A laser tracker target ball mount adapted for multiple robotic arm interfaces

Abstract

This utility model discloses a laser tracker target ball base adaptable to various robotic arm interfaces, including a flange base. At least three position-adjustable target ball bases are provided on the top of the flange base. A target ball body is installed on the target ball base, and the target ball body is used to measure the three degrees of freedom of the robotic arm. An installation assembly is provided on the flange base, including multiple circumferentially spaced pads. The pads are slidably disposed at the center of the flange base and can move closer to or away from the center of the flange base. Fixing bolts are provided between the multiple pads to fix the flange base and the end of the robotic arm. By cooperating with the installation assembly and threaded interface, it can adapt to various robotic arm interfaces without the need for additional adapters or special fasteners, simplifying the operation process.

Description

Technical Field

[0001] This utility model relates to the field of medical device disinfection technology, and in particular to a laser tracker target ball base that is compatible with various robotic arm interfaces. Background Technology

[0002] In high-precision robotic arm applications, such as medical robot inspection, laser trackers are key equipment for achieving accurate position measurement. By working in conjunction with a reflective target at the end effector of the robotic arm, a laser tracker can track and measure the three-dimensional spatial coordinates of a target point in real time.

[0003] Since different robotic arms have different interface standards, how to achieve rapid and accurate adaptation between laser trackers and various robotic arms has become a major challenge in technological development. In order to adapt to different robotic arm interfaces, the usual method is to design multiple flange bases, install three target balls on the flange bases, and fix the flange bases to the end of the robotic arm by means of thread fastening.

[0004] However, the above-mentioned flange base has limited compatibility with the robotic arm interface. For robotic arms with non-standard interfaces, additional adapters or special fasteners are required, which increases the complexity and cost of operation. Therefore, in order to solve the above problems, a laser tracker target ball base that is compatible with multiple robotic arm interfaces is proposed. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a laser tracker target ball base that is compatible with various robotic arm interfaces.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A laser tracker target ball base adaptable to various robotic arm interfaces includes a flange base. At least three position-adjustable target ball bases are provided on the top of the flange base. A target ball body is mounted on the target ball base. The target ball body is used to measure three degrees of freedom of the robotic arm. An installation assembly is provided on the flange base. The installation assembly includes multiple circumferentially spaced pads. The pads are slidably disposed at the center of the flange base. The pads can move closer to or away from the center of the flange base. Fixing bolts are provided between the multiple pads. The fixing bolts are used to fix the flange base and the end effector of the robotic arm.

[0007] The above technical solution further includes: The flange base is provided with a plurality of first guide grooves, second guide grooves and third guide grooves equidistantly through the circumference. The first guide grooves and third guide grooves are straight grooves, the second guide groove is an arc groove, the first guide grooves and third guide grooves are perpendicular to each other, and the third guide groove is located on the side of the first guide groove near the center of the flange base.

[0008] A spherical guide groove is provided at the center of the target ball base. A magnetic insert is fixedly connected to the target ball base at the center of the spherical guide groove. A threaded tail post is fixedly connected to the bottom of the target ball base. The threaded tail post can be arbitrarily embedded in the first guide groove, the second guide groove, or the third guide groove. The position of the threaded tail post in the first guide groove, the second guide groove, or the third guide groove is adjustable. The end of the threaded tail post is threadedly connected to a bolt that is in close contact with the bottom of the flange base.

[0009] The flange base has multiple threaded interfaces that are equidistantly spaced around its circumference, and the dimensions of the multiple threaded interfaces are set with equal radii.

[0010] The mounting assembly also includes a central fixing hole extending through the center of the flange base, a fixing ring being fixedly connected at the center of the central fixing hole, and a pad being disposed on top of the fixing ring and located inside the central fixing hole.

[0011] The bottom of the pad is fixedly connected to a protrusion, and the fixing ring is fixedly connected to multiple limiting blocks at equal intervals. The protrusion is located between two adjacent limiting blocks, and the number of limiting blocks is one more than the number of threaded interfaces.

[0012] The upper circumferential array of the fixed ring has multiple bolt grooves, and an adjustment nut is slidably provided on the inner side of the bolt groove.

[0013] The pad is provided with a plurality of sliding sleeve grooves arranged in a circumferential array. A limiting sliding sleeve is rolled inside the sliding sleeve groove, and an adjusting bolt that is threadedly connected to the adjusting nut is slidably provided inside the limiting sliding sleeve.

