Coaxiality automatic calibration type mechanical arm device

Abstract

The application discloses a coaxial degree automatic calibration type mechanical arm device, which comprises a mechanical arm, an executor and a calibration mechanism. When the executor is installed, the calibration mechanism is operated to make the upper clamping block away from the lower clamping block, the connecting rod of the executor is inserted into the rotating arm cooperation hole, and the prism section of the connecting rod is inserted into the prism hole. Then the calibration mechanism is operated to make the upper clamping block close to the lower clamping block to form a diamond hole and adhere to the cylindrical section. Since the center of the diamond hole coincides with the axis of the rotating arm, and the four sides of the diamond hole are tangent to the surface of the cylindrical section, the coaxial degree automatic calibration of the executor and the rotating arm is realized, the coaxial precision is effectively ensured, the later calibration operation is reduced, and the system debugging difficulty is reduced. Since the projection of the cylindrical section to the end face of the prism section is located in the boundary line of the end face of the prism section, after the upper clamping block and the lower clamping block are close to each other, the prism section can be limited to prevent the prism section from being taken out, and the stability of the executor after installation is ensured. Meanwhile, the executor is conveniently disassembled and assembled, the disassembly and assembly efficiency is improved, and the production efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of precision control technology for robotic arms, and in particular to a coaxiality automatic calibration robotic arm device. Background Technology

[0002] Robotic arms, as key equipment in modern industrial automated production lines, are widely used in precision operations such as grasping, handling, and assembly. In these applications, the end effector of the robotic arm needs to possess extremely high positioning accuracy and posture stability. The end effector can be a mechanical gripper, a nozzle, or similar device.

[0003] In many high-precision assembly tasks, ensuring the coaxiality between the robotic arm body and its end effector is crucial. Excessive coaxiality error can directly lead to excessive pose error of the end effector, resulting in component damage or product scrap. Furthermore, to adapt to the processing requirements of different workpieces or for routine maintenance, the end effector of the robotic arm needs to be frequently disassembled and replaced, which can also cause significant coaxiality errors.

[0004] In existing technologies, the connection between the robotic arm and the end effector is mostly achieved using a flange and multi-point bolt fastening method. The drawback of this structure is that the disassembly and assembly process is cumbersome, requiring significant manpower and time, resulting in low production efficiency. More seriously, during reinstallation after disassembly, uneven bolt preload or deviations in positioning references can easily lead to misalignment between the two components.

[0005] This coaxiality error caused by disassembly and reassembly forces operators to perform complex offline programming or online teaching of the robotic arm after each actuator replacement to recalibrate its tool center point and coaxiality. This recalibration process is not only time-consuming but also increases the system's complexity and potential for failure. Utility Model Content

[0006] This application provides a coaxiality automatic calibration robotic arm device, which can realize the quick installation and disassembly of the actuator, and can also realize the automatic coaxiality calibration after the actuator is installed.

[0007] This application provides a coaxiality automatic calibration robotic arm device, including a robotic arm and an actuator. The front end of the robotic arm includes at least a rotating arm, and the actuator is detachably mounted on the front end of the rotating arm; with the extension direction of the rotating arm as the axial direction. The actuator extends from the rear end with a connecting rod consisting of a cylindrical segment and a prism segment. The projection of the cylindrical segment onto the end face of the prism segment is located within the boundary line of the end face of the prism segment. It also includes a calibration mechanism, which comprises a lower clamping block, an upper clamping block, guide rods, and an adjustment structure; each end of the lower clamping block is provided with a guide rod, and both ends of the upper clamping block are slidably mounted on the guide rods; the adjustment structure is used to drive the upper clamping block to move closer to or away from the lower clamping block; a first triangular groove is provided on the side of the lower clamping block facing the upper clamping block, and a second triangular groove is provided on the side of the upper clamping block facing the lower clamping block; when the upper clamping block and the lower clamping block are close together, the first triangular groove and the second triangular groove form a diamond-shaped hole; The front end of the rotating arm is provided with a mating hole extending inward from the end face. The mating hole includes an inner prism hole and an outer cylindrical hole. The prism hole is adapted to the size of the prism segment, and the size of the cylindrical hole is at least sufficient to allow the prism segment to pass through. A mounting cavity is provided at one end of the cylindrical hole near the prism hole, and one end of the mounting cavity extends radially out of the surface of the rotating arm. The lower clamping block of the calibration mechanism is inserted into the mounting cavity at one end and fixed in the mounting cavity; the connecting rod of the actuator is inserted into the mating hole, the prism section mates with the prism hole, and the cylindrical section is clamped by the diamond-shaped hole formed after the upper and lower clamping blocks approach each other, thus restricting the prism section from moving axially. The center of the rhomboid hole coincides with the axis of the rotating arm, and the four sides of the rhomboid hole are tangent to the surface of the cylindrical section.

