CN219184092U - Mechanical arm navigation calibration device - Google Patents
Mechanical arm navigation calibration device Download PDFInfo
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- CN219184092U CN219184092U CN202222608091.XU CN202222608091U CN219184092U CN 219184092 U CN219184092 U CN 219184092U CN 202222608091 U CN202222608091 U CN 202222608091U CN 219184092 U CN219184092 U CN 219184092U
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Abstract
The utility model provides a mechanical arm navigation calibration device which comprises a first bearing panel, a second bearing panel, a calibration connecting assembly and a diffusion plate, wherein the first bearing panel is connected with the second bearing panel; the first bearing panel and the second bearing panel are mutually attached and fixed, a plurality of infrared light source assemblies are arranged between the first bearing panel and the second bearing panel, and a plurality of circular light ray outlets are arranged on the first bearing panel; the calibration connecting component is connected with the device and the mechanical arm; the diffusion plates are arranged in the circular light ray emission ports in a one-to-one correspondence mode, a plurality of diffusion plates are positioned on the same plane, and infrared light emitted by the infrared light source assembly is emitted after being diffused by the diffusion plates. Be provided with infrared light source subassembly between first loading board and second loading board, infrared light that infrared light source subassembly sent is changed into a plurality of regional light sources of piece through a plurality of diffusion plates that are in on the coplanar, utilizes the diffusion plate simultaneously can guarantee that a plurality of light sources flush each other for calibration effect and operation navigation effect are ensured.
Description
Technical Field
The utility model relates to the technical field of medical equipment, relates to a preoperative calibration device of an operation navigation system, and in particular relates to a mechanical arm navigation calibration device.
Background
The surgical navigation system mainly includes an optical positioner, a patient side reference plate, and an operation side reference plate. The patient side reference plate is fixed on the patient and used for judging the real-time position of the operation part; the operation side reference plate is fixed on operation implementation equipment such as a scalpel and a planting mobile phone and is used for judging the real-time position of the equipment such as the scalpel. According to the different main bodies of the operation, the operation side in the mobile phone navigation system can be controlled manually or by a mechanical arm. Compared with a manual control mode, the mechanical arm is used for controlling the operation implementation equipment, so that the operation process is more stable, and the ideal implementation effect is better achieved.
The mechanical arm itself has a control coordinate system, the optical positioner itself also has a navigation coordinate system, and before the operation is performed by using the mechanical arm, a coordinate conversion relationship needs to be established between the control coordinate system and the navigation coordinate system through calibration, so that the navigation system directly drives the mechanical arm to perform the operation by the control coordinate system based on the mechanical arm itself and the patient side reference plate.
In the prior art, a point light source is generally used as a reference light source, the point light source is similar to a spherical illuminant, and the characteristic of the point light source makes it difficult for a common calibration device to ensure that a plurality of light sources are mutually flush, so that the calibration effect is influenced, and the operation effect is further influenced.
Disclosure of Invention
The technical problem to be solved by the utility model is to provide the mechanical arm navigation calibration device aiming at the defects in the prior art, and a plurality of area sheet light sources are formed through a plurality of diffusion plates on the same plane, so that the plurality of light sources can be ensured to be mutually flush, and the calibration effect and the operation navigation effect are ensured.
The technical scheme adopted for solving the technical problems is as follows:
a robotic arm navigation calibration apparatus, comprising:
the LED lamp comprises a first bearing panel and a second bearing panel, wherein the first bearing panel and the second bearing panel are mutually attached and fixed, a plurality of circular light ray emission ports are formed in the first bearing panel, a plurality of infrared light source assemblies are arranged between the first bearing panel and the second bearing panel, and the infrared light source assemblies are arranged in the circular light ray emission ports in a one-to-one correspondence manner;
the calibration connecting assembly is characterized in that one end of the calibration connecting assembly is fixedly arranged on the first bearing panel and the second bearing panel, and the other end of the calibration connecting assembly is fixedly arranged on the mechanical arm;
the diffusion plates are arranged in the circular light ray emission ports in a one-to-one correspondence mode, the diffusion plates are positioned on the same plane, and infrared light emitted by the infrared light source assembly is emitted outwards through the circular light ray emission ports after being diverged by the diffusion plates corresponding to the infrared light source assembly.
