triggered, the movement distance of the triggering component 201 is large and exceeds the predetermined value, indicating that the origin position of the DUT has changed radially, making it impossible for the protruding structure 3011 to be inserted into the recessed structure 4011, or that the origin position has changed axially in a positive direction. When the first position sensor 102 is triggered and the second position sensor 103 is not triggered, the origin position of the DUT has changed axially in a negative direction.

[0066] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application 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 this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A calibration device, characterized in that, include: A bracket, wherein a first position sensor and a second position sensor are fixedly mounted on the bracket; A triggering component, which can trigger the first position sensor, or trigger the second position sensor, or not trigger both the first position sensor and the second position sensor by moving; A fixing fixture is disposed on the device under test, and the fixing fixture drives the triggering component to move by moving.

2. The calibration device according to claim 1, characterized in that, The calibration device further includes a telescopic component, which is movably disposed on the bracket and fixedly connected to the trigger component. The fixing fixture moves to push the telescopic component, thereby driving the trigger component to move.

3. The calibration device according to claim 2, characterized in that, The fixing fixture has a protruding structure, and the telescopic component has a recessed structure that matches the protruding structure. When the origin of the device under test does not change radially, the fixing fixture moves to drive the protruding structure into the recessed structure.

4. The calibration device according to claim 2, characterized in that, The bracket is fixedly provided with a hollow guide component, and the telescopic component is inserted into the hollow part of the guide component and forms a sliding connection with the guide component.

5. The calibration device according to claim 4, characterized in that, A guide structure is provided between the guide component and the telescopic component, and the guide structure is used to guide the telescopic component to move.

6. The calibration apparatus according to claim 5, characterized in that, The guide structure includes a guide block disposed on the telescopic component and a guide groove disposed on the guide component. The guide groove extends axially, and the guide block is capable of sliding within the range of the guide groove.

7. The calibration apparatus according to claim 4, characterized in that, An elastic component is provided between the telescopic component and the guide component, and the elastic component is used to apply an elastic force to the telescopic component.

8. The calibration apparatus according to claim 7, characterized in that, The elastic component is sleeved on the outside of the telescopic component. The side wall of the telescopic component is provided with a boss. One end of the elastic component is connected to the boss, and the other end of the elastic component is connected to the guide component.

9. The calibration apparatus according to claim 2, characterized in that, The triggering component includes a connecting part, a first triggering part, and a second triggering part. The triggering component is connected to the telescopic component through the connecting part. The first triggering part is at an angle to the connecting part and is used to trigger the first position sensor. The second triggering part is at an angle to the connecting part and is used to trigger the second position sensor.

10. The calibration apparatus according to claim 9, characterized in that, The first position sensor has a first slot, and the triggering component moves to drive the first triggering part into the first slot to trigger the first position sensor; the second position sensor has a second slot, and the triggering component moves to drive the second triggering part into the second slot to trigger the second position sensor.

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