[0008] In one feasible embodiment, the adjustment structure of the calibration mechanism includes a spring, a base plate, a cam, and an actuating element; the spring is sleeved on the guide rod and located between the upper and lower clamping blocks; the base plate is located above the upper clamping block and fixed to the guide rod; the cam is located between the base plate and the upper clamping block; the actuating element is connected to the cam; and the actuating element is moved to rotate the cam; after the calibration mechanism is inserted into the mounting cavity, the actuating element extends at least partially outside the mounting cavity to serve as a force-applying actuating part.

[0009] In one feasible embodiment, a removable limiting element is provided on the side of the rotating arm near the mounting cavity; after the actuating element is moved to rotate the cam and clamp the cylindrical segment between the upper and lower clamping blocks, the actuating element reaches the position of the limiting element and is restricted to the current position by the limiting element.

[0010] In one feasible solution, the lower clamping block has protrusions on both sides, and a guide rod is fixed on each protrusion; the upper clamping block has perforated protrusions on both sides opposite to the protrusions of the lower clamping block, and the guide rod passes through the perforated protrusions of the upper clamping block.

[0011] In one feasible embodiment, a first magnetic attractor is provided at the end of the prism segment of the actuator, and a second magnetic attractor is provided inside the cylindrical hole of the mating hole of the rotating arm; after the prism segment is inserted into the cylindrical hole, the first magnetic attractor and the second magnetic attractor are attracted to each other.

[0012] In one feasible solution, the actuator has circumferentially distributed protrusions around the connecting rod at its rear end, and the front end face of the rotating arm has mating holes that mate with the protrusions.

[0013] In one feasible solution, the end of the protruding post is provided with one of a chamfered structure, a rounded structure, or a pointed structure, and the opening of the mating hole is provided with a rounded or chamfered structure; the inner diameter of the mating hole is larger than the outer diameter of the protruding post.

[0014] In one feasible solution, the prism segment and the prism hole are clearance fit.

[0015] In one feasible solution, the prism segment has a square radial cross-section, and the cylindrical hole also has a square radial cross-section.

[0016] In one feasible embodiment, the coaxiality automatic calibration robotic arm device further includes a base, a lifting mechanism, and a support plate. The lifting mechanism is installed in the base; the support plate is installed at the movable output end of the lifting mechanism; the robotic arm is fixedly installed on the support plate, and the lifting mechanism is used to drive the support plate to rise and fall.

[0017] This application has at least the following beneficial effects: In the coaxiality automatic calibration robotic arm device of this application, when the actuator is installed to the front end of the rotating arm, the adjustment structure of the calibration mechanism is first operated to move the upper clamping block relatively away from the lower clamping block. Then, the connecting rod of the actuator is inserted into the mating hole of the rotating arm. The prism segment at the front end of the connecting rod passes through the cylindrical hole and between the upper and lower clamping blocks in sequence, and finally inserts into the prism hole to form a fit. Afterward, the adjustment structure of the calibration mechanism is operated again to move the upper clamping block closer to the lower clamping block, and to make the rhomboid hole formed between the upper and lower clamping blocks fit tightly with the cylindrical segment. Since the center of the rhomboid hole coincides with the axis of the rotating arm, and the four sides of the rhomboid hole are tangent to the surface of the cylindrical segment, the coaxiality calibration of the axis of the cylindrical segment and the axis of the rotating arm can be automatically achieved. This effectively ensures the coaxiality accuracy after the actuator is installed, reduces subsequent calibration operations, reduces the difficulty of system debugging, and reduces system complexity. Furthermore, since the projection of the cylindrical segment onto the end face of the prism segment is located within the boundary line of the end face of the prism segment, the upper clamping block and the lower clamping block can restrict the prism segment from disengaging, thus ensuring the stability of the actuator after installation.

[0018] When disassembling the actuator, simply operate the adjustment mechanism of the calibration mechanism to move the upper clamping block relatively away from the lower clamping block, and then the connecting rod of the actuator can be removed from the mating hole of the rotating arm. Therefore, the coaxiality automatic calibration robotic arm device of this application can also achieve convenient assembly and disassembly of the actuator, improving assembly and disassembly efficiency and production efficiency. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of a coaxiality automatic calibration robotic arm device provided in an embodiment of this application.