[0014] This utility model has the following beneficial effects: In this invention, the mounting assembly, through the cooperation of a sliding pad and fixing bolts, can adapt to robotic arm ends of different diameters without replacing the flange base. The pad can move closer to or further away from the center of the flange. By adjusting the tightness of the adjusting bolts, the pad can be driven to move. According to the fixing bolts of different sizes, a ring-shaped fixation is formed for ends of different sizes. By pressing the pad with the fixing bolts, the flange base and the robotic arm end are installed together.

[0015] In this invention, the threaded interfaces equidistantly arranged on the circumference of the flange base adopt an equal radius design, which can directly match the threaded holes at the end of various mainstream robotic arms on the market without additional drilling or flange replacement, thus further expanding the compatibility range of standard interfaces. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a laser tracker target ball base that is compatible with various robotic arm interfaces, as proposed in this utility model. Figure 2 This is a schematic diagram of the flange base structure in this utility model; Figure 3 This is a schematic diagram of the target ball base and the main structure of the target ball in this utility model; Figure 4 This is a top view of the mounting components in this utility model; Figure 5 This is a schematic diagram of the cross-sectional structure of the mounting component in this utility model; Figure 6 for Figure 4 Enlarged schematic diagram of the structure at point A in the middle.

[0017] In the diagram: 1. Flange base; 2. Target ball base; 3. Target ball body; 4. Fixing bolt; 21. Spherical guide groove; 22. Threaded tail post; 23. Magnetic insert; 101. First guide groove; 102. Second guide groove; 103. Third guide groove; 104. Threaded interface; 105. Central fixing hole; 40. Fixing ring; 41. Bolt groove; 42. Adjusting bolt; 43. Adjusting nut; 44. Pad; 440. Protrusion; 400. Limiting block; 441. Sleeve groove; 442. Limiting sleeve. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] like Figures 1-6 As shown, the present invention proposes a laser tracker target ball base that is compatible with various robotic arm interfaces, including a flange base 1. At least three position-adjustable target ball bases 2 are provided on the top of the flange base 1. A target ball body 3 is installed on the target ball base 2. The target ball body 3 is used to measure the three degrees of freedom of the robotic arm. An installation assembly is provided on the flange base 1. The installation assembly includes multiple pads 44 arranged circumferentially. The pads 44 are slidably disposed at the center of the flange base 1. The pads 44 can move closer to or away from the center of the flange base 1. Fixing bolts 4 are provided between the multiple pads 44. The fixing bolts 4 are used to fix the flange base 1 and the end of the robotic arm.

[0020] Example 1 like Figures 2-3As shown, a plurality of first guide grooves 101, second guide grooves 102 and third guide grooves 103 are equidistantly provided on the circumference of the flange base 1. The first guide grooves 101 and third guide grooves 103 are straight grooves, the second guide groove 102 is an arc-shaped groove, the first guide grooves 101 and third guide grooves 103 are perpendicular to each other, and the third guide groove 103 is located on the side of the first guide groove 101 near the center of the flange base 1. A spherical guide groove 21 is provided at the center of the target ball base 2. A magnetic insert 23 is fixedly connected to the center of the spherical guide groove 21. A threaded tail post 22 is fixedly connected to the bottom of the target ball base 2. The threaded tail post 22 can be freely inserted into the first guide groove 101, the second guide groove 102, or the third guide groove 103. The position of the threaded tail post 22 in the first guide groove 101, the second guide groove 102, or the third guide groove 103 is adjustable. The end of the threaded tail post 22 is threadedly connected to a bolt that is in close contact with the bottom of the flange base 1. In this example, the target ball body 3 and the target ball base 2 are assembled first. The target ball body 3 is placed into the spherical guide groove 21 opened in the center of the target ball base 2. The spherical guide groove 21 and the surface of the target ball body 3 are fitted together to achieve initial positioning. At the same time, the magnetic insert 23 located at the center of the spherical guide groove 21 of the target ball base 2 generates magnetic force to attract the target ball body 3 to prevent it from loosening. Then, the angle of the target ball body 3 is adjusted to complete the pre-fixation of the target ball body 3 and the target ball base 2. Furthermore, based on the size of the robotic arm's end effector and the limitations of the measurement space, the optimal layout position of the target ball is determined. The threaded tail post 22 at the bottom of the target ball base 2 is embedded into any one of the first guide groove 101, the second guide groove 102, or the third guide groove 103 that are equidistantly spaced on the circumference of the flange base 1. These grooves can be freely combined according to actual needs. For example, three target ball bases 2 can be placed in the first guide groove 101 respectively, or two target ball bases 2 can be placed in the first guide groove 101, and the other target ball base can be placed in the second guide groove 102 or the third guide groove 103. If the position of the target ball body 3 needs to be adjusted, push the threaded tail column 22 to move along the direction of its guide groove to the target position. After the position of the target ball body 3 is determined, tighten the bolt at the end of the threaded tail column 22 so that the bolt is in close contact with the bottom of the flange base 1, lock the position of the target ball base 2 and prevent it from shifting.

