CN110370315B - Precision calibration device for joint robot - Google Patents
Precision calibration device for joint robot Download PDFInfo
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- CN110370315B CN110370315B CN201910507899.9A CN201910507899A CN110370315B CN 110370315 B CN110370315 B CN 110370315B CN 201910507899 A CN201910507899 A CN 201910507899A CN 110370315 B CN110370315 B CN 110370315B
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- calibration device
- precision calibration
- connecting block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
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Abstract
The invention provides a precision calibration device for a joint robot. Articulated robot precision calibration device includes: a robot; the two curtains are respectively positioned on two sides of the robot; the two cameras are respectively matched with the two curtains; two light sources, both of which are located on the robot; the two supporting seats are respectively connected with the two light sources, and both the two supporting seats are fixedly connected with the robot; the two mounting seats are respectively connected with the two supporting seats, and the mounting seats are connected with the corresponding light sources; the joint robot precision calibration device provided by the invention has the advantages of convenience in use, simplicity in operation, capability of quickly and conveniently disassembling and assembling a light source and capability of finely adjusting the light source.
Description
Technical Field
The invention relates to the field of robots, in particular to a precision calibration device for a joint robot.
Background
An articulated robot, also called an articulated arm robot or an articulated robot arm, is one of the most common forms of industrial robots in the industrial field today, and is suitable for mechanical automation operations in many industrial fields.
The prior art discloses a precision calibration device of a six-joint industrial robot, which comprises the six-joint industrial robot, wherein the tail end of the six-joint industrial robot is connected with a connecting piece, a first light source device and a second light source device are fixed on the connecting piece, a first projection curtain and a second projection curtain which are perpendicular to the first light source device and the second light source device are respectively arranged in front of the first light source device and the second light source device, and a first camera and a second camera are respectively placed behind the first curtain and the second curtain; the first light source device and the second light source device both comprise a disc, a laser pen and a fixing piece, the disc and the fixing piece are provided with 12 round holes uniformly distributed on the circumference and used for installing the laser pen, the coaxiality of the laser pen is less than or equal to 0.01mm, and the upper end and the lower end of the laser pen are respectively installed on the disc and the fixing piece. Although the calibration method can calibrate the precision of the joint robot quickly and at low cost; the laser pen with the circumferentially uniformly distributed array is used as a light source to form structured light, the laser has the characteristics of good monochromaticity, good coherence, good directivity, high brightness and the like, the calibration precision is improved, and the cost of the system is reduced.
Therefore, it is necessary to provide a precision calibration device for an articulated robot to solve the above technical problems.
Disclosure of Invention
The invention solves the technical problem of providing the precision calibration device of the joint robot, which is convenient to use and simple to operate, can quickly and conveniently disassemble and assemble a light source and can finely adjust the light source.
In order to solve the above technical problems, the present invention provides a calibration apparatus for precision of a joint robot, comprising: a robot; the two curtains are respectively positioned on two sides of the robot; the two cameras are respectively matched with the two curtains; two light sources, both of which are located on the robot; the two supporting seats are respectively connected with the two light sources, and both the two supporting seats are fixedly connected with the robot; the two mounting seats are respectively connected with the two supporting seats, and the mounting seats are connected with the corresponding light sources; the two first supporting tubes are respectively sleeved on the outer sides of the two mounting seats in a sliding manner; the two second supporting pipes are respectively rotatably sleeved on the two outer sides of the first supporting pipes, the two second supporting pipes are respectively in threaded connection with the two supporting seats, external threads are formed in the outer sides of the supporting seats, internal threads are formed in the inner walls of the second supporting pipes, and the external threads are meshed with the corresponding internal threads.
Preferably, two positioning grooves are symmetrically formed in the supporting seat, two positioning blocks are symmetrically and fixedly mounted on the mounting seat, and the two positioning blocks are respectively located in the two positioning grooves.
Preferably, two sliding grooves are symmetrically formed in the mounting seat, two sliding blocks are symmetrically and fixedly mounted on the inner wall of the first supporting pipe, and the two sliding blocks are respectively connected with the inner walls of the two sliding grooves in a sliding mode.
Preferably, the bearing is fixedly sleeved on the outer side of the first supporting pipe, and the outer ring of the bearing is fixedly connected with the inner wall of the second supporting pipe.
Preferably, the mounting seat is cylindrical, and the second support tube is matched with the mounting seat.