[0020] Figure 2 for Figure 1 Side view of the actuator mounting location of the coaxiality automatic calibration robotic arm device.

[0021] Figure 3 for Figure 2 Exploded view of the structure at the actuator installation location.

[0022] Figure 4 This application provides a three-dimensional structural diagram of an actuator.

[0023] Figure 5 and Figure 6 This is a three-dimensional structural diagram of a calibration mechanism in different states, provided as an embodiment of this application.

[0024] Figure 7 This application provides a three-dimensional structural diagram of an actuator and calibration mechanism in an assembled state.

[0025] Figure 8 This application provides a partial cross-sectional schematic diagram of a calibration mechanism installed in a rotating arm.

[0026] Figure 9 for Figure 2 Sectional view along the middle AA.

[0027] Figure 10 for Figure 2 A cross-sectional view along the middle BB.

[0028] Figure 11 This is a three-dimensional structural diagram of a base and lifting mechanism provided for the embodiments of the application.

[0029] Legend: 1. Robotic arm; 11. Rotating arm; 111. Mating hole; 101. Cylindrical hole; 102. Prismatic hole; 103. Mounting cavity; 112. Docking hole; 2. Actuator; 21. Connecting rod; 211. Cylindrical section; 212. Prismatic section; 22. Protruding column; 3. Calibration mechanism; 31. Lower clamping block; 32. Upper clamping block; 301. First triangular groove; 302. Second triangular groove; 303. Diamond hole; 33. Guide rod; 34. Spring; 35. Base plate; 36. Cam; 37. Actuating element; 4. Limiting element; 51. First magnetic suction element; 52. Second magnetic suction element; 6. Base; 7. Lifting mechanism; 8. Support plate. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] like Figure 1As shown, this application provides a coaxiality automatic calibration robotic arm device, including a robotic arm 1 and an actuator 2. The front end of the robotic arm 1 includes at least a rotating arm 11, and the actuator 2 is detachably mounted on the front end of the rotating arm 11; with the extension direction of the rotating arm 11 as the axial direction, i.e. Figure 1 The central axis L extends in the axial direction.

[0032] If the actuator 2 is installed at the front end of the rotating arm 11, and the coaxiality along the axial direction cannot be guaranteed, the technical problems mentioned in the background art will occur. To solve the problems in the background art, this embodiment provides the following specific solution for an automatic coaxiality calibration robotic arm device.

[0033] In this embodiment, as Figure 3 , Figure 4 As shown, the actuator 2 extends from the rear end with a connecting rod 21 including a cylindrical segment 211 and a prism segment 212. The projection of the cylindrical segment 211 onto the end face of the prism segment 212 is located within the boundary line of the end face of the prism segment 212.

[0034] like Figure 3 , Figure 4 and 5 As shown, the coaxiality automatic calibration robotic arm device also includes a calibration mechanism 3, which includes a lower clamping block 31, an upper clamping block 32, a guide rod 33, and an adjustment structure. The lower clamping block 31 has guide rods 33 at both ends, and the upper clamping block 32 is slidably mounted on the guide rods 33 at both ends. The adjustment structure is used to drive the upper clamping block 32 to move closer to or away from the lower clamping block 31. The lower clamping block 31 is provided with a first triangular groove 301 on the side facing the upper clamping block 32, and the upper clamping block 32 is provided with a second triangular groove 302 on the side facing the lower clamping block 31. When the upper clamping block 32 and the lower clamping block 31 are close together, the first triangular groove 301 and the second triangular groove 302 form a rhomboid hole 303.

[0035] like Figure 3 , Figure 8 and Figure 10 As shown, the front end of the rotating arm 11 is provided with a mating hole 111 extending inward from the end face. The mating hole 111 includes an inner prism hole 102 and an outer cylindrical hole 101. The prism hole 102 is adapted to the size of the prism segment 212, and the size of the cylindrical hole 101 is at least sufficient to allow the prism segment 212 to pass through. A mounting cavity 103 is provided at one end of the cylindrical hole 101 near the prism hole 102, and one end of the mounting cavity 103 extends radially out of the surface of the rotating arm 11.