[0021] like Figure 2 As shown, multiple threaded interfaces 104 are equidistantly provided around the circumference of the flange base 1, and the dimensions of the multiple threaded interfaces 104 are set with equal radii. Based on implementation one, the flange base 1 is then fixed to the end of the robotic arm. Depending on the interface type of the end of the robotic arm, multiple threaded interfaces 104 with equidistant circumferences and radii of equal difference can be directly used on the flange base 1. The threaded interface 104 that matches the standard thread hole diameter of the end of the robotic arm is selected, and bolts are inserted into the threaded interface 104 to connect with the threaded hole of the end of the robotic arm, thereby achieving rapid fixing of the flange base 1 to the end of the robotic arm.

[0022] Example 2 like Figures 4-6 As shown, the mounting assembly also includes a central fixing hole 105 that passes through the center of the flange base 1. A fixing ring 40 is fixedly connected to the center of the central fixing hole 105. A pad 44 is disposed on the top of the fixing ring 40 and located inside the central fixing hole 105. The bottom of the pad 44 is fixedly connected to a protrusion 440, and the fixing ring 40 is fixedly connected to multiple limiting blocks 400 at equal intervals. The protrusion 440 is located between two adjacent limiting blocks 400, and the number of limiting blocks 400 is one more than the number of threaded interfaces 104. The upper circumferential array of the fixing ring 40 is provided with multiple bolt grooves 41, and an adjusting nut 43 is slidably provided on the inner side of the bolt groove 41. The pad 44 has multiple sliding sleeve grooves 441 arranged in a circumferential array. A limiting sliding sleeve 442 is rolled inside the sliding sleeve groove 441. An adjusting bolt 42 that is threadedly connected to the adjusting nut 43 is slidably arranged inside the limiting sliding sleeve 442.

[0023] Based on the above embodiments, further, according to the diameter of the central threaded hole at the end of the robotic arm, a fixing bolt 4 is inserted between the flange base 1 and the central threaded hole at the end of the robotic arm. At this time, there is no limiting relationship between the flange base 1 and the fixing bolt 4. Loosen the adjusting bolt 42. At this time, ensure that the adjusting bolt 42 and the adjusting nut 43 are threadedly connected. Since different robotic arms use different specifications of fixing bolt 4, lift the pad 44 so that the protrusion 440 is disengaged from the limiting block 400. Then push the pad 44 until the multiple pads 44 arranged in the circumference come into contact with the fixing bolt 4. Furthermore, the number of limit blocks 400 is one more than the number of threaded interfaces 104, so the gap formed between the two limit blocks 400 is equal to the number of limit blocks 400. Furthermore, there are multiple limit blocks 400 and they are equidistantly arranged. The limit blocks 400 gradually move closer to the center of the flange base 1. Therefore, the opening and closing of multiple pads 44 can be adjusted by placing the protrusion 440 between any two adjacent limit blocks 400 to accommodate different specifications of fixing bolts 4. Furthermore, while the pad 44 is moving, the pad 44 moves and simultaneously drives the adjusting bolt 42 to move, so that the adjusting nut 43 moves along the bolt groove 41 to the appropriate position. Then the adjusting bolt 42 is rotated. The adjusting nut 43 is hexagonal and is restricted to the bolt groove 41 and cannot rotate. The adjusting bolt 42 slides in the limiting sleeve 442, and the limiting sleeve 442 can rotate synchronously with the adjusting bolt 42. Furthermore, after adjusting the multiple pads 44 to contact the fixing bolts 4, tighten the adjusting bolts 42 so that the pads 44 and the rotating fixing bolts 4 are fixed together, and the fixing ring 40 and the pads 44 are fixed together. Then tighten the fixing bolts 4 so that the fixing bolts 4 and the multiple pads 44 are fixed together, thus completing the fixing of the flange base 1 and the end of the robotic arm. When the laser tracker is working, three (or more) target ball bodies 3 installed on the target ball base 2 reflect the laser in real time. The laser tracker calculates the motion data of the three degrees of freedom (X / Y / Z axes) of the robotic arm by capturing the three-dimensional spatial coordinates of the target ball bodies 3, thereby achieving accurate measurement of the robotic arm.