Compared with the related art, the precision calibration device for the joint robot provided by the invention has the following beneficial effects:
the invention provides a precision calibration device of a joint robot, wherein two installation bases are respectively connected with two supporting seats, and the installation bases are connected with corresponding light sources; the two first supporting tubes are respectively sleeved on the outer sides of the two mounting seats in a sliding manner; two the second stay tube rotates the cover respectively and establishes two the outside of first stay tube, and two the second stay tube respectively with two supporting seat threaded connection, the external screw thread has been seted up in the outside of supporting seat, the internal thread has been seted up on the inner wall of second stay tube, the external screw thread with corresponding the internal thread meshes mutually, and the accessible rotates the quick installation and the dismantlement of the light source of second stay tube.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of a precision calibration device for a joint robot provided by the invention;
FIG. 2 is a cross-sectional structural view of the support seat shown in FIG. 1;
FIG. 3 is a schematic diagram of a second embodiment of the precision calibration device for the joint robot provided by the invention;
FIG. 4 is a cross-sectional structural view of the support base shown in FIG. 3;
FIG. 5 is a side cross-sectional structural view of the portion A shown in FIG. 4;
fig. 6 is a schematic perspective view of the support seat 5 shown in fig. 3.
Reference numbers in the figures: 1. robot, 2, curtain, 3, camera, 4, light source, 5, supporting seat, 6, mount pad, 7, first stay tube, 8, second stay tube, 9, first recess, 10, first screw rod, 11, first connecting block, 12, first knob, 13, second connecting block, 14, second recess, 15, second screw rod, 16, third connecting block, 17, second knob.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
First embodiment
Referring to fig. 1-2, in a first embodiment of the present invention, an articulated robot precision calibration apparatus includes: a robot 1; the two curtains 2 are respectively positioned at two sides of the robot 1; the two cameras 3 are respectively matched with the two curtains 2; two light sources 4, both of the light sources 4 being located on the robot 1; the two supporting seats 5 are respectively connected with the two light sources 4, and the two supporting seats 5 are fixedly connected with the robot 1; the two mounting seats 6 are respectively connected with the two supporting seats 5, and the mounting seats 6 are connected with the corresponding light sources 4; the two first supporting tubes 7 are respectively sleeved on the outer sides of the two mounting seats 6 in a sliding manner; two second stay tubes 8, two the second stay tube 8 rotates the cover respectively and establishes two the outside of first stay tube 7, and two second stay tube 8 respectively with two 5 threaded connection of supporting seat, the external screw thread has been seted up in the outside of supporting seat 5, the internal thread has been seted up on the inner wall of second stay tube 8, the external screw thread with corresponding the internal thread meshes mutually.
Two positioning grooves are symmetrically formed in the supporting seat 5, two positioning blocks are symmetrically and fixedly mounted on the mounting seat 6, and the two positioning blocks are respectively located in the two positioning grooves.
Two chutes are symmetrically formed in the mounting seat 6, two sliding blocks are symmetrically and fixedly mounted on the inner wall of the first supporting tube 7, and the two sliding blocks are respectively connected with the inner walls of the chutes in a sliding mode.
The outside fixed cover of first stay tube 7 is equipped with the bearing, the outer lane of bearing with the inner wall fixed connection of second stay tube 8.
The mounting seat 6 is cylindrical, and the second supporting tube 8 is matched with the mounting seat 6.
The working principle of the precision calibration device for the joint robot provided by the invention is as follows:
the mounting seat 6 drives the light source 4 to move, the mounting seat 6 is in contact with the supporting seat 5, the positioning block is positioned in the positioning groove, then the second supporting tube 8 is pulled, the second supporting tube 8 moves towards the direction close to the supporting seat 5, the second supporting tube 8 drives the first supporting tube 7 to slide on the mounting seat 6 until the second supporting tube 8 is in contact with the supporting seat 5, the second supporting tube 8 is rotated, the second supporting tube 8 is sleeved on the supporting seat 5 in a threaded manner, the first supporting tube 7 is driven to continue to move towards the direction close to the supporting seat 5 while the second supporting tube 8 rotates, the first supporting tube 7 drives the sliding block to slide in the sliding groove until the sliding block is in contact with the inner wall of one side of the sliding groove close to the supporting seat 5, at the moment, the second supporting tube 8 drives the mounting seat 6 to move towards the supporting seat 5 through the first supporting tube 7 and the sliding block until the mounting seat 6 is in close contact with the supporting seat 5, the second supporting tube 8 stops rotating, the installation and fixing work of the light source 4 is completed, and when the light source 4 needs to be disassembled, the disassembling work of the light source 4 can be quickly completed only by the actions above the reverse operation.