Compared with the prior art, the beneficial effects of the technical scheme are as follows: be provided with infrared light source subassembly between first loading board and second loading board, infrared light that infrared light source subassembly sent is changed into a plurality of regional light sources of piece through a plurality of diffusion plates that are in on the coplanar, utilizes the diffusion plate simultaneously can guarantee that a plurality of light sources flush each other for calibration effect and operation navigation effect are ensured.
Further, the first bearing panel is an aluminum plate, and the second bearing panel is a PCB;
the infrared light source assembly comprises a plurality of infrared light beads, and the infrared light beads are fixedly arranged on the second bearing panel and electrically connected with the second bearing panel.
The beneficial effects of adopting above-mentioned scheme are: on the one hand, the aluminum plate is adopted as the first bearing panel, and the characteristics of high strength and light weight of the aluminum plate are utilized, so that the aluminum plate can play a good role in protection, and meanwhile, the device quality is reduced. On the other hand, adopt the PCB board as the second and bear the weight of the panel, realize the power supply of infrared light source subassembly based on the PCB board, utilize the glass fiber structure that originally has on the PCB board simultaneously can play certain guard action.
Further, 8 infrared light beads are arranged in one infrared light source assembly, and the 8 infrared light beads are arranged into a 2 x 4 bead matrix.
The beneficial effects of adopting above-mentioned scheme are: be provided with 8 infrared light lamp pearls on every infrared light source subassembly, 8 infrared light lamp pearls arrange into 2 4 lamp pearl matrixes, combine the light divergence effect of diffuser plate, can obtain the regional piece light source that intensity is higher, degree of consistency is better.
Further, a power connection line is arranged on the second bearing panel, and the infrared light source component is electrically connected with the power connection line through the second bearing panel;
the cable locking piece comprises a first connecting piece, an arc-shaped pressing piece and a second connecting piece which are sequentially connected end to end, the cable locking piece passes through the first connecting piece and the second connecting piece through a bolt to be fixed on the second bearing panel, and the power supply connecting wire is fixedly connected between the arc-shaped pressing piece and the second bearing panel in a pressing mode;
the first connecting piece, the arc-shaped pressing piece and the second connecting piece are of metal structures.
The beneficial effects of adopting above-mentioned scheme are: the cable locking piece is formed by the first connecting piece, the arc-shaped pressing piece and the second connecting piece, and the power connecting wire is clamped by the elasticity of the cable locking piece with the metal structure, so that a better fixing effect can be achieved.
Further, a circular groove is formed in the center of the first bearing panel, and a circular through hole is formed in the center of the second bearing panel;
the calibration connecting assembly comprises a calibration connecting rod and a calibration connecting cylinder which are integrally formed, an internal thread connecting hole is formed in one end, far away from the calibration connecting rod, of the calibration connecting cylinder, and the outer diameter of the calibration connecting cylinder is equal to the inner diameter of the circular groove;
the calibration connecting cylinder is embedded in the circular groove and is abutted to one face of the first bearing panel, a fixed connecting bolt is arranged in the internal thread connecting hole, the inner diameter of the circular through hole is larger than the outer diameter of the fixed connecting bolt, and the fixed connecting bolt is abutted to the other face of the first bearing panel.
The beneficial effects of adopting above-mentioned scheme are: the calibration connecting assembly is connected with devices such as a planting mobile phone on the mechanical arm through the calibration connecting rod, and is connected with the calibration device through the circular groove by the calibration connecting cylinder, and the fixed connecting bolt passes through the circular groove and then locks the calibration connecting assembly on the first bearing panel, so that the damage to the second bearing panel caused by repeated disassembly and assembly can be avoided, and the influence on the PCB is reduced.
Further, a plurality of circular loading holes are formed in the first bearing panel, the circular loading holes and the circular light emitting holes are arranged concentrically with each other, the circular loading holes are formed in one face, close to the second bearing panel, of the first bearing panel, the circular light emitting holes are formed in one face, far away from the second bearing panel, of the first bearing panel, and the circular loading holes, the infrared light source assembly, the circular light emitting holes and the diffusion plate are in one-to-one correspondence;
the infrared light source assemblies are respectively positioned in the circular loading holes.
The beneficial effects of adopting above-mentioned scheme are: the one side that is close to the second on first bearing panel bears the weight of the panel is provided with circular loading hole, utilizes the loading cavity that circular loading hole formed, accomodates infrared light source subassembly wherein, can play certain guard action to infrared light source subassembly.
