CN110919696A - Positioning and calibrating device of industrial manipulator - Google Patents
Positioning and calibrating device of industrial manipulator Download PDFInfo
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- CN110919696A CN110919696A CN201911253690.0A CN201911253690A CN110919696A CN 110919696 A CN110919696 A CN 110919696A CN 201911253690 A CN201911253690 A CN 201911253690A CN 110919696 A CN110919696 A CN 110919696A
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- plate
- positioning
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- positioning plate
- manipulator
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a positioning and calibrating device of an industrial manipulator, which comprises a positioning plate, a y-axis plate provided with a y-axis groove, an x-axis plate provided with an x-axis groove, a vertical limiting plate and an infrared lamp, wherein the positioning plate, the y-axis plate and the x-axis plate are fixedly connected through a fixing column, a positioning shaft is arranged at the central position of the upper surface of the positioning plate, the bottom end of the positioning shaft penetrates through the positioning plate and extends to the lower part of the positioning plate, and the positioning and calibrating device of the industrial manipulator can accurately determine whether a fixed point is accurate when the manipulator needs to be fixed through the arrangement of the x-axis groove, the y-axis groove, the vertical limiting plate and the infrared lamp, can rapidly move the manipulator to the point needing to be fixed through the x-axis groove and the y-axis groove when the manipulator is not accurately positioned, so that the problem that the fixed point calibrating work of the manipulator is particularly important is solved, but the, and the structure is more complicated, the cost is higher, also is not convenient enough problem when using.
Description
Technical Field
The invention relates to the field of industrial manipulators, in particular to a positioning and calibrating device of an industrial manipulator.
Background
The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.
When the mechanical arm is programmed, the action path of the mechanical arm needs to be recorded, the existing mode is finished by fixed point, recording and programming, and the calibration work is particularly important when the mechanical arm is fixed, so that the fixed point is not a point needing to be fixed, the existing calibration device can only judge whether the point position is accurate or not, but cannot help the mechanical arm to quickly find the positioning point, the structure is complex, the cost is high, and the use is inconvenient.
Disclosure of Invention
The present invention is directed to a positioning and calibrating device for an industrial robot, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an industrial robot's location calibrating device, includes the locating plate, sets up the y axle board in y axle groove, sets up the x axle board in x axle groove, perpendicular limiting plate and infrared lamp, locating plate, y axle board and x axle board are all through fixed column fixed connection, the central point of locating plate upper surface puts the bottom that is equipped with location axle and runs through the locating plate and extend to its below, the bottom of location axle and the bottom parallel and level of fixed column, the right wall and the perpendicular limiting plate joint of locating plate, infrared lamp is equipped with the mount pad, the positive fixedly connected with spirit level of mount pad.
As a further scheme of the invention: the upper surfaces of the positioning plate, the y-axis plate and the x-axis plate are square and equal in side length, the four fixing columns are arranged and penetrate through four corners of the positioning plate and are perpendicular to the positioning plate, and the y-axis plate is located right above the positioning plate and located right below the x-axis plate.
As a still further scheme of the invention: the x-axis groove is located on the vertical center line of the upper surface of the x-axis plate and is a through groove, and the y-axis groove is located on the vertical center line of the upper surface of the y-axis plate and is a through groove.
As a still further scheme of the invention: the vertical limiting plate comprises a contraction ruler plate and a vertical ruler plate, the contraction ruler plate is fixedly connected with the middle of the left wall of the vertical ruler plate and is perpendicular to the left wall of the vertical ruler plate, the deep groove is formed in the right wall of the positioning plate, and the contraction ruler plate is clamped with the deep groove.
As a still further scheme of the invention: the upper surface of the contraction ruler plate is provided with scale marks, the upper surface of the positioning plate is also provided with scale marks which extend from the right wall of the positioning plate to the positioning shaft and are vertical to the right wall of the positioning plate, and the two scale marks correspond to each other.
As a still further scheme of the invention: the gradienter is made of transparent materials, and water and a bubble are filled in the gradienter.
As a still further scheme of the invention: the x-axis plate, the y-axis plate and the positioning plate are distributed at equal intervals.