[0036] like Figure 3 , Figure 7 , Figure 8 , Figure 9 and Figure 10As shown, one end of the lower clamping block 31 of the calibration mechanism 3 is inserted into the mounting cavity 103, and the lower clamping block 31 is fixed in the mounting cavity 103. The connecting rod 21 of the actuator 2 is inserted into the mating hole 111, the prism section 212 mates with the prism hole 102, and the cylindrical section 211 is clamped by the rhomboid hole 303 formed after the upper clamping block 32 and the lower clamping block 31 approach each other, thus restricting the prism section 212 from moving axially.

[0037] The center of the rhomboid hole 303 coincides with the axis of the rotating arm 11, and the four sides of the rhomboid hole 303 are tangent to the surface of the cylindrical section 211.

[0038] Specifically, in the coaxiality automatic calibration robotic arm device of this application, when the actuator 2 is installed at the front end of the rotating arm 11, the adjustment structure of the calibration mechanism 3 is first operated to move the upper clamping block 32 relatively away from the lower clamping block 31. Then, the connecting rod 21 of the actuator 2 is inserted into the mating hole 111 of the rotating arm 11. The prism segment 212 at the front end of the connecting rod 21 passes through the cylindrical hole 101 and between the upper and lower clamping blocks in sequence, and finally inserts into the prism hole 102 to form a fit. Afterward, the adjustment structure of the calibration mechanism 3 is operated again to move the upper clamping block 32 closer to the lower clamping block 31, and to make the diamond-shaped hole 303 formed between the upper clamping block 32 and the lower clamping block 31 fit tightly with the cylindrical segment 211. Since the center of the rhomboid hole 303 coincides with the axis of the rotating arm 11, and all four sides of the rhomboid hole 303 are tangent to the surface of the cylindrical segment 211, automatic calibration of the coaxiality between the axis of the cylindrical segment 211 and the axis of the rotating arm 11 can be achieved. This effectively ensures the coaxial accuracy of the actuator 2 after installation, reduces subsequent calibration operations, lowers the difficulty of system debugging, and reduces system complexity. Furthermore, since the projection of the cylindrical segment 211 onto the end face of the prism segment 212 is located within the boundary line of the end face of the prism segment 212, the upper clamping block 32 and the lower clamping block 31, when brought close together, can restrict the prism segment 212 from disengaging, ensuring the stability of the actuator 2 after installation. Moreover, the prism segment 212, after engaging with the prism hole 102, forms a circumferential limit on the actuator 2, preventing the actuator 2 from rotating arbitrarily.

[0039] When disassembling actuator 2, simply operate the adjustment structure of calibration mechanism 3 to move the upper clamping block 32 relatively away from the lower clamping block 31, and then the connecting rod 21 of actuator 2 can be removed from the mating hole 111 of rotating arm 11. Therefore, the coaxiality automatic calibration robotic arm device of this application can also achieve convenient disassembly and assembly of actuator 2, improving disassembly and assembly efficiency and increasing production efficiency.

[0040] In some embodiments, such as Figure 5 and Figure 6As shown, the adjustment structure of the calibration mechanism 3 may include a spring 34, a base plate 35, a cam 36, and a toggle member 37. The spring 34 is sleeved on the guide rod 33 and is located between the upper clamping block 32 and the lower clamping block 31; the base plate 35 is located on the upper side of the upper clamping block 32 and is fixedly connected to the guide rod 33; the cam 36 is located between the base plate 35 and the upper clamping block 32; the toggle member 37 is connected to the cam 36; and the toggle member 37 is moved to make the cam 36 rotate.

[0041] After the calibration mechanism 3 is inserted into the mounting cavity 103, the actuating element 37 extends at least partially outside the mounting cavity 103 to serve as a force-applying actuating part. Under the combined action of the cam 36 and the spring 34, the upper clamping block 32 moves up and down along the guide rod 33. For example, when the small diameter side of the cam 36 presses against the upper clamping block 32, the upper clamping block 32 actively separates from the lower clamping block 31 under the elastic force of the spring 34; when the large diameter side of the cam 36 presses against the upper clamping block 32, the spring 34 is compressed, so that the upper clamping block 32 moves closer to the lower clamping block 31.

[0042] In some embodiments, such as Figure 3 and Figure 9 As shown, a detachable limiting member 4 is provided on the side of the rotating arm 11 near the mounting cavity 103. After the actuating member 37 is moved to rotate the cam 36 and clamp the cylindrical section 211 with the upper clamping block 32 and the lower clamping block 31, the actuating member 37 reaches the position of the limiting member 4 and is restricted to the current position by the limiting member 4, thereby maintaining the close proximity of the upper clamping block 32 and the lower clamping block 31, so that they tightly clamp the cylindrical section 211, thereby effectively ensuring the stability of coaxiality accuracy.