Compared with the related art, the precision calibration device for the joint robot provided by the invention has the following beneficial effects:
the two installation bases 6 are respectively connected with the two support bases 5, and the installation bases 6 are connected with the corresponding light sources 4; the two first supporting tubes 7 are respectively sleeved on the outer sides of the two mounting seats 6 in a sliding manner; two the second stay tube 8 rotates the cover respectively and establishes two the outside of first stay tube 7, and two the second stay tube 8 respectively with two 5 threaded connection of supporting seat, the external screw thread has been seted up in the outside of supporting seat 5, the internal thread has been seted up on the inner wall of second stay tube 8, the external screw thread with corresponding the internal thread meshes mutually, and the accessible rotates the quick light source 4 of installing and dismantling of second stay tube 8.
Second embodiment:
referring to fig. 3 to 6 in combination, based on the precision calibration device for a joint robot provided by the first embodiment of the present invention, the precision calibration device for a joint robot provided by the second embodiment of the present invention is different in that the precision calibration device for a joint robot further includes a first groove 9, the first groove 9 is disposed on one side of the mounting base 6 away from the supporting base 5, a first screw 10 is rotatably mounted in the first groove 9, a first connecting block 11 slidably connected with an inner wall of the first groove 9 is sleeved on an outer side thread of the first screw 10, one side of the first connecting block 11 extends to the outside of the first groove 9 and is fixedly mounted with a second connecting block 13, a second groove 14 is disposed on one side of the second connecting block 13 away from the supporting base 5, a second screw 15 is mounted in the second groove 14, and a third connecting block slidably connected with an inner wall of the second groove 14 is sleeved on an outer side thread of the second screw 15 And the third connecting block 16 extends out of the second groove 14 and is fixedly connected with the light source 4.
One end of the first screw rod 10 extends to the outside of the mounting seat 6 and is fixedly provided with a first knob, and one end of the second screw rod 15 extends to the outside of the second groove 14 and is fixedly provided with a second knob.
A first limiting groove is formed in the inner wall of one side of the first groove 9, and a first limiting block in sliding connection with the inner wall of the first limiting groove is fixedly mounted on one side of the first connecting block 11.
Second limiting grooves are formed in the inner walls of the two sides of the second groove 14, second limiting blocks are fixedly mounted on the two sides of the third connecting block 16, and the second limiting blocks are connected with the inner walls of the second limiting grooves in a sliding mode.
A rotating hole is formed in the inner wall of one side of the second groove 14, and the second screw 15 penetrates through the rotating hole and is rotatably connected with the inner wall of the rotating hole.
Rotate first knob 12, first knob 12 drives first screw rod 10 and rotates, first screw rod 10 drives first connecting block 11 and slides in first recess 9, first connecting block 11 just can drive light source 4 through second connecting block 13 and third connecting block 16 and finely tune, rotate second knob 17, second knob 17 drives second screw rod 15 and rotates, second screw rod 15 drives third connecting block 16 and moves, third connecting block 16 drives light source 4 and removes, thereby just can finely tune light source 4, thereby made things convenient for the location installation work to light source 4.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. The utility model provides a joint robot precision calibration device which characterized in that includes:
a robot;
the two curtains are respectively positioned on two sides of the robot;
the two cameras are respectively matched with the two curtains;
two light sources, both of which are located on the robot;
the two supporting seats are respectively connected with the two light sources, and both the two supporting seats are fixedly connected with the robot;
the two mounting seats are respectively connected with the two supporting seats, and the mounting seats are connected with the corresponding light sources;
the two first supporting tubes are respectively sleeved on the outer sides of the two mounting seats in a sliding manner;
the two second supporting tubes are respectively rotatably sleeved on the outer sides of the two first supporting tubes and are respectively in threaded connection with the two supporting seats, external threads are formed on the outer sides of the supporting seats, internal threads are formed on the inner walls of the second supporting tubes, and the external threads are meshed with the corresponding internal threads;
the mounting seat is cylindrical, and the second supporting tube is matched with the mounting seat;
the mount pad is kept away from first recess has been seted up to one side of supporting seat, first screw rod is installed to the first recess internal rotation, the outside thread bush of first screw rod be equipped with the inner wall sliding connection's of first recess first connecting block, one side of first connecting block extends to fixed mounting has the second connecting block outside the first recess, the second connecting block is kept away from the second recess has been seted up to one side of supporting seat, the second screw rod is installed to second recess internal thread, the outside thread bush of second screw rod be equipped with the inner wall sliding connection's of second recess third connecting block, the third connecting block extends to outside the second recess and with light source fixed connection.