Compared with the prior art, the invention has the beneficial effects that:
this industrial robot's location calibrating device, through having set up the x axle groove, the y axle groove, perpendicular limiting plate and infrared lamp, it is accurate whether the definite point that can be accurate when making the manipulator need fix a point, when not pinpointing, can remove the manipulator to the point that needs are decided through x axle groove and y axle groove are quick, it is especially important to have solved manipulator fixed point calibration work, and whether current calibrating device can only judge the position, but can not help the manipulator to find the setpoint fast, moreover, the structure is comparatively complicated, the cost is higher, also not convenient enough problem when using.
Drawings
Fig. 1 is a schematic structural diagram of a positioning and calibrating device of an industrial robot.
Fig. 2 is a schematic structural diagram of a positioning plate in the positioning and calibrating device of the industrial robot.
Fig. 3 is a partially enlarged view of a in fig. 1.
Fig. 4 is a schematic structural diagram of an infrared lamp in the positioning and calibrating device of the industrial robot.
Fig. 5 is a schematic diagram of the positioning calibration device of the industrial robot for two-dimensional positioning.
Fig. 6 is a schematic diagram of the positioning calibration device of the industrial robot for three-dimensional positioning.
In the figure: 1. positioning a plate; 2. a y-axis plate; 3. an x-axis plate; 4. fixing a column; 5. an x-axis slot; 6. a y-axis slot; 7. positioning the shaft; 8. a vertical limiting plate; 81. a contraction ruler plate; 82. a vertical ruler plate; 9. scale lines; 10. a mounting seat; 11. an infrared lamp; 12. a level gauge.
Detailed Description
It should be noted that, if there is a directional indication (such as up, down, left, right, front, and back) in the embodiment of the present invention, it is only used to explain the relative position relationship between the components, the motion situation, and the like in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly. In addition, if the description of "first", "second", etc. is referred to in the present invention, it is used for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Example 1
Referring to fig. 1-5, a positioning and calibrating device for an industrial robot comprises a positioning plate 1, a y-axis plate 2 with a y-axis groove 6, an x-axis plate 3 with an x-axis groove 5, a vertical limiting plate 8 and an infrared lamp 11, wherein the positioning plate 1, the y-axis plate 2 and the x-axis plate 3 are all fixedly connected through a fixing column 4, a positioning shaft 7 is arranged at the center of the upper surface of the positioning plate 1, the bottom end of the positioning shaft 7 penetrates through the positioning plate 1 and extends to the lower side of the positioning plate, the bottom end of the positioning shaft 7 is flush with the bottom end of the fixing column 4, the right wall of the positioning plate 1 is clamped with the vertical limiting plate 8, the infrared lamp 11 is provided with a mounting seat 10, a level 12 is fixedly connected to the front surface of the mounting seat 10, the structure of the mounting seat 10 is not limited as long as the mounting seat can be mounted at a position where the robot needs to be positioned, but the, the level 12 is a conventional product and is used to adjust the horizontal angle of the robot.
Further, the upper surfaces of the positioning plate 1, the y-axis plate 2 and the x-axis plate 3 are square and equal in side length, four fixing columns 4 are arranged in total and penetrate through four corners of the positioning plate 1 and are perpendicular to the positioning plate 1, the y-axis plate 2 is located right above the positioning plate 1 and is located right below the x-axis plate 3, the three plates are identical in shape and size, but different in thickness, when the positioning plate 1 is used, the positioning plate 1 is horizontally placed, the positioning shaft 7 is placed at a point required to be determined, light emitted by the infrared lamp 11 perpendicularly irradiates on the plate, one point appears, and if the point is located on the positioning plate 1, the positioning is accurate.
Furthermore, the x-axis groove 5 is located on the vertical center line of the upper surface of the x-axis plate 3, the x-axis groove 5 is a through groove, the y-axis groove 6 is located on the vertical center line of the upper surface of the y-axis plate 2, the y-axis groove 6 is a through groove, the two grooves are perpendicular to each other, if light emitted by the infrared lamp 11 irradiates on the x-axis plate 3, positioning is not accurate, firstly, the light moves back and forth to penetrate through the x-axis groove 5 to irradiate on the y-axis plate 2, if light emitted by the infrared lamp 11 irradiates on the y-axis plate 2, front and back positions are accurate, only the left and right positions need to be moved, if the light irradiates on the positioning plate 1, positioning is accurate, and the positioning shaft 7 is the intersection point of the x-axis groove and the y-axis groove.
