CN114393608B - Adjustable high-precision four-foot robot calibration platform - Google Patents
Adjustable high-precision four-foot robot calibration platform Download PDFInfo
- Publication number
- CN114393608B CN114393608B CN202210175744.1A CN202210175744A CN114393608B CN 114393608 B CN114393608 B CN 114393608B CN 202210175744 A CN202210175744 A CN 202210175744A CN 114393608 B CN114393608 B CN 114393608B
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- lifting
- horizontal
- supporting seat
- nut
- connecting part
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- 239000000758 substrate Substances 0.000 claims abstract description 12
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
-
- 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
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention discloses an adjustable high-precision four-foot robot calibration platform, which consists of a supporting seat, eight horizontal sliding tables, a lifting sliding table and a substrate, wherein: eight first connecting parts are downwards extended from the peripheral edges of the supporting seat and are provided with a group of bearing holes; the middle part of the bottom side of the supporting seat downwards extends out of a second connecting part, four fixing grooves are formed in two sides of the second connecting part, and a connecting hole is formed in the middle of the second connecting part; the horizontal sliding table is connected with the supporting seat through the first connecting parts respectively; the upper part of the lifting sliding table is connected with the supporting seat through a second connecting part; the bottom side of the lifting sliding table is connected with the substrate. The invention has the following beneficial effects: 1. universality, high precision, more reliability and convenient operation; 2. homogenizing the error by using an integral simultaneous calibration mode; 3. each sliding table uses hand wheel input, and the calibration result is converted into point contact observation, so that the calibration operation is simple and visual.
Description
Technical Field
The invention relates to the field of quadruped robots, in particular to an adjustable high-precision quadruped robot calibration platform.
Background
Currently, calibration of the quadruped robot is mostly carried out with the aid of simple visual calibration of human eyes or with the aid of a simple angle tool and a bracket with a clamping groove. However, the visual inspection method by human eyes has the disadvantages of low accuracy, poor reliability, low efficiency and the like, and is not suitable for mass production. The accuracy and the reliability are improved to a certain extent by means of the simple angle tool and the bracket with the clamping groove, but the structural errors among the individual products in the mass production cannot be flexibly adjusted, so that the universality is poor.
In addition, most calibration methods simply divide the whole four-legged robot into partial four-legged calibration, neglect the whole effect of errors, and improve the calibration accuracy.
Disclosure of Invention
The invention aims to: the invention improves the problems existing in the prior art, namely the invention discloses an adjustable high-precision four-foot robot calibration platform.
The technical scheme is as follows: the utility model provides a platform is markd to high accuracy four-legged robot with adjustable, comprises supporting seat, eight horizontal slip tables, lift slip table and basement, wherein:
eight first connecting parts are downwards extended from the peripheral edges of the supporting seat and are provided with a group of bearing holes;
the middle part of the bottom side of the supporting seat downwards extends out of a second connecting part, four fixing grooves are formed in two sides of the second connecting part, and a connecting hole is formed in the middle part of the second connecting part;
the horizontal sliding table is connected with the supporting seat through the first connecting part respectively;
the upper part of the lifting sliding table is connected with the supporting seat through the second connecting part;
the bottom side of the lifting sliding table is connected with the substrate.
Further, horizontal slip table comprises horizontal hand wheel, horizontal guide rail, guide rail nut connecting piece, horizontal nut, spring, horizontal lead screw, horizontal slider, mark slider, two bearings, mark the pointer, wherein:
the bearing is arranged in a bearing hole of the first connecting part, and a horizontal guide rail is arranged on the outer side of the first connecting part;
one end of the horizontal screw rod is provided with the horizontal hand wheel, and the other end of the horizontal screw rod sequentially penetrates through a bearing, the horizontal nut and the other bearing to be connected with the first connecting part;
one side of the horizontal nut is connected with one side of a guide rail nut connecting piece, the other side of the guide rail nut connecting piece is spliced with the horizontal guide rail, and a spring is arranged between the horizontal nut and the other end of the horizontal screw rod;
the guide rail nut connecting piece is connected with one side of the horizontal sliding block, and the horizontal sliding block is spliced with the horizontal guide rail;
the outer side of the horizontal sliding block is connected with the calibration sliding block through a screw, and two calibration pointers are arranged on the outer side wall of the calibration sliding block.
Further, the lift slip table comprises four lift guide rails, four lift sliders, lifting nut, lifting hand wheel, lift lead screw and lifting bearing, wherein:
the lifting nut is connected with the lifting screw rod through a screw pair, the lifting bearing is sleeved at the upper end of the lifting screw rod, the bottom side of the lifting bearing is in contact with the top side of the lifting nut, the edge bottom side of the lifting bearing extends outwards to form a step part, and the middle upper side of the lifting bearing is spliced with a connecting hole in the middle of the second connecting part of the supporting seat;
the lifting hand wheel is fixedly connected with the lifting nut;
the four lifting slide blocks are connected with four corners of the substrate, the four lifting guide rails are fixedly connected with four fixing grooves on two sides of the second connecting part of the supporting seat, and the lifting guide rails are matched with the lifting slide blocks through moving pairs.
