A jig for three-dimensional measurement of a robot arm

Abstract

This utility model provides a coordinate measuring fixture for a robotic arm, which can be used for positioning both the back and palm of the robotic arm with a single fixture, thus reducing measurement costs. It includes: a base; a front positioning block; a front support seat; a middle side positioning block; two sets of middle height-adjustable support assemblies, each set including a middle positioning block and a lead screw adjusting screw. The upper part of the middle positioning block has a concave hole, and the top of the lead screw adjusting screw is a ball head, which supports and conforms to surfaces at various angles. The screw portion of the lead screw adjusting screw is inserted into the concave hole, and the height of the ball head is adjustable as needed; and a rear side positioning block.

Description

Technical Field

[0001] This utility model relates to the technical field of robotic arm measurement, specifically to a three-coordinate measuring fixture for a robotic arm. Background Technology

[0002] After the robotic arm body is manufactured, its three-dimensional dimensions need to be accurately measured. The existing common method is to create two sets of model seats that can accurately and reliably place the robotic arm body. The first model seat supports the lower surface of the robotic arm, and the second model seat supports the upper surface of the robotic arm. Since there are differences in the height of the hand and back of the hand of the robotic arm, two sets of model seats are required to ensure that the relative lower surface of the robotic arm is reliably positioned in the corresponding model seat. Then, the relative upper surface of the robotic arm is measured by a three-dimensional dimension measuring mechanism. Finally, the two sets of measurement data are combined to reliably determine the three-dimensional dimensions of the robotic arm. Since two sets of model seats need to be set up independently for the hand and back of the hand of each arm, the manufacturing cost of the model seats is high. Therefore, there is an urgent need to develop a universal positioning measuring fixture for the hand and back of the robotic arm, so as to reduce the manufacturing cost of the model seats. Utility Model Content

[0003] To address the aforementioned problems, this utility model provides a three-coordinate measuring fixture for a robotic arm. This fixture can be used for two sets of positioning of the back and palm of the robotic arm with a single set of fixtures, thereby reducing measurement costs.

[0004] A coordinate measuring jig for a robotic arm, characterized in that it comprises:

[0005] Base;

[0006] Front-end positioning block;

[0007] Front support;

[0008] Middle side positioning block;

[0009] Two sets of center height direction adjustment support assemblies, each set of center height direction adjustment support assemblies includes a center positioning block and a lead screw adjustment screw. The center positioning block has an inner concave hole at its upper part, and the top of the lead screw adjustment screw is a ball head. The ball head is used to support and fit the surface at various angles. The screw part of the lead screw adjustment screw is inserted into the inner concave hole, and the height of the ball head can be adjusted according to the requirements.

[0010] And the rear side positioning block;

[0011] A vertically arranged front positioning block is fixedly mounted on the middle of the front upper surface of the base. The rear face of the front positioning block is used to stop and limit the front end of the robotic arm. A front support seat is also fixedly mounted on the middle of the front upper surface of the base. The front support seat corresponds to the rear position of the front positioning block. The top support surface of the front positioning block is used to support the bottom of the front end of the robotic arm. A middle side positioning block is vertically fixed on one side of the middle of the upper surface of the base. The inner face of the middle side positioning block is used to closely fit the corresponding middle side end of the robotic arm. A rear positioning block is vertically set on one side of the rear of the upper surface of the base. The inner face of the rear positioning block is used to closely fit the corresponding rear side end of the robotic arm. Two sets of middle height adjustment support components are arranged at intervals on both sides of the middle upper surface of the base. The bottom of the middle positioning block of each set of middle height adjustment support components is fixedly mounted on the corresponding position of the upper surface of the base.

[0012] Its further features are:

[0013] The front positioning block, front support base, middle side positioning block, and rear side positioning block are all made of nylon, which ensures that the robotic arm is not easily worn during positioning and measurement.

[0014] A large-diameter nut is fitted around the outer periphery of the lead screw adjusting screw along its length. The depth of the concave hole is greater than the length of the lead screw adjusting screw, and the diameter of the large-diameter nut is greater than the diameter of the concave hole. The large-diameter nut is supported on the upper surface of the central positioning block. The ball head protrudes from the upper surface of the large-diameter nut. The lead screw adjusting screw adjusts the height of the ball head relative to the large-diameter nut as needed. The lower end of the lead screw adjusting screw is inserted into the concave hole.

[0015] Preferably, the large-diameter nut is fixed to the upper surface of the concave hole, and the rotation of the lead screw is used to drive the ball head for height positioning.

[0016] The robotic arm has connecting screw holes at the upper, middle, and lower positions on both sides of its middle section. Flange connection structures are provided on both sides of the rear end of the robotic arm, with corresponding connecting screw holes around their circumference. A first positioning hole is provided through the thickness direction of the middle side positioning block, and a corresponding bolt structure passes through the first positioning hole and is fastened to the lower connecting screw hole at the corresponding position. A second positioning hole is provided through the thickness direction of the rear side positioning block, and a corresponding bolt structure passes through the second positioning hole and is fastened to the connecting screw hole at the corresponding position. This ensures reliable positioning of the robotic arm by the fixture.