2. The joint robot precision calibration device according to claim 1, wherein the supporting seat is symmetrically provided with two positioning grooves, the mounting seat is symmetrically and fixedly provided with two positioning blocks, and the two positioning blocks are respectively located in the two positioning grooves.
3. The joint robot precision calibration device according to claim 1, wherein the mounting seat is symmetrically provided with two sliding grooves, the inner wall of the first support tube is symmetrically and fixedly provided with two sliding blocks, and the two sliding blocks are respectively connected with the inner walls of the two sliding grooves in a sliding manner.
4. The articulated robot precision calibration device of claim 1, wherein a bearing is fixedly sleeved outside the first support tube, and an outer ring of the bearing is fixedly connected with an inner wall of the second support tube.
5. The joint robot precision calibration device of claim 1, wherein one end of the first screw extends out of the mounting seat and is fixedly provided with a first knob, and one end of the second screw extends out of the second groove and is fixedly provided with a second knob.
6. The joint robot precision calibration device according to claim 1, wherein a first limiting groove is formed in an inner wall of one side of the first groove, and a first limiting block slidably connected with an inner wall of the first limiting groove is fixedly mounted on one side of the first connecting block.
7. The joint robot precision calibration device according to claim 1, wherein second limiting grooves are formed in inner walls of two sides of the second groove, second limiting blocks are fixedly mounted on two sides of the third connecting block, and the second limiting blocks are slidably connected with inner walls of the second limiting grooves.
8. The joint robot precision calibration device of claim 1, wherein a rotation hole is formed on an inner wall of one side of the second groove, and the second screw penetrates through the rotation hole and is rotatably connected with the inner wall of the rotation hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507899.9A CN110370315B (en) | 2019-06-12 | 2019-06-12 | Precision calibration device for joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507899.9A CN110370315B (en) | 2019-06-12 | 2019-06-12 | Precision calibration device for joint robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110370315A CN110370315A (en) | 2019-10-25 |
| CN110370315B true CN110370315B (en) | 2022-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910507899.9A Active CN110370315B (en) | 2019-06-12 | 2019-06-12 | Precision calibration device for joint robot |
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| CN (1) | CN110370315B (en) |
Citations (7)
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| CN1237231A (en) * | 1996-09-11 | 1999-12-01 | 芬纳公司 | Mounting device |
| JP2000018233A (en) * | 1998-06-29 | 2000-01-18 | Tsubakimoto Chain Co | Cantilever shaft structure of rotator |
| CN201316989Y (en) * | 2008-11-26 | 2009-09-30 | 陈会甫 | Assembling and disassembling head with multiple screwdriver head |
| CN201905358U (en) * | 2010-12-25 | 2011-07-27 | 浙江永强集团股份有限公司 | Umbrella rod locking mechanism easy to mount and dismount |
| CN104197831A (en) * | 2014-08-14 | 2014-12-10 | 四川大学 | Accuracy calibration device for six-joint industrial robot |
| CN108555887A (en) * | 2018-06-20 | 2018-09-21 | 湖州金辰机械有限公司 | A kind of automatic mechanical hand is convenient for the fixing device of adjusting |
| CN108916181A (en) * | 2018-08-30 | 2018-11-30 | 长光卫星技术有限公司 | Attachment device, connection method and application between a kind of two bar |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10354880A1 (en) * | 2003-11-21 | 2005-06-30 | Sks Welding Systems Gmbh | Welding torch device for connection to a welding robot |
-
2019
- 2019-06-12 CN CN201910507899.9A patent/CN110370315B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1237231A (en) * | 1996-09-11 | 1999-12-01 | 芬纳公司 | Mounting device |
| JP2000018233A (en) * | 1998-06-29 | 2000-01-18 | Tsubakimoto Chain Co | Cantilever shaft structure of rotator |
| CN201316989Y (en) * | 2008-11-26 | 2009-09-30 | 陈会甫 | Assembling and disassembling head with multiple screwdriver head |
| CN201905358U (en) * | 2010-12-25 | 2011-07-27 | 浙江永强集团股份有限公司 | Umbrella rod locking mechanism easy to mount and dismount |
| CN104197831A (en) * | 2014-08-14 | 2014-12-10 | 四川大学 | Accuracy calibration device for six-joint industrial robot |
| CN108555887A (en) * | 2018-06-20 | 2018-09-21 | 湖州金辰机械有限公司 | A kind of automatic mechanical hand is convenient for the fixing device of adjusting |
| CN108916181A (en) * | 2018-08-30 | 2018-11-30 | 长光卫星技术有限公司 | Attachment device, connection method and application between a kind of two bar |
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| CN110370315A (en) | 2019-10-25 |
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