In order to limit the calibration device, in this embodiment, the vertical limiting plate 8 includes a contraction ruler plate 81 and a vertical ruler plate 82, the contraction ruler plate 81 is fixedly connected to the middle of the left wall of the vertical ruler plate 82, and the contraction ruler plate 81 is perpendicular to the middle of the left wall of the vertical ruler plate 82, the right wall of the positioning plate 1 is provided with a deep groove, the contraction ruler plate 81 is clamped with the deep groove, when the calibration device is used, after the positioning shaft 7 is placed at a point to be fixed, the angle of the calibration device needs to be adjusted, so that the calibration device is vertical to the manipulator, the contraction ruler plate 81 is pulled out to push the vertical ruler plate 82 to move, the vertical ruler plate 82 is attached to the manipulator, at this time, the manipulator and the calibration device are relatively consistent in direction, the y-axis groove 6 corresponds to the front-back direction.
In order to make the limiting more accurate, in this embodiment, the upper surface of the contraction ruler plate 81 is provided with scale marks 9, the upper surface of the positioning plate 1 is also provided with scale marks 9, the scale marks 9 extend from the right wall of the positioning plate 1 to the positioning shaft 7 and are perpendicular to the right wall of the positioning plate 1, the scale marks 9 are corresponding, the scale marks are arranged to facilitate point finding, the point to be positioned is more accurate, and the scale marks on the upper surface of the positioning plate 1 and the scale marks extending out of the contraction ruler plate 81 are the perpendicular distance between the positioning shaft 7 and the manipulator.
The level 12 is made of transparent material, and the level 12 is filled with water and is provided with a bubble.
The x-axis plate 3, the y-axis plate 2 and the positioning plate 1 are distributed at equal intervals.
Example 2
Referring to fig. 6, the working principle of the three-dimensional calibration of the calibration device in embodiment 1 is explained in this embodiment, which is as follows:
after the two-dimensional calibration is carried out on the manipulator, the horizontal position of the manipulator does not need to be changed, only the vertical position of the manipulator needs to be adjusted, the direction of the device corresponds to the manipulator, then a vertical reference surface is found, the device is kept vertical to the ground by the vertical ruler plate 82, the vertical ruler plate 82 and the scale marks 9 of the positioning plate 1 are used, the vertical height of the device is adjusted, and at the moment, the vertical height of the manipulator is adjusted to enable the infrared lamp 11 to irradiate the positioning shaft 7, namely, the accurate positioning is realized.
The working principle of the invention is as follows: when calibration is needed, if a point needing to be fixed is determined, the positioning shaft 7 can be directly placed on the point needing to be positioned, if the point needing to be fixed is not determined, the point needing to be fixed can be found through the vertical limiting plate 8 and the scale mark 9, the vertical distance between the positioning shaft 7 and two surfaces can be found through two mutually perpendicular reference surfaces, namely a determined point can be found, after the positioning shaft 7 is placed, the vertical limiting plate 8 is used for adjusting the direction and the angle of the calibration device, the contraction ruler plate 81 is pulled out to push the vertical ruler plate 82 to move, the vertical ruler plate 82 is attached to the manipulator, at the moment, the direction of the manipulator is relatively consistent with that of the calibration device, the y-axis groove 6 corresponds to the front-back direction of the manipulator, the x-axis groove corresponds to the left-right direction of the manipulator, the infrared lamp 11 is installed on the position needing to be fixed by the manipulator, after the level 12 is, if the light emitted by the infrared lamp 11 irradiates on the x-axis plate 3, the positioning is inaccurate, firstly, the light moves back and forth to pass through the x-axis groove 5 to irradiate on the y-axis plate 2, if the light emitted by the infrared lamp 11 irradiates on the y-axis plate 2, the front and back positions are accurate, only the left and right positions need to be moved, if the light irradiates on the positioning plate 1, the positioning is accurate, and the positioning shaft 7 is the intersection point of the x-axis groove and the y-axis groove.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (7)
1. A positioning and calibrating device of an industrial manipulator comprises a positioning plate (1), a y-axis plate (2) provided with a y-axis groove (6), an x-axis plate (3) provided with an x-axis groove (5), a vertical limiting plate (8) and an infrared lamp (11), it is characterized in that the positioning plate (1), the y-axis plate (2) and the x-axis plate (3) are fixedly connected through a fixing column (4), a positioning shaft (7) is arranged at the center of the upper surface of the positioning plate (1), the bottom end of the positioning shaft (7) penetrates through the positioning plate (1) and extends to the lower part of the positioning plate, the bottom end of the positioning shaft (7) is flush with the bottom end of the fixing column (4), the right wall of the positioning plate (1) is clamped with the vertical limiting plate (8), the infrared lamp (11) is provided with a mounting seat (10), and the front face of the mounting seat (10) is fixedly connected with a level gauge (12).