Furthermore, the lifting hand wheel is fixedly connected with the lifting nut through screws, the four lifting sliding blocks are connected with four corners of the substrate through screws, and the four lifting guide rails are fixedly connected with the four fixing grooves on two sides of the second connecting part of the supporting seat through screws.
Further, the lower end of the lifting screw rod is connected with the substrate in an interference fit mode.
Further, the base comprises a base and a plane plate, and the base is locked and arranged in the middle of the top side of the plane plate through screws.
The beneficial effects are that: the adjustable high-precision four-foot robot calibration platform disclosed by the invention has the following beneficial effects:
1. the adjustable high-precision four-foot robot calibration platform has the advantages of universality, high precision, more reliability and convenient operation, namely structural errors exist among each individual after the four-foot robot is produced, and the adjustable high-precision four-foot robot calibration platform can be suitable for calibrating each robot;
2. the adjustable high-precision four-foot robot uses an integral simultaneous calibration mode to homogenize errors, and the clearance elimination treatment is carried out on the spiral pair of the screw rod, so that higher precision can be achieved;
3. each sliding table uses hand wheel input, and the calibration result is converted into point contact observation, so that the calibration operation is simple and visual.
Drawings
FIG. 1 is a schematic diagram of an adjustable high-precision quadruped robot calibration platform (for the convenience of those skilled in the art to know the internal structure, one side of the calibration slide is purposely processed into a circular arc shape);
FIG. 2 is a perspective view of an adjustable high-precision quadruped robot calibration platform of the present invention;
FIG. 3 is a schematic view of a horizontal slip;
FIGS. 4 and 5 are schematic views of the support base;
FIG. 6 is a schematic view of a base;
FIG. 7 is a schematic diagram of the connection of the base and the lifting slipway;
FIG. 8 is a front view of an adjustable high-precision quadruped robot calibration platform disclosed herein when calibrating a quadruped robot;
fig. 9 is a left side view of the adjustable high-precision quadruped robot calibration platform disclosed by the invention when calibrating the quadruped robot.
Wherein:
1-supporting seat 2-horizontal hand wheel
3-horizontal guide rail 4-guide rail nut connecting piece
5-horizontal nut 6-spring
7-horizontal screw rod 8-horizontal sliding block
9-calibration slide 10-bearing
11-calibration pointer 12-lifting guide rail
13-lifting slide block 14-lifting nut
15-base 16-lifting hand wheel
17-lifting screw 18-plane plate
Shoulder joint 20-quadruped robot bottom plate of 19-quadruped robot
21-four-foot robot thigh structural part 22-four-foot robot elbow joint
Crotch joint of 23-quadruped robot and 24-quadruped robot
25-lift bearing
The specific embodiment is as follows:
the following detailed description of specific embodiments of the invention.
As shown in fig. 1-7, an adjustable high-precision quadruped robot calibration platform is composed of a supporting seat 1, eight horizontal sliding tables, a lifting sliding table and a substrate, wherein:
eight first connecting parts are downwards extended and connected from the peripheral edge of the supporting seat 1, and a group of bearing holes are formed in the first connecting parts;
the middle part of the bottom side of the supporting seat 1 downwards extends out of a second connecting part, four fixing grooves are formed in two sides of the second connecting part, and a connecting hole is formed in the middle part of the second connecting part;
the horizontal slipway is connected with the supporting seat 1 through the first connecting part respectively;
the upper part of the lifting sliding table is connected with the supporting seat 1 through the second connecting part;
the bottom side of the lifting sliding table is connected with the substrate.
Further, the horizontal slip table comprises horizontal hand wheel 2, horizontal guide rail 3, guide rail nut connecting piece 4, horizontal nut 5, spring 6, horizontal lead screw 7, horizontal slider 8, mark slider 9, two bearings 10, mark pointer 11, wherein:
the bearing 10 is arranged in a bearing hole of the first connecting part, and a horizontal guide rail 3 is arranged on the outer side of the first connecting part;
one end of the horizontal screw rod 7 is provided with a horizontal hand wheel 2, and the other end of the horizontal screw rod 7 sequentially penetrates through a bearing 10, the horizontal nut 5 and the other bearing 10 to be connected with the first connecting part;
one side of the horizontal nut 5 is connected with one side of the guide rail nut connecting piece 4, the other side of the guide rail nut connecting piece 4 is spliced with the horizontal guide rail 3, and a spring 6 is arranged between the horizontal nut 5 and the other end of the horizontal screw rod 7;
the guide rail nut connecting piece 4 is connected with one side of the horizontal sliding block 8, and the horizontal sliding block 8 is spliced with the horizontal guide rail 3;
the outer side of the horizontal sliding block 8 is connected with the calibration sliding block 9 through a screw, and two calibration pointers 11 are arranged on the outer side wall of the calibration sliding block 9.
