Automatic grasping calibration system

Abstract

The utility model discloses an automatic grab calibration system, including the placement platform of the calibration rod subassembly of resting, install the base of mechanical arm unit, install the scanning device and grab mechanism on the mechanical arm unit end and compare the calibration support for installing comparison board, and the comparison board is equipped with the department of holding in reserve on the calibration rod subassembly, be equipped with the adapter flange and the outer skeleton on the mechanical arm unit, the outer skeleton hollow design, one end of outer skeleton is fixed on the mechanical arm unit through the adapter flange, and the other end fixed connection scanning device of outer skeleton, grab mechanism installs in the hollow outer skeleton, and be equipped with the through slot of the department of holding in reserve for the department of holding in reserve in the inside of the hollow area of the hollow outer skeleton in the outer skeleton. Through setting up the hollow outer skeleton, install scanning device with the hollow outer skeleton end, install grab mechanism with the hollow cavity of the hollow outer skeleton, install scanning device and grab mechanism on the same outer skeleton, can effectively reduce weight and reduce cost, and the manufacturing cost is also more bottom.

Description

Technical Field

[0001] This utility model relates to the field of 3D scanner calibration technology, specifically to an automatic grasping calibration system. Background Technology

[0002] like Figure 1 As shown, the scanning device is fixedly mounted at the end of the robotic arm unit via a connecting rod 13. To meet the calibration requirements of the scanning device, a gripping mechanism 6 is added to the connecting rod to grip the calibration rod assembly 1. An outer frame 10 is added to the robotic arm to secure the gripping mechanism. The added outer frame and gripping structure increase the weight and size of the entire device, requiring a robotic arm with a sufficiently large load capacity, which presents certain limitations. Furthermore, the device contains a large amount of material, making assembly more complicated and increasing manufacturing, installation, and maintenance costs.

[0003] Furthermore, based on the structure of the aforementioned automatic gripping calibration system, the calibration process of the automatic gripping calibration system during the automated scanning and inspection of a 3D scanner is as follows: 1. Move the calibration bracket to a suitable position; 2. According to the pre-set gripping position, the gripping structure grips the calibration rod assembly from the placement platform for calibration. After the calibration process is completed, the gripping structure returns the calibration rod assembly to its original position on the placement platform; 3. Then, compare it with the calibration plate for calibration. After completing the above calibration operations, the scanning equipment begins scanning.

[0004] During the calibration process described above, the calibration support is affected by the scanning environment. Sometimes it needs to be moved away during scanning to avoid obstructing the scanning and tracking field of view, and then moved back to its original position during calibration. Before and after the calibration support is moved, the relative positions of the calibration support and the gripping structure change, causing a discrepancy between the position of the calibration rod assembly pre-recorded by the robot and the actual position of the calibration rod assembly after the movement. Therefore, it is necessary to readjust the robot parameters; otherwise, the gripping structure may be unable to grasp the calibration rod assembly. In addition, if the location is changed, it is even more necessary to reset the above-mentioned "pre-set gripping position" every time. This results in a large amount of repetitive work in setting the gripping position of the gripping mechanism. Utility Model Content

[0005] To address the aforementioned shortcomings of existing technologies, an automatic grasping calibration system is provided, which simplifies the structure of the calibration system, reduces the load on the robotic arm unit, and thus lowers the costs of processing, manufacturing, installation, and maintenance.

[0006] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: An automatic gripping calibration system includes a placement platform on which a calibration rod assembly is placed, a base on which a robotic arm unit is mounted, a scanning device and a gripping mechanism mounted on the end of the robotic arm unit, a comparison plate and a calibration bracket for mounting the comparison plate; the calibration rod assembly is provided with a clamping part; The robotic arm unit is equipped with a transfer flange and an outer frame, the outer frame being hollow; one end of the outer frame is fixed to the robotic arm unit via the transfer flange, and the other end of the outer frame is fixedly connected to the scanning device; the gripping mechanism is installed inside the hollow outer frame, and the outer frame is provided with a through groove for the part to be gripped to extend into the inner side of the hollow area of ​​the outer frame.

[0007] According to the above technical solution, the gripping mechanism includes a driving unit and a clamping component, which is divided into a fixed part and a movable part; the fixed part is fixed on the outer frame on one side of the through groove, and the driving unit is fixed on the outer frame on the other side of the through groove; the movable part is fixedly connected to the driving unit, and the driving unit drives the movable part to move closer to or away from the fixed part.