[0017] With this invention, the rear face of the front positioning block is used to stop and limit the front end of the robotic arm, the top support surface of the front positioning block is used to support the bottom of the front end of the robotic arm, the inner face of the middle side positioning block is used to closely fit the corresponding side end of the middle part of the robotic arm, and the inner face of the rear positioning block is used to closely fit the corresponding side end of the rear part of the robotic arm. The height position of the spherical surface of the two sets of middle height direction adjustment support components is adjusted according to the support surface of the back and palm of the robotic arm. It can be applied to the two sets of positioning of the back and palm of the robotic arm by a single set of fixtures. Moreover, the structure of the positioning block does not need to make corresponding surfaces according to the shape of the model. It is only necessary to reasonably set the height of the positioning block according to the height, which reduces the measurement cost. Attached Figure Description

[0018] Figure 1 A perspective view of a robotic arm used for measurement in a specific embodiment of this utility model;

[0019] Figure 2 This is a perspective view of a specific embodiment of the present utility model;

[0020] Figure 3 This is a perspective view of the palm surface region of a robotic arm used for positioning a specific embodiment of the present invention; the names corresponding to the serial numbers in the figure are as follows:

[0021] Base 10, front positioning block 20, rear vertical surface 21, front support seat 30, top support surface 31, middle side positioning block 40, first positioning hole 41, middle height direction adjustment support assembly 50, rear side positioning block 60, second positioning hole 61, middle positioning block 70, lead screw adjusting screw 80, ball head 81, screw part 82, large diameter nut 90, robotic arm 100, palm surface 101, back of hand 102, connecting joint screw hole 1, flange connection structure 2, connecting screw hole 3. Detailed Implementation

[0022] The structure of robotic arm 100 is shown below. Figure 1 It includes a palm surface 101 and a back of the hand 102. The middle part of the robotic arm 100 is provided with connecting joint screw holes 1 at the upper, middle and lower positions on both sides. The rear end of the robotic arm 100 is provided with flange connection structures 2 on both sides. The flange connection structures 2 are provided with corresponding connecting screw holes 3 around their circumference.

[0023] A coordinate measuring jig suitable for the aforementioned robotic arm 100, see... Figure 2 and Figure 3 It includes a base 10, a front positioning block 20, a front support seat 30, a middle side positioning block 40, two sets of middle height direction adjustment support assemblies 50, and a rear side positioning block 60.

[0024] Each set of central height direction adjustment support components 50 includes a central positioning block 70 and a lead screw adjustment screw 80. The upper part of the central positioning block 70 is provided with a concave hole, and the top of the lead screw adjustment screw 80 is a ball head 81. The ball head 81 is used to support and fit the surface at various angles. The screw part 82 of the lead screw adjustment screw 80 is inserted into the concave hole, and the height of the ball head 81 can be adjusted according to the requirements.

[0025] A vertically arranged front positioning block 20 is fixedly mounted in the middle of the front upper surface of the base 10. The rear surface 21 of the front positioning block 20 is used to stop and limit the front end of the robotic arm 100. A front support seat 30 is also fixedly mounted in the middle of the front upper surface of the base 10. The front support seat 30 corresponds to the rear position of the front positioning block 20. The top support surface 31 of the front positioning block 30 is used to support the bottom of the front end of the robotic arm 100. A middle side positioning block 40 is vertically fixed in one middle position on the upper surface of the base 10. The inner side of the positioning block 40 is used to closely adhere to the corresponding side end of the middle part of the robotic arm 100. The rear positioning block 60 is vertically set on the rear side of the upper surface of the base 10. The inner side of the rear positioning block 60 is used to closely adhere to the corresponding side end of the rear part of the robotic arm 100. Two sets of middle height direction adjustment support components 50 are arranged on both sides of the middle upper surface of the base 100 at intervals. The bottom of the middle positioning block 51 of each set of middle height direction adjustment support components 50 is fixed to the corresponding position on the upper surface of the base 100.

[0026] In specific implementation, the thickness direction of the middle side positioning block 40 is provided with a through first positioning hole 41, and the corresponding bolt structure (not shown in the figure, but can be matched according to the actual size) passes through the first positioning hole 41 and is fastened to the lower connecting joint screw hole 1 at the corresponding position. The thickness direction of the rear side positioning block 60 is provided with a through second positioning hole 61, and the corresponding bolt structure (not shown in the figure, but can be matched according to the actual size) passes through the second positioning hole 61 and is fastened to the corresponding connecting screw hole 3 at the corresponding position, which ensures the reliable positioning of the fixture for the robotic arm 100.