[0024] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A laser tracker target ball base adaptable to various robotic arm interfaces, comprising a flange base (1), characterized in that, The top of the flange base (1) is provided with at least three position-adjustable target ball bases (2), and a target ball body (3) is installed on the target ball base (2). The target ball body (3) is used to measure the three degrees of freedom of the robotic arm. The flange base (1) is provided with an installation assembly, which includes multiple pads (44) arranged circumferentially. The pads (44) are slidably disposed at the center of the flange base (1). The pads (44) can move closer to or away from the center of the flange base (1). Fixing bolts (4) are provided between the multiple pads (44). The fixing bolts (4) are used to fix the flange base (1) and the end of the robotic arm.

2. The laser tracker target ball base adapted to multiple robotic arm interfaces according to claim 1, characterized in that, The flange base (1) is provided with a plurality of first guide grooves (101), second guide grooves (102) and third guide grooves (103) equidistantly through the circumference. The first guide grooves (101) and third guide grooves (103) are straight grooves, and the second guide groove (102) is an arc-shaped groove. The first guide grooves (101) and third guide grooves (103) are perpendicular to each other, and the third guide groove (103) is located on the side of the first guide groove (101) near the center of the flange base (1).

3. A laser tracker target ball base adapted to multiple robotic arm interfaces according to claim 2, characterized in that, The target ball base (2) is provided with a spherical guide groove (21) at the center. The target ball base (2) is fixedly connected to a magnetic insert (23) at the center of the spherical guide groove (21). The bottom of the target ball base (2) is fixedly connected to a threaded tail post (22). The threaded tail post (22) can be freely embedded in the first guide groove (101), the second guide groove (102) or the third guide groove (103). The position of the threaded tail post (22) in the first guide groove (101), the second guide groove (102) or the third guide groove (103) is adjustable. The end of the threaded tail post (22) is threaded with a bolt that is in close contact with the bottom of the flange base (1).

4. A laser tracker target ball base adapted to multiple robotic arm interfaces according to claim 3, characterized in that, The flange base (1) has multiple threaded interfaces (104) that are equidistantly spaced around its circumference, and the dimensions of the multiple threaded interfaces (104) are set with equal radii.

5. A laser tracker target ball base adaptable to various robotic arm interfaces according to claim 1, characterized in that, The mounting assembly also includes a central fixing hole (105) through which the flange base (1) is opened. A fixing ring (40) is fixedly connected at the center of the central fixing hole (105). The pad (44) is disposed on the top of the fixing ring (40) and located inside the central fixing hole (105).

6. A laser tracker target ball base adapted to multiple robotic arm interfaces according to claim 5, characterized in that, The bottom of the pad (44) is fixedly connected to a protrusion (440), and the fixing ring (40) is fixedly connected to multiple limiting blocks (400) at equal intervals. The protrusion (440) is located between two adjacent limiting blocks (400), and the number of limiting blocks (400) is one more than the number of threaded interfaces (104).

7. A laser tracker target ball base adapted to multiple robotic arm interfaces according to claim 6, characterized in that, The upper circumferential array of the fixed ring (40) is provided with multiple bolt grooves (41), and an adjustment nut (43) is slidably provided on the inner side of the bolt groove (41).

8. A laser tracker target ball base adapted to various robotic arm interfaces according to claim 7, characterized in that, The pad (44) has a plurality of sliding sleeve grooves (441) arranged in a circumferential array. A limiting sleeve (442) is fixedly and rolled on the inner side of the sliding sleeve groove (441). An adjusting bolt (42) that is threadedly connected to the adjusting nut (43) is slidably arranged on the inner side of the limiting sleeve (442).

Images