2. The industrial robot positioning and calibrating device according to claim 1, wherein the upper surfaces of the positioning plate (1), the y-axis plate (2) and the x-axis plate (3) are square and have equal side length, the four fixing posts (4) are arranged in total and penetrate through four corners of the positioning plate (1) and are perpendicular to the positioning plate (1), and the y-axis plate (2) is arranged right above the positioning plate (1) and right below the x-axis plate (3).
3. The industrial robot positioning calibration device according to any one of claims 1-2, wherein the x-axis slot (5) is located at a vertical centerline of the upper surface of the x-axis plate (3) and the x-axis slot (5) is a through slot, the y-axis slot (6) is located at a vertical centerline of the upper surface of the y-axis plate (2) and the y-axis slot (6) is a through slot.
4. The positioning and calibrating device of the industrial manipulator according to claim 1, wherein the vertical limiting plate (8) comprises a contraction ruler plate (81) and a vertical ruler plate (82), the contraction ruler plate (81) is fixedly connected with the middle part of the left wall of the vertical ruler plate (82) and is perpendicular to the left wall, the right wall of the positioning plate (1) is provided with a deep groove, and the contraction ruler plate (81) is clamped with the deep groove.
5. The industrial robot positioning and calibrating device according to claim 4, wherein the upper surface of the retraction ruler plate (81) is provided with scale marks (9), the upper surface of the positioning plate (1) is also provided with scale marks (9), the scale marks (9) extend from the right wall of the positioning plate (1) to the positioning shaft (7) and are perpendicular to the right wall of the positioning plate (1), and two scale marks (9) correspond to each other.
6. The industrial robot positioning and calibrating device according to claim 1, wherein the level gauge (12) is made of a transparent material, and the level gauge (12) is filled with water and has a bubble left therein.
7. The industrial robot positioning calibration device according to claim 1, wherein the x-axis plate (3), the y-axis plate (2) and the positioning plate (1) are equally spaced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911253690.0A CN110919696A (en) | 2019-12-09 | 2019-12-09 | Positioning and calibrating device of industrial manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911253690.0A CN110919696A (en) | 2019-12-09 | 2019-12-09 | Positioning and calibrating device of industrial manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110919696A true CN110919696A (en) | 2020-03-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911253690.0A Withdrawn CN110919696A (en) | 2019-12-09 | 2019-12-09 | Positioning and calibrating device of industrial manipulator |
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| Country | Link |
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| CN (1) | CN110919696A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113345819A (en) * | 2021-06-03 | 2021-09-03 | 长鑫存储技术有限公司 | Calibration tool and method |
-
2019
- 2019-12-09 CN CN201911253690.0A patent/CN110919696A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113345819A (en) * | 2021-06-03 | 2021-09-03 | 长鑫存储技术有限公司 | Calibration tool and method |
| CN113345819B (en) * | 2021-06-03 | 2023-06-27 | 长鑫存储技术有限公司 | Calibration tool and method |
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Application publication date: 20200327 |