Further, an annular bearing plane is formed on the bottom surface of the circular loading hole, and a loading cavity is formed between the circular loading hole and the second bearing panel;
the loading cavity is internally provided with an annular pressing piece, the diffusion plate is arranged between the annular pressing piece and the annular bearing plane, and the second bearing panel sequentially locks and abuts the annular pressing piece and the diffusion plate on the annular bearing plane of the first bearing panel.
The beneficial effects of adopting above-mentioned scheme are: deformation of the first bearing panel and the second bearing panel due to excessive locking is prevented through the annular pressing piece, and protection effect on the infrared light source assembly is improved.
Further, the annular pressing piece is of an aluminum alloy structure, and a reflecting mirror surface is formed on the inner side of the annular pressing piece.
The beneficial effects of adopting above-mentioned scheme are: the reflection mirror surface is formed on the inner side of the annular pressing piece, so that light rays emitted by the infrared light source assembly can be gathered, and the intensity of infrared light is improved.
Further, the number of the infrared light source assemblies is 6; correspondingly, the circular light ray outlet and the diffusion plate are respectively provided with 6.
The beneficial effects of adopting above-mentioned scheme are: generally, the navigation calibration device at least needs 4 infrared light source components to work normally, and the calibration device is provided with 6 infrared light source components. The optical positioner can improve the precision of the optical positioner identification calibration device by more infrared light source components, meanwhile, the reliability of the calibration device can be improved, even if any 2 infrared light source components in 6 infrared light source components fail, the rest 4 infrared light source components still can support the normal work of the calibration device, and the normal work of the calibration device in a larger angle range can be ensured.
Further, the diffusion plate is a semitransparent acrylic plate.
The beneficial effects of adopting above-mentioned scheme are: the semitransparent acrylic plate is used as a diffusion plate, so that the light scattering effect can be ensured, and the light scattering plate has the advantages of high strength, low manufacturing cost and the like.
Drawings
FIG. 1 is an overall schematic diagram of a robotic arm navigation calibration apparatus of the present utility model.
FIG. 2 is an exploded view of the robotic arm navigation calibration apparatus of the present utility model.
FIG. 3 is a schematic view of a cable lock in a robotic arm navigation calibration apparatus of the present utility model.
FIG. 4 is a schematic view of one side of a first carrying panel in the mechanical arm navigation calibration device of the present utility model.
FIG. 5 is a schematic view of another side of the first carrying panel in the mechanical arm navigation calibration device of the present utility model.
In the drawings, the list of components represented by the respective reference numerals is as follows:
the device comprises a first bearing panel 1, a second bearing panel 2, a calibration connecting assembly 3, a diffusion plate 4, a power supply connecting wire 5, a cable locking piece 6, a connecting bolt 7 and an infrared light source assembly 8;
a circular light ray outlet 101, a circular groove 102, a circular loading hole 103 and an annular pressing piece 104;
a circular through hole 201;
a first connecting piece 601, an arc-shaped pressing piece 602 and a second connecting piece 603.
Detailed Description
In order to make the objects, technical solutions and advantages of the present utility model more clear and clear, the present utility model will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or component to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of the two components. When an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. It will be understood by those of ordinary skill in the art that the terms described above are in the specific sense of the present utility model.
The surgical navigation system mainly includes an optical positioner, a patient side reference plate, and an operation side reference plate. The patient side reference plate is fixed on the patient and used for judging the real-time position of the operation part; the operation side reference plate is fixed on operation implementation equipment such as a scalpel and a planting mobile phone and is used for judging the real-time position of the equipment such as the scalpel. According to the different main bodies of the operation, the operation side in the mobile phone navigation system can be controlled manually or by a mechanical arm. Compared with a manual control mode, the manipulator is used for controlling the operation implementation equipment, so that the operation process is more stable, and the ideal mobile phone implementation effect is better achieved.
For the surgical navigation system itself, the robotic arm itself has a control coordinate system and the optical positioner itself has a navigation coordinate system. This also makes it necessary to establish a coordinate conversion relationship between the control coordinate system and the navigation coordinate system by calibration before performing the surgery using the robot arm, so that the navigation system can drive the robot arm to control the running direction, position and trajectory of the performing device directly based on the control coordinate system of the robot arm itself and the patient-side reference plate, thereby performing the surgery. Thus, it can be said that the calibration is a pre-action of surgical navigation.