[0043] In some embodiments, such as Figure 5 and Figure 6 As shown, the lower clamping block 31 may have protrusions on both sides, and a guide rod 33 is fixed on each protrusion. The upper clamping block 32 has perforated protrusions on both sides that are opposite to the protrusions of the lower clamping block 31, and the guide rod 33 passes through the perforated protrusions of the upper clamping block 32.

[0044] In some embodiments, such as Figure 10 As shown, a first magnetic attractor 51 can be fixedly installed at the end of the prism segment 212 of the actuator 2, and a second magnetic attractor 52 can be fixedly installed inside the cylindrical hole 101 of the mating hole 111 of the rotating arm 11. After the prism segment 212 is inserted into the cylindrical hole 101, the first magnetic attractor 51 and the second magnetic attractor 52 attract each other, thereby effectively attracting and fixing the actuator 2. The first magnetic attractor 51 and the second magnetic attractor 52 can both be permanent magnets, or one can be a permanent magnet and the other can be an iron component.

[0045] In some embodiments, such as Figure 3As shown, the actuator 2 has circumferentially distributed protrusions 22 around the connecting rod 21 at its rear end. The front end face of the rotating arm 11 has a mating hole 112 that mates with the protrusions 22, which can assist in the installation and positioning of the actuator 2.

[0046] In some embodiments, the end of the protruding post 22 can be configured as a chamfered structure, a rounded corner structure, or a sharp corner structure, and the opening of the mating hole 112 is provided with a rounded or chamfered structure to facilitate easier guidance and alignment insertion. Furthermore, the inner diameter of the mating hole 112 is larger than the outer diameter of the protruding post 22. Since the upper and lower clamping blocks can adjust the coaxiality within a minute dimension when clamping the cylindrical section 211, the inner diameter of the mating hole 112 being larger than the outer diameter of the protruding post 22 provides alignment assistance while also allowing for a margin of movement to prevent conflicts with coaxiality adjustment.

[0047] In some embodiments, the prism segment 212 and the prism hole 102 are clearance fit, which also allows for a certain amount of movement to prevent conflict with coaxiality adjustment.

[0048] In some embodiments, such as Figure 4 As shown, the radial cross-section of the prism segment 212 is square, and the radial cross-section of the cylindrical hole 101 is also square. Thus, when the actuator 2 is installed, the radial cross-sections of the prism segment 212 and the cylindrical hole 101 are square, allowing for at least four different installation orientations, in which the prism segment 212 and the cylindrical hole 101 can form an effective fit. Furthermore, coaxiality calibration can be achieved in each orientation.

[0049] In some embodiments, such as Figure 11 As shown, the coaxiality automatic calibration robotic arm device also includes a base 6, a lifting mechanism 7, and a support plate 8. The lifting mechanism 7 is installed in the base 6, and the support plate 8 is installed at the movable output end of the lifting mechanism 7. The robotic arm 1 is fixedly installed on the support plate 8, and the lifting mechanism 7 is used to drive the support plate 8 to rise and fall. The lifting mechanism 7 can be a hydraulic scissor lift mechanism or other types of lifting mechanisms.

[0050] Finally, it should be noted that the above description is only a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A coaxiality automatic calibration robotic arm device, comprising a robotic arm (1) and an actuator (2), wherein the front end of the robotic arm (1) includes at least a rotating arm (11), and the actuator (2) is detachably mounted on the front end of the rotating arm (11); with the extension direction of the rotating arm (11) as the axial direction; Its features are, The actuator (2) extends a connecting rod (21) from its rear end, which includes a cylindrical segment (211) and a prism segment (212). The projection of the cylindrical segment (211) onto the end face of the prism segment (212) is located within the boundary line of the end face of the prism segment (212). It also includes a calibration mechanism (3), which includes a lower clamping block (31), an upper clamping block (32), a guide rod (33), and an adjustment structure; the lower clamping block (31) is provided with the guide rod (33) at both ends, and the upper clamping block (32) is slidably mounted on the guide rod (33) at both ends; the adjustment structure is used to drive the upper clamping block (32) to move closer to or away from the lower clamping block (31); the lower clamping block (31) is provided with a first triangular groove (301) on the side facing the upper clamping block (32), and the upper clamping block (32) is provided with a second triangular groove (302) on the side facing the lower clamping block (31); after the upper clamping block (32) and the lower clamping block (31) approach each other, the first triangular groove (301) and the second triangular groove (302) form a diamond-shaped hole (303). The rotating arm (11) has a mating hole (111) extending inward from the end face at its front end. The mating hole (111) includes an inner prism hole (102) and an outer cylindrical hole (101). The prism hole (102) is adapted to the size of the prism segment (212), and the size of the cylindrical hole (101) is at least sufficient to allow the prism segment (212) to pass through. A mounting cavity (103) is provided at one end of the cylindrical hole (101) near the prism hole (102), and one end of the mounting cavity (103) extends radially out of the surface of the rotating arm (11). The calibration mechanism (3) inserts one end of the lower clamping block (31) into the mounting cavity (103), and the lower clamping block (31) is fixed in the mounting cavity (103); the connecting rod (21) of the actuator (2) is inserted into the mating hole (111), the prism segment (212) mates with the prism hole (102), and the cylindrical segment (211) is clamped by the rhomboid hole (303) formed after the upper clamping block (32) and the lower clamping block (31) approach each other, and the prism segment (212) is restricted from moving axially; The center of the rhomboid hole (303) coincides with the axis of the rotating arm (11), and the four sides of the rhomboid hole (303) are tangent to the surface of the cylindrical segment (211).