Further, the lifting sliding table is composed of four lifting guide rails 12, four lifting sliding blocks 13, a lifting nut 14, a lifting hand wheel 16, a lifting screw rod 17 and a lifting bearing 25, wherein:
the lifting nut 14 is connected with the lifting screw rod 17 through a screw pair, the lifting bearing 25 is sleeved at the upper end of the lifting screw rod 17, the bottom side of the lifting bearing 25 is in contact with the top side of the lifting nut 14, the edge bottom side of the lifting bearing 25 extends outwards to extend out of the step part, and the upper side of the lifting bearing 25 is spliced with a connecting hole in the middle of the second connecting part of the supporting seat 1;
the lifting hand wheel 16 is fixedly connected with the lifting nut 14;
the four lifting slide blocks 13 are connected with the four corners of the substrate, the four lifting guide rails 12 are fixedly connected with the four fixing grooves on the two sides of the second connecting part of the supporting seat 1, and the lifting guide rails 12 are matched with the lifting slide blocks 13 through moving pairs.
Further, the lifting hand wheel 16 is fixedly connected with the lifting nut 14 through a screw, the four lifting sliding blocks 13 are connected with four corners of the substrate through screws, and the four lifting guide rails 12 are fixedly connected with four fixing grooves on two sides of the second connecting part of the supporting seat 1 through screws.
Further, the lower end of the lifting screw 17 is connected to the base by means of an interference fit.
Further, the base is composed of a base 15 and a plane plate 18, and the base 15 is arranged in the middle of the top side of the plane plate 18 through screw locking.
As shown in fig. 8 and 9, the adjustable high-precision four-foot robot calibration platform is matched with a four-foot robot bottom plate 20 to be calibrated in shape, and the tail end spherical surfaces of two calibration pointers 11 on a calibration sliding block 9 are just contacted with two side surfaces of a four-foot robot thigh structural member 21 by adjusting four groups of eight horizontal sliding tables on a supporting seat 1, so that vertical calibration of a four-foot robot crotch joint 24 and a four-foot robot shoulder joint 19 is realized;
the height of the robot body is adjusted by adjusting the lifting sliding table in the vertical direction, so that two points of the four-foot robot lower legs 23 are just contacted with the plane plate 18, and the calibration of the elbow joint 22 of the four-foot robot is realized.
In addition, the accuracy of the calibration device itself can be maintained by adjusting the lengths of the two calibration pointers 11 so that the end spherical surfaces thereof are on the same vertical line.
The embodiments of the present invention have been described in detail. However, the present invention is not limited to the above-described embodiments, and various modifications may be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (4)
1. The utility model provides a platform is markd to high accuracy quadruped robot with adjustable, its characterized in that comprises supporting seat, eight horizontal slip tables, lift slip table and basement, wherein:
eight first connecting parts are downwards extended from the peripheral edges of the supporting seat and are provided with a group of bearing holes;
the middle part of the bottom side of the supporting seat downwards extends out of a second connecting part, four fixing grooves are formed in two sides of the second connecting part, and a connecting hole is formed in the middle part of the second connecting part;
the horizontal sliding table is connected with the supporting seat through the first connecting part respectively;
the upper part of the lifting sliding table is connected with the supporting seat through the second connecting part;
the bottom side of the lifting sliding table is connected with the substrate, wherein:
the horizontal slipway comprises a horizontal hand wheel, a horizontal guide rail, a guide rail nut connecting piece, a horizontal nut, a spring, a horizontal screw rod, a horizontal sliding block, a calibration sliding block, two bearings and a calibration pointer, wherein:
the bearing is arranged in a bearing hole of the first connecting part, and a horizontal guide rail is arranged on the outer side of the first connecting part;
one end of the horizontal screw rod is provided with the horizontal hand wheel, and the other end of the horizontal screw rod sequentially penetrates through a bearing, the horizontal nut and the other bearing to be connected with the first connecting part;
one side of the horizontal nut is connected with one side of a guide rail nut connecting piece, the other side of the guide rail nut connecting piece is spliced with the horizontal guide rail, and a spring is arranged between the horizontal nut and the other end of the horizontal screw rod;
the guide rail nut connecting piece is connected with one side of the horizontal sliding block, and the horizontal sliding block is spliced with the horizontal guide rail;
the outer side of the horizontal sliding block is connected with the calibration sliding block through a screw, and two calibration pointers are arranged on the outer side wall of the calibration sliding block;
the lifting sliding table consists of four lifting guide rails, four lifting sliding blocks, lifting nuts, lifting hand wheels, lifting screw rods and lifting bearings, wherein:
the lifting nut is connected with the lifting screw rod through a screw pair, the lifting bearing is sleeved at the upper end of the lifting screw rod, the bottom side of the lifting bearing is in contact with the top side of the lifting nut, the edge bottom side of the lifting bearing extends outwards to form a step part, and the middle upper side of the lifting bearing is spliced with a connecting hole in the middle of the second connecting part of the supporting seat;
the lifting hand wheel is fixedly connected with the lifting nut;
the four lifting slide blocks are connected with four corners of the substrate, the four lifting guide rails are fixedly connected with four fixing grooves on two sides of the second connecting part of the supporting seat, and the lifting guide rails are matched with the lifting slide blocks through moving pairs.