In the prior art, a point light source is generally used as a reference light source, the point light source is similar to a spherical illuminant, and the characteristic of the point light source makes it difficult for a common calibration device to ensure that a plurality of light sources are mutually flush, so that the calibration effect is influenced, and the operation effect is further influenced.
As shown in fig. 1 and 2, in order to solve the above-mentioned problems, the present utility model provides a mechanical arm navigation calibration device, which includes a first carrying panel 1, a second carrying panel 2, a calibration connection assembly 3 and a plurality of diffusion plates 4. The first carrying panel 1 and the second carrying panel 2 are used for playing a structural supporting role on other components, the calibration connecting component 3 is used for connecting a mechanical arm in the calibration process, the diffusion plate 4 is used for diffusing infrared light, and the point light sources are converted into regional sheet light sources.
The first bearing panel 1 and the second bearing panel 2 are mutually adhered and fixed to form a plate-shaped structure; the first bearing panel 1 is provided with a plurality of circular light ray emission ports 101, a plurality of infrared light source components 8 are arranged between the first bearing panel 1 and the second bearing panel 2, and the infrared light source components 8 are arranged in the circular light ray emission ports 101 in a one-to-one correspondence manner.
One end of the calibration connecting component 3 is fixedly arranged on the first bearing panel 1 and the second bearing panel 2, and the other end of the calibration connecting component 3 is fixedly arranged on the mechanical arm; the mutual fixed connection between the mechanical arm and the plate-shaped structure formed by the first bearing panel 1 and the second bearing panel 2 is realized through the calibration connecting assembly 3.
Compared with the prior art, the innovation point of the device is that: the diffusion plates 4 are arranged in the circular light ray outlet 101 in a one-to-one correspondence manner, and a plurality of diffusion plates 4 are positioned on the same plane. In the working process, the infrared light emitted by the infrared light source assembly 8 is emitted outwards through the circular light emitting opening 101 after being diffused by the corresponding diffusion plate 4, and the point light source is converted into a regional sheet light source by the diffusion plate 4. Since the plurality of diffusion plates 4 are on the same plane, the plurality of area sheet light sources are also on the same plane, which can ensure that the plurality of light sources are flush with each other, so that the calibration effect and the operation navigation effect are ensured.
Preferably, the first carrying panel 1 is an aluminum plate, and the second carrying panel 2 is a PCB plate; the infrared light source assembly 8 includes a plurality of infrared light beads, and a plurality of infrared light beads are fixedly disposed on the second carrying panel 2 and electrically connected to the second carrying panel 2.
One of the important functions of the first carrying panel 1 and the second carrying panel 2 is to provide structural support for other components on the calibration device. On the one hand, the aluminum plate is adopted as the first bearing panel 1, and the characteristics of high strength and light weight of the aluminum plate are utilized, so that a good protection effect can be achieved, and meanwhile, the device quality is reduced. On the other hand, adopt the PCB board as the second bears panel 2, realize the power supply of infrared light source subassembly 8 based on the PCB board, utilize the glass fiber structure that originally has on the PCB board simultaneously can play certain guard action.
Because the operation that needs to use water or other liquid can not be involved in the process of demarcating, moreover demarcating operation can be accomplished sooner, and the risk of demarcating the device water intaking is negligible, consequently, adopts the PCB board as second loading panel 2, can simplify the structure of this device, and need not additionally to set up other loading board, can also realize circuit connection and structural support function simultaneously.
In this technical scheme, specifically, be provided with 8 in the infrared light source subassembly 8 infrared light lamp pearl, 8 infrared light lamp pearl is arranged into 2 x 4's lamp pearl matrix. Be provided with 8 infrared light lamp pearls on every infrared light source subassembly 8, 8 infrared light lamp pearls arrange into 2 4 lamp pearl matrixes, combine the light divergence effect of diffuser plate 4, can obtain the regional piece light source that intensity is higher, degree of consistency is better.
