Multi-joint mechanical arm tail end positioning module

Abstract

The utility model relates to a multi-joint mechanical arm tail end positioning module which comprises a three-axis mechanical arm and a clamping jaw arranged at the tail end of the three-axis mechanical arm, an infrared distance meter located on the clamping jaw is arranged at the joint of the clamping jaw and the three-axis mechanical arm, and an induction area is arranged at each joint of the three-axis mechanical arm. The sensing area is used for sensing infrared light emitted by the infrared distance meter, a pressure sensor is arranged at the tail end of the three-axis mechanical arm, a positioning platform is arranged on one side of the three-axis mechanical arm, and the positioning platform is used for being matched with the sensor for detection. The three-axis mechanical arm is driven to move through a specific program, light rays emitted by the infrared distance meter sequentially fall on all the induction areas, the induction areas recognize falling points of infrared rays emitted by the infrared distance meter to construct a falling point three-dimensional diagram, the actual positions where the falling points should be located are deduced reversely, the deviation distance of the tail end of the three-axis mechanical arm can be known, and the deviation distance of the tail end of the three-axis mechanical arm can be obtained. And the tail end position of the three-axis mechanical arm is corrected.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to a multi-joint robotic arm end-effector positioning module. Background Technology

[0002] In modern industrial automation, three-axis robotic arms are widely used in many fields such as material handling, assembly, welding, and spraying due to their advantages of high precision, high flexibility, and programmability, becoming key equipment for improving production efficiency and quality.

[0003] A three-axis robotic arm achieves precise movement of the end effector in three-dimensional space through three mutually perpendicular axes. Its positional accuracy directly determines the quality and stability of production operations.

[0004] Currently, when a positional deviation occurs at the end of a three-axis robotic arm, the conventional correction method requires shutdown and maintenance. In addition, shutdown and maintenance require professional technicians to operate, the maintenance process is complex and time-consuming, and requires a high level of technical skills and experience from the technicians. Moreover, during the maintenance process, the robotic arm also needs to be recalibrated and adjusted.

[0005] The existing technical solutions have the following drawbacks: when a positional deviation occurs after a long period of operation at the end of the three-axis robotic arm, it cannot be corrected. If correction is required, the machine needs to be stopped for maintenance, which is quite troublesome. Utility Model Content

[0006] The purpose of this invention is to provide a multi-joint robotic arm end-effector positioning module to solve the problems existing in the prior art.

[0007] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0008] A multi-joint robotic arm end-effector positioning module includes a three-axis robotic arm and a gripper disposed at the end of the three-axis robotic arm. An infrared rangefinder is disposed on the gripper at the connection between the gripper and the three-axis robotic arm. Each joint of the three-axis robotic arm is provided with a sensing area for sensing infrared light emitted by the infrared rangefinder. A pressure sensor is disposed at the end of the three-axis robotic arm. A positioning platform is disposed on one side of the three-axis robotic arm for detection in conjunction with the sensor.

[0009] By adopting the above technical solution, when it is necessary to correct the end-effector positioning accuracy of the three-axis robotic arm, the three-axis robotic arm is driven to move through a specific program, so that the light emitted by the infrared rangefinder falls on each sensing area in sequence. The sensing area identifies the landing point of the infrared light emitted by the infrared rangefinder and constructs a three-dimensional map of the landing point. Then, by reverse calculation of the actual position where these landing points should be emitted, the deviation distance of the end-effector of the three-axis robotic arm can be known, thereby correcting the end-effector position of the three-axis robotic arm. After the correction is completed, the end-effector of the three-axis robotic arm is driven to make the pressure sensor contact the positioning platform to detect whether the pressure at the end-effector is correct.

[0010] In a further embodiment, each of the sensing areas is detachably fitted with a protective plate.

[0011] By adopting the above technical solution, the sensor area can be prevented from malfunctioning due to impacts from external objects during daily use.

[0012] In a further embodiment, the three-axis robotic arm is provided with mounting slots corresponding to the sensing areas, and a positioning post is provided in the mounting slot. The sensing area is detachably inserted into the mounting slot, and a positioning hole is provided on the sensing area to cooperate with the positioning post.

[0013] By adopting the above technical solution, when correction is needed, the sensing area is placed in the mounting slot; if not needed, it is removed and stored. One set of sensing areas can be used to correct multiple devices sequentially.

[0014] In a further embodiment, the top of the mounting slot is provided with a removable cover plate.

[0015] By adopting the above technical solution, foreign objects can be prevented from falling into the sensing area after it has been removed.

[0016] In a further embodiment, the infrared rangefinder is detachably inserted into the gripper via a positioning pin.

[0017] In a further embodiment, the three-axis robotic arm is provided with a support base at its bottom, and a level is provided at the top of the support base.