2. The coaxiality automatic calibration robotic arm device according to claim 1, characterized in that, The adjustment structure of the calibration mechanism (3) includes a spring (34), a base plate (35), a cam (36), and a toggle (37). The spring (34) is sleeved on the guide rod (33) and located between the upper clamping block (32) and the lower clamping block (31); The base plate (35) is located on the upper side of the upper clamping block (32) and is fixedly connected to the guide rod (33). The cam (36) is disposed between the base plate (35) and the upper clamping block (32). The actuating member (37) is connected to the cam (36). The actuating member (37) is moved to make the cam (36) rotate. After the calibration mechanism (3) is inserted into the mounting cavity (103), the actuating element (37) extends at least partially outside the mounting cavity (103) to serve as a force-applying actuating part.

3. The coaxiality automatic calibration robotic arm device according to claim 2, characterized in that, A detachable limiting member (4) is provided on the side of the rotating arm (11) near the mounting cavity (103). After the actuating member (37) is moved to rotate the cam (36) and clamp the cylindrical segment (211) with the upper clamp (32) and the lower clamp (31), the actuating member (37) reaches the position of the limiting member (4) and is restricted to the current position by the limiting member (4).

4. The coaxiality automatic calibration robotic arm device according to claim 2, characterized in that, The lower clamping block (31) has protrusions on both sides, and a guide rod (33) is fixed on each protrusion. The upper clamping block (32) has perforated protrusions on both sides that are opposite to the protrusions of the lower clamping block (31), and the guide rod (33) passes through the perforated protrusions of the upper clamping block (32).

5. The coaxiality automatic calibration robotic arm device according to claim 1, characterized in that, The actuator (2) has a first magnetic attractor (51) at the end of the prism segment (212) and a second magnetic attractor (52) inside the cylindrical hole (101) of the mating hole (111) of the rotating arm (11); after the prism segment (212) is inserted into the cylindrical hole (101), the first magnetic attractor (51) and the second magnetic attractor (52) are attracted to each other.

6. The coaxiality automatic calibration robotic arm device according to claim 1, characterized in that, The actuator (2) has a circumferentially distributed protrusion (22) around the connecting rod (21) at its rear end, and the front end face of the rotating arm (11) is provided with a mating hole (112) that mates with the protrusion (22).

7. The coaxiality automatic calibration robotic arm device according to claim 6, characterized in that, The end of the protruding post (22) is provided with one of a chamfered structure, a rounded structure or a sharp corner structure, and the opening of the mating hole (112) is provided with a rounded or chamfered structure. The inner diameter of the mating hole (112) is larger than the outer diameter of the protruding post (22).

8. The coaxiality automatic calibration robotic arm device according to claim 1, characterized in that, The prism segment (212) and the prism hole (102) are in clearance fit.

9. The coaxiality automatic calibration robotic arm device according to claim 1, characterized in that, The prism segment (212) has a square cross-section along the radial direction, and the cylindrical hole (101) also has a square cross-section along the radial direction.

10. The coaxiality automatic calibration robotic arm device according to claim 1, characterized in that, Also includes: Base (6); A lifting mechanism (7) is installed in the base (6); The support plate (8) is installed at the movable output end of the lifting mechanism (7); The robotic arm (1) is fixedly installed on the support plate (8), and the lifting mechanism (7) is used to drive the support plate (8) to lift.

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