As shown in fig. 1 and 2, a power connection line 5 is disposed on the second carrying panel 2, and the infrared light source assembly 8 is electrically connected to the power connection line 5 through the second carrying panel 2; the second carrying panel 2 is provided with a cable locking member 6 on one surface far away from the first carrying panel 1, the cable locking member 6 comprises a first connecting sheet 601, an arc-shaped pressing sheet 602 and a second connecting sheet 603 which are sequentially connected end to end, the cable locking member 6 passes through the first connecting sheet 601 and the second connecting sheet 603 through bolts to be fixed on the second carrying panel 2, and the power supply connecting wire 5 is fixedly connected between the arc-shaped pressing sheet 602 and the second carrying panel 2 in a pressing manner; the first connecting piece 601, the arc-shaped pressing piece 602 and the second connecting piece 603 are of metal structures.
The cable locking piece 6 is formed through the first connecting piece 601, the arc-shaped pressing piece 602 and the second connecting piece 603 of the metal structure, when the cable locking piece 6 is fixed on the second bearing panel 2, the power connecting wire 5 is clamped and fixed through the space between the arc-shaped pressing piece 602 and the second bearing panel 2, and the power connecting wire 5 is clamped and limited by utilizing the elasticity of the cable locking piece 6 of the metal structure, so that a better fixing effect can be achieved.
As shown in fig. 4, a circular groove 102 is formed in the center of the first carrying panel 1; as shown in fig. 2, a circular through hole 201 is formed in the center of the second carrying panel 2. The calibration connecting assembly 3 comprises a calibration connecting rod 301 and a calibration connecting cylinder 302 which are integrally formed, wherein an internal thread connecting hole is formed in one end, far away from the calibration connecting rod 301, of the calibration connecting cylinder 302, and the outer diameter of the calibration connecting cylinder 302 is equal to the inner diameter of the circular groove 102; the calibration connection cylinder 302 is embedded in the circular groove 102 and abuts against one surface of the first bearing panel 1, a fixed connection bolt 7 is arranged in the internal threaded connection hole, the inner diameter of the circular through hole 201 is larger than the outer diameter of the fixed connection bolt 7, and the fixed connection bolt 7 abuts against the other surface of the first bearing panel 1.
In this technical scheme, adopt the PCB board as second to bear panel 2, second bears panel 2 to need specific structural support and circuit connection function simultaneously. Because the device at least needs to be assembled and disassembled in two steps in the actual calibration process, frequent disassembly and assembly are unavoidable in multiple uses, which may affect the circuit connection function of the second carrier panel 2.
To solve this problem, the calibration connection assembly 3 is directly fixed to the first carrier panel 1 without coming into contact with the second carrier panel 2. The calibration connecting assembly 3 is connected with devices such as a planting mobile phone on the mechanical arm through the calibration connecting rod 301, and is connected with the calibration device through the circular groove 102 by the calibration connecting cylinder 302, and the fixed connecting bolt 7 passes through the circular groove 102 to lock the calibration connecting assembly 3 on the first bearing panel 1, so that the damage to the second bearing panel 2 caused by repeated disassembly and assembly can be avoided, and the influence on the PCB is reduced.
As shown in fig. 5, the first carrying panel 1 is provided with a plurality of circular loading holes 103, the circular loading holes 103 and the circular light emitting holes 101 are concentrically arranged, the circular loading holes 103 are positioned on one surface of the first carrying panel 1 close to the second carrying panel 2, the circular light emitting holes 101 are positioned on one surface of the first carrying panel 1 far away from the second carrying panel 2, and the circular loading holes 103, the infrared light source assemblies 8, the circular light emitting holes 101 and the diffusion plate 4 are in one-to-one correspondence; a plurality of the infrared light source modules 8 are respectively located in a plurality of the circular loading holes 103.
The circular loading hole 103 is arranged on one surface, close to the second loading panel 2, of the first loading panel 1, and the infrared light source assembly 8 is accommodated in the loading cavity formed by the circular loading hole 103, so that a certain protection effect can be achieved on the infrared light source assembly 8.
Preferably, an annular bearing plane is formed on the bottom surface of the circular loading hole 103, and a loading cavity is formed between the circular loading hole 103 and the second loading panel 2; the loading cavity is internally provided with an annular pressing piece 104, the diffusion plate 4 is arranged between the annular pressing piece 104 and the annular bearing plane, and the second bearing panel 2 sequentially locks and abuts the annular pressing piece 104 and the diffusion plate 4 on the annular bearing plane of the first bearing panel.
In the