[0008] According to the above technical solution, the driving unit is a telescopic driving structure.

[0009] According to the above technical solution, the drive unit is driven by a motor, a gear and rack transmission, or a lead screw and nut transmission.

[0010] According to the above technical solution, the placement platform is fixed on the calibration bracket.

[0011] According to the above technical solution, the placement platform is fixed on the base.

[0012] According to the above technical solution, multiple mounting positions are provided on the base, and the platform is fixedly installed in a certain mounting position by a detachable connection.

[0013] According to the above technical solution, the mounting position is located on the top surface of the base, and the mounting position surrounds the periphery of the robotic arm unit located at the mounting point on the base.

[0014] According to the above technical solution, a mounting groove is provided on the top surface of the base, and the bracket is installed in a certain position of the mounting groove by fasteners.

[0015] According to the above technical solution, the calibration bracket is a lifting bracket, and the comparison plate is fixedly installed on the top of the calibration bracket.

[0016] According to the above technical solution, the calibration bracket is a fixed bracket, and the comparison plate is fixedly installed on the top of the calibration bracket.

[0017] This utility model has the following beneficial effects: 1. By setting a hollow outer frame, the scanning equipment is installed at the end of the hollow outer frame, and the gripping mechanism is installed in the hollow cavity of the hollow outer frame. By installing the scanning equipment and the gripping mechanism on the same outer frame, the weight can be effectively reduced and the cost can be lowered, and the manufacturing cost is also lower.

[0018] 2. After the placement platform is fixed to the base, the gripping mechanism is also indirectly fixed to the base via the robotic arm unit. This ensures that the relative position between the placement platform and the gripping mechanism will not change with the movement of the base or the calibration bracket. This avoids a large amount of repetitive work in setting the gripping mechanism's gripping position, effectively reducing the frequency of reprogramming the calibration rod assembly and lowering the calibration workload. Furthermore, since the calibration rod assembly is fixed to the base via the placement platform and moves with the base and robotic arm unit, it effectively reduces the risk of collisions caused by moving the robotic arm unit or calibration rod assembly, or changing the test site.

[0019] 3. The base has multiple mounting positions, and the platform can be fixedly installed in a certain mounting position with a detachable connection. Depending on the different usage scenarios, the platform can be fixedly installed in different mounting positions, which improves the adaptability of this system.

[0020] 4. The calibration bracket is a lifting bracket, and the comparison plate is fixedly installed on the top of the calibration bracket. It automatically rises and falls to the appropriate position according to the calibration needs, avoiding the need for manual adjustment of the position when the top of the calibration bracket and the comparison plate obstruct the scanning field of view, and truly achieving the function of fully automatic grasping and calibration.

[0021] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it according to the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. The specific implementation methods of this utility model are given in detail in the following embodiments and their accompanying drawings. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and are used to explain the present invention, but do not constitute an undue limitation of the present invention.

[0023] Figure 1 This is a schematic diagram of the existing calibration system; Figure 2 This is a structural schematic diagram of an embodiment provided by this utility model; Figure 3 This is a partial structural schematic diagram of an embodiment provided by this utility model; Figure 4 This is a diagram showing the arrangement of the mounting slot on the base according to an embodiment of the present invention; In the diagram, 1. Calibration rod assembly; 1-1. Clamping part; 2. Placement platform; 3. Base; 4. Robotic arm unit; 5. Scanning device; 6. Gripping mechanism; 6-1. Drive unit; 6-2. Clamping part; 6-21. Fixing part; 6-22. Moving part; 7. Comparison plate; 8. Calibration bracket; 9. Adapter flange; 10. Outer frame; 11. Through groove; 12. Circular mounting groove; 13. Connecting rod. Detailed Implementation

[0024] The following is in conjunction with the appendix Figures 2-4 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.

[0025] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be in a centered component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may also be in a centered component. When a component is said to be "set to" another component, it can be directly set on the other component or it may also be in a centered component.

[0026] 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 invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0027] Reference Figures 2-4 As shown, this utility model provides an automatic grasping and calibration system.

[0028] It includes a placement platform 2 on which a calibration rod assembly 1 is placed, a base 3 on which a robotic arm unit is installed, a scanning device 5 and a gripping mechanism 6 installed on the end of the robotic arm unit 4, a comparison plate 7 and a calibration bracket 8 for mounting the comparison plate; the calibration rod assembly is provided with a clamping part 1-1.