[0018] In summary, this utility model has the following beneficial effects:

[0019] 1. The light emitted by the infrared rangefinder falls sequentially on each sensing area. The sensing area identifies the landing point of the infrared light emitted by the infrared rangefinder and constructs a three-dimensional map of the landing point. Then, by reverse calculation, the actual position of these landing points can be determined, and the deviation distance of the end effector of the three-axis robotic arm can be known. This enables the correction of the end effector position of the three-axis robotic arm. After the correction is completed, the end effector of the three-axis robotic arm is driven so that the pressure sensor contacts the positioning platform to detect whether the pressure at the end effector is correct. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the internal structure of the mounting slot used to illustrate this utility model.

[0022] In the diagram, 1. Three-axis robotic arm; 2. Gripper; 3. Infrared rangefinder; 4. Sensing area; 5. Pressure sensor; 6. Positioning platform; 7. Protective plate. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings.

[0024] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the attached figures. Figure 1 In this specification, the terms "bottom surface" and "top surface," "inner" and "outer" refer to the direction toward or away from the geometry of a specific component. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly and specifically defined by the direction of the center.

[0025] Example 1:

[0026] like Figures 1-2 As shown, a multi-joint robotic arm end-effector positioning module includes a three-axis robotic arm 1 and a gripper 2 disposed at the end of the three-axis robotic arm 1. An infrared rangefinder 3 is disposed at the connection between the gripper 2 and the three-axis robotic arm 1. Each joint of the three-axis robotic arm 1 is provided with a sensing area 4, which is used to sense the infrared light emitted by the infrared rangefinder 3. A pressure sensor 5 is disposed at the end of the three-axis robotic arm 1. A positioning platform 6 is disposed on one side of the three-axis robotic arm 1, which is used to cooperate with the sensor for detection. A protective plate 7 is detachably inserted into each sensing area 4. The three-axis robotic arm 1 is provided with a mounting groove corresponding to each sensing area 4. A positioning post is disposed in the mounting groove. The sensing area 4 is detachably inserted into the mounting groove. The sensing area 4 is provided with a positioning hole for cooperation with the positioning post. A detachable cover plate is disposed on the top of the mounting groove. The infrared rangefinder 3 is detachably inserted into the gripper 2 through a positioning pin. A support base is disposed at the bottom of the three-axis robotic arm 1, and a level is disposed on the top of the support base.

[0027] Specific implementation process: When it is necessary to correct the end-effector positioning accuracy of a three-axis robotic arm, a specific program drives the three-axis robotic arm to move, so that the light emitted by the infrared rangefinder falls sequentially on each sensing area. The sensing area identifies the landing point of the infrared light emitted by the infrared rangefinder and constructs a three-dimensional map of the landing point. Then, by reverse calculation, the actual position of these landing points can be determined, and the deviation distance of the end-effector of the three-axis robotic arm can be known, thus correcting the end-effector position of the three-axis robotic arm. After the correction is completed, the end-effector of the three-axis robotic arm is driven so that the pressure sensor contacts the positioning platform to detect whether the pressure at the end-effector is correct.

[0028] In the embodiments disclosed in this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this utility model according to the specific circumstances.

[0029] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A multi-joint robotic arm end position module, characterized by: The device includes a three-axis robotic arm (1) and a gripper (2) located at the end of the three-axis robotic arm (1). An infrared rangefinder (3) is located on the gripper (2) at the connection between the gripper (2) and the three-axis robotic arm (1). A sensing area (4) is provided at each joint of the three-axis robotic arm (1). The sensing area (4) is used to sense the infrared light emitted by the infrared rangefinder (3). A pressure sensor (5) is provided at the end of the three-axis robotic arm (1). A positioning platform (6) is provided on one side of the three-axis robotic arm (1). The positioning platform (6) is used to cooperate with the sensor for detection.

2. The multi-joint robot arm end position module according to claim 1, characterized in that: Each of the sensing areas (4) is detachably fitted with a protective plate (7).

3. The multi-joint robotic arm end position module of claim 1, wherein: The three-axis robotic arm (1) is provided with mounting slots corresponding to the sensing areas (4). A positioning post is provided in the mounting slot. The sensing area (4) is detachably inserted into the mounting slot. The sensing area (4) is provided with positioning holes that cooperate with the positioning post.

4. The multi-joint robot arm end position module according to claim 3, characterized in that: The top of the mounting slot is provided with a removable cover plate.

5. The multi-joint robotic arm end position module of claim 1, wherein: The infrared rangefinder (3) is detachably inserted into the gripper (2) via a positioning pin.

6. The multi-joint robotic arm end position module of claim 1, wherein: The bottom of the three-axis robotic arm (1) is provided with a support base, and the top of the support base is provided with a level.

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