[0027] In practice, the base plate 10, the front positioning block 20, the front support seat 30, the middle side positioning block 40, and the rear side positioning block 60 are all made of nylon, which ensures that the robotic arm 100 is not easily worn during positioning and measurement, and also makes the cost of the entire fixture low.

[0028] In a specific embodiment, a large-diameter nut 90 is fitted around the outer periphery of the lead screw adjusting screw 80 along its length. The depth of the concave hole is greater than the length of the lead screw adjusting screw 80, and the diameter of the large-diameter nut 90 is greater than the diameter of the concave hole. The large-diameter nut 90 is supported on the upper surface of the central positioning block 70. A ball head 81 protrudes from the upper surface of the large-diameter nut 90. The lead screw adjusting screw 80 adjusts the height of the ball head 81 relative to the large-diameter nut 90 as needed. The lower end of the lead screw adjusting screw 80 is inserted into the concave hole. In a specific implementation, the large-diameter nut 90 is fixed to the upper surface of the concave hole, and the rotation of the lead screw adjusting screw 80 drives the ball head 81 to be positioned in the height direction.

[0029] Its working principle is as follows: the rear face of the front positioning block is used to stop and limit the front end of the robotic arm; the top support surface of the front positioning block is used to support the bottom of the front end of the robotic arm; the inner face of the middle side positioning block is used to closely fit the corresponding side end of the middle part of the robotic arm; the inner face of the rear positioning block is used to closely fit the corresponding side end of the rear part of the robotic arm; the height position of the spherical surface of the two sets of middle height direction adjustment support components is adjusted according to the support surface of the back and palm of the robotic arm. It can be applied to the two sets of positioning of the back and palm of the robotic arm through a single set of fixtures, and the structure of the positioning block does not need to make corresponding surfaces according to the shape of the model. It only needs to set the height of the positioning block reasonably according to the height, which reduces the measurement cost.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0031] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A coordinate measuring jig for a robotic arm, characterized in that, It includes: Base; Front-end positioning block; Front support; Middle side positioning block; Two sets of center height direction adjustment support assemblies, each set of center height direction adjustment support assemblies includes a center positioning block and a lead screw adjustment screw. The center positioning block has an inner concave hole at its upper part, and the top of the lead screw adjustment screw is a ball head. The ball head is used to support and fit the surface at various angles. The screw part of the lead screw adjustment screw is inserted into the inner concave hole, and the height of the ball head can be adjusted according to the requirements. And the rear side positioning block; A vertically arranged front positioning block is fixedly mounted on the middle of the front upper surface of the base. The rear face of the front positioning block is used to stop and limit the front end of the robotic arm. A front support seat is also fixedly mounted on the middle of the front upper surface of the base. The front support seat corresponds to the rear position of the front positioning block. The top support surface of the front positioning block is used to support the bottom of the front end of the robotic arm. A middle side positioning block is vertically fixed on one side of the middle of the upper surface of the base. The inner face of the middle side positioning block is used to closely fit the corresponding middle side end of the robotic arm. A rear side positioning block is vertically set on one side of the rear of the upper surface of the base. The inner face of the rear side positioning block is used to closely fit the corresponding rear side end of the robotic arm. Two sets of middle height adjustment support components are arranged at intervals on both sides of the middle upper surface of the base. The bottom of the middle positioning block of each set of middle height adjustment support components is fixedly mounted on the corresponding position of the upper surface of the base.

2. The coordinate measuring jig for a robotic arm according to claim 1, characterized in that: The front positioning block, front support, middle side positioning block, and rear side positioning block are all made of nylon.

3. The coordinate measuring jig for a robotic arm according to claim 1, characterized in that: A large-diameter nut is fitted around the outer periphery of the lead screw adjusting screw along its length. The depth of the concave hole is greater than the length of the lead screw adjusting screw, and the diameter of the large-diameter nut is greater than the diameter of the concave hole. The large-diameter nut is supported on the upper surface of the central positioning block. The ball head protrudes from the upper surface of the large-diameter nut. The lead screw adjusting screw adjusts the height of the ball head relative to the large-diameter nut as needed. The lower end of the lead screw adjusting screw is inserted into the concave hole.

4. The coordinate measuring jig for a robotic arm according to claim 3, characterized in that: The large-diameter nut is fixed to the upper surface of the concave hole, and the rotation of the lead screw is used to drive the ball head to be positioned in the height direction.

5. The coordinate measuring jig for a robotic arm according to claim 1, characterized in that: The robotic arm has connecting screw holes at the upper, middle, and lower positions on both sides of its middle section. Flange connection structures are provided on both sides of the rear end of the robotic arm, and corresponding connecting screw holes are provided around the circumference of the flange connection structures. The middle side positioning block has a through-hole in the thickness direction, and the corresponding bolt structure passes through the first positioning hole and is fastened to the connecting screw hole at the lower position. The rear side positioning block has a through-hole in the thickness direction, and the corresponding bolt structure passes through the second positioning hole and is fastened to the connecting screw hole at the corresponding position.

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