2. The adjustable high-precision four-foot robot calibration platform according to claim 1, wherein the lifting hand wheel is fixedly connected with the lifting nut through screws, the four lifting sliding blocks are connected with four corners of the base through screws, and the four lifting guide rails are fixedly connected with four fixing grooves on two sides of the second connecting part of the supporting seat through screws.
3. The adjustable high-precision quadruped robot calibration platform of claim 1, wherein the lower end of the lifting screw is connected with the base in an interference fit mode.
4. The adjustable high-precision quadruped robot calibration platform according to claim 1, wherein the base comprises a base and a plane plate, and the base is arranged in the middle of the top side of the plane plate in a locking manner through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210175744.1A CN114393608B (en) | 2022-02-24 | 2022-02-24 | Adjustable high-precision four-foot robot calibration platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210175744.1A CN114393608B (en) | 2022-02-24 | 2022-02-24 | Adjustable high-precision four-foot robot calibration platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114393608A CN114393608A (en) | 2022-04-26 |
| CN114393608B true CN114393608B (en) | 2024-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210175744.1A Active CN114393608B (en) | 2022-02-24 | 2022-02-24 | Adjustable high-precision four-foot robot calibration platform |
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| Country | Link |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556197A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
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| CN105808882A (en) * | 2016-03-29 | 2016-07-27 | 郑州轻工业学院 | Calibration method and device for movement parameters of reptile-imitated four-foot walking robot |
| CN108637565A (en) * | 2018-05-24 | 2018-10-12 | 安徽原动力生产力促进中心有限公司 | A kind of plank clamping device for welding convenient for adjusting |
| CN109765518A (en) * | 2018-12-29 | 2019-05-17 | 中国科学院合肥物质科学研究院 | A kind of Power Vehicle power calibration platform |
| CN109839312A (en) * | 2019-02-15 | 2019-06-04 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Mooring line static rigidity caliberating device in air |
| CN112238468A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Multi-angle rotary base for supporting industrial robot and operation method thereof |
| WO2021175098A1 (en) * | 2020-03-06 | 2021-09-10 | 泉州华中科技大学智能制造研究院 | Calibration device and calibration method for structured light three-dimensional scanning camera |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9981389B2 (en) * | 2014-03-03 | 2018-05-29 | California Institute Of Technology | Robotics platforms incorporating manipulators having common joint designs |
-
2022
- 2022-02-24 CN CN202210175744.1A patent/CN114393608B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556197A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| KR20140021752A (en) * | 2012-08-09 | 2014-02-20 | 성균관대학교산학협력단 | Gear connection mechanism of walking robot, and driving force transfer mechanism of walking robot, and two degree-of-freedom mechanism of walking robot, and biomimetic walking robot having kinetic waling funciton of the same mechanism |
| CN103353763A (en) * | 2013-06-08 | 2013-10-16 | 中国地质大学（武汉） | Three-dimensional mobile platform and ICP torch tube positioning device applied therewith |
| CN105808882A (en) * | 2016-03-29 | 2016-07-27 | 郑州轻工业学院 | Calibration method and device for movement parameters of reptile-imitated four-foot walking robot |
| CN108637565A (en) * | 2018-05-24 | 2018-10-12 | 安徽原动力生产力促进中心有限公司 | A kind of plank clamping device for welding convenient for adjusting |
| CN109765518A (en) * | 2018-12-29 | 2019-05-17 | 中国科学院合肥物质科学研究院 | A kind of Power Vehicle power calibration platform |
| CN109839312A (en) * | 2019-02-15 | 2019-06-04 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Mooring line static rigidity caliberating device in air |
| WO2021175098A1 (en) * | 2020-03-06 | 2021-09-10 | 泉州华中科技大学智能制造研究院 | Calibration device and calibration method for structured light three-dimensional scanning camera |
| CN112238468A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Multi-angle rotary base for supporting industrial robot and operation method thereof |
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| CN114393608A (en) | 2022-04-26 |
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