[0029] The robotic arm unit is provided with a transfer flange 9 and an outer frame 10, the outer frame being hollow; one end of the outer frame is fixed to the robotic arm unit via the transfer flange, and the other end of the outer frame is fixedly connected to the scanning device; the gripping mechanism is installed inside the hollow outer frame, and the outer frame is provided with a through groove 11 for the part to be gripped to extend into the inner side of the hollow area of ​​the outer frame.

[0030] In this structure, a hollow outer frame is provided, and the gripping mechanism is fixed inside the hollow of the outer frame. The outer frame has a clamping part for the calibration rod assembly to extend into the hollow area of ​​the outer frame. The clamping part of the calibration rod assembly is inserted through a slot into the gripping mechanism, which then clamps the clamping part of the calibration rod assembly, thus gripping the calibration rod assembly. Conversely, the calibration rod assembly is released.

[0031] Based on the above structure, by setting a hollow outer frame, installing scanning equipment at the end of the hollow outer frame, and installing a gripping mechanism in the hollow cavity of the hollow outer frame, the scanning equipment and gripping mechanism can be installed on the same outer frame, which can effectively reduce weight and lower costs, and the manufacturing cost is also lower.

[0032] The gripping mechanism includes a drive unit 6-1 and a clamping member 6-2. The clamping member is divided into a fixed part 6-21 and a movable part 6-22. The fixed part is fixed on the outer frame on one side of the through groove, and the drive unit is fixed on the outer frame on the other side of the through groove. The movable part is fixedly connected to the drive unit, and the drive unit drives the movable part to move closer to or away from the fixed part.

[0033] Based on the above structure, two preferred structural forms of the driving unit are given. The first type is a telescopic drive structure, such as an electric actuator or a cylinder. One end of the electric actuator or cylinder is fixed to the outer frame, and the movable part is fixed to the other end of the electric actuator or cylinder.

[0034] The second type is a drive unit that is driven by a motor, a gear and rack transmission, or a lead screw and nut transmission.

[0035] In the rack and pinion drive configuration, the motor is fixed within the hollow cavity of the outer frame, and the motor's output shaft is connected to the gear. The rack is slidably positioned within the outer frame via a guide groove, and the fixed part is fixed to the rack. The rotation of the motor drives the rack to move linearly, thereby causing the fixed part to move closer to or away from the moving part.

[0036] In the case of a screw-nut drive, the motor is fixed inside the hollow cavity of the outer frame. The motor's output shaft is fixedly connected to the driving gear, which meshes with the driven gear. The driven gear is fixed to the screw, and the nut is fitted onto the screw and slidably connected to the outer frame via a guide groove. The fixed part is fixed to the nut. The rotation of the motor drives the nut to move linearly, thereby moving the fixed part closer to or away from the moving part.

[0037] Example 2 Based on Example 1, two arrangement forms for the placement platform are given: The first type, such as Figure 1 As shown, similar to existing calibration systems, the placement platform is fixed on the calibration bracket.

[0038] In the second case, the placement platform is fixed on the base, and the gripping mechanism grips the calibration rod assembly on the placement platform, or places the calibration rod assembly on the placement platform.

[0039] In the above structure, after the placement platform is fixed to the base, the gripping mechanism is also indirectly fixed to the base via the robotic arm unit. This ensures that the relative position between the placement platform and the gripping mechanism will not change with the movement of the base or the calibration bracket. Therefore, this automatic gripping calibration system only requires setting the "pre-set gripping position" once. Subsequent moves of the calibration bracket to avoid obstructing the scanning and tracking field of view, or relocation of the base to change the location, will not affect the relative position between the placement platform and the gripping mechanism. The previously set "pre-set gripping position" can still be used, eliminating the need to reset it due to the movement of the base or calibration bracket. This avoids a large amount of repetitive work in setting the gripping position of the gripping mechanism. These measures reduce the frequency of reprogramming the positioning calibration rod assembly and decrease the calibration workload.

[0040] In addition, the calibration rod assembly is fixed to the base by the placement platform and moves together with the base and the robotic arm unit, which can effectively reduce the risk of collision caused by moving the robotic arm unit or the calibration rod assembly or changing the test site.

[0041] In the above structure, to accommodate diverse installation options on the base and adapt to more complex usage scenarios, multiple mounting positions are provided on the base. The placement platform is detachably and fixedly installed at one of these positions. Depending on the specific usage scenario, the placement platform can be installed at different positions, enhancing the system's adaptability.

[0042] As shown in the preferred embodiment, the mounting position is located on the top surface of the base and surrounds the periphery of the robotic arm unit at the mounting point on the base. A circular mounting groove 12 is provided on the top surface of the base, and the mounting bracket is bolted to a specific position within the circular mounting groove, allowing the platform to be installed at any angle (360°) on the base.

[0043] Example 3 Based on Examples 1 and 2, two preferred structural forms of the calibration bracket are presented. The first type is a lifting bracket, with the comparison plate fixedly installed on top of the calibration bracket. It automatically rises and falls to the appropriate position according to calibration needs, avoiding the need for manual adjustment of the position when the top of the calibration bracket and the comparison plate obstruct the scanning field of view, thus achieving a truly fully automatic calibration function.

[0044] The second type, such as Figure 1 As shown, in the existing structure, the calibration bracket is a fixed bracket, and the comparison plate is fixedly installed on the top of the calibration bracket.

[0045] Based on the above structure, the preferred embodiments are given. Example 1: The placement platform is fixedly installed on the base; the scanning device and the gripping mechanism are respectively installed on two brackets; the calibration bracket is a fixed bracket.

[0046] Example 2: The placement platform is fixedly installed on the base; the scanning device and the gripping mechanism are respectively installed on two brackets; the calibration bracket is a lifting bracket.

[0047] Example 3: The placement platform is fixedly installed on the base; the scanning device and the gripping mechanism are installed on the same bracket; the calibration bracket is a fixed bracket.

[0048] Example 4: The placement platform is fixedly installed on the base; the scanning device and the gripping mechanism are installed on the same bracket; the calibration bracket is a lifting bracket.

[0049] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any way. Those skilled in the art can readily implement this utility model based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the utility model's technical solution, utilizing the disclosed technical content, are equivalent embodiments of this utility model. Furthermore, any equivalent changes, alterations, or variations made to the above embodiments based on the essential technology of this utility model are still within the protection scope of this utility model's technical solution.

Claims

1. An automatic grasping and calibration system, characterized in that: It includes a placement platform on which a calibration rod assembly is placed, a base on which a robotic arm unit is mounted, a scanning device and a gripping mechanism mounted on the end of the robotic arm unit, a comparison plate and a calibration bracket for mounting the comparison plate; the calibration rod assembly is provided with a clamping part; The robotic arm unit is equipped with a transfer flange and an outer frame, and the outer frame is hollow. One end of the outer frame is fixed to the robotic arm unit through the transfer flange, and the other end of the outer frame is fixedly connected to the scanning device. The gripping mechanism is installed inside the hollow outer frame, and the outer frame is provided with a through groove for the part to be gripped to extend into the inner side of the hollow area of ​​the outer frame.

2. The automatic grasping and calibration system according to claim 1, characterized in that: The gripping mechanism includes a drive unit and a clamping component, which is divided into a fixed part and a movable part. The fixed part is fixed to the outer frame on one side of the through groove, and the drive unit is fixed to the outer frame on the other side of the through groove. The movable part is fixedly connected to the drive unit, and the drive unit drives the movable part to move closer to or away from the fixed part.

3. The automatic grasping and calibration system according to claim 2, characterized in that: The drive unit is a telescopic drive structure.

4. The automatic grasping and calibration system according to claim 2, characterized in that: The drive unit is driven by a motor, a gear and rack transmission, or a lead screw and nut transmission.

5. The automatic grasping and calibration system according to any one of claims 1-4, characterized in that: The placement platform is fixed on the calibration bracket.

6. The automatic grasping and calibration system according to any one of claims 1-4, characterized in that: The placement platform is fixed to the base.

7. The automatic grasping and calibration system according to claim 6, characterized in that: The base has multiple mounting positions, and the platform is fixedly installed in one of the mounting positions in a detachable connection manner.

8. The automatic grasping and calibration system according to claim 7, characterized in that: The mounting position is located on the top surface of the base and surrounds the periphery of the robotic arm unit located at the mounting point on the base.

9. The automatic grasping and calibration system according to claim 8, characterized in that: A mounting groove is provided on the top surface of the base, and the bracket is installed in a certain position in the mounting groove by fasteners.

10. The automatic grasping and calibration system according to any one of claims 1-4, characterized in that: The calibration bracket is a lifting bracket, and the comparison plate is fixedly installed on the top of the calibration bracket.

11. The automatic grasping and calibration system according to any one of claims 1-4, characterized in that: The calibration bracket is a fixed bracket, and the comparison plate is fixedly installed on the top of the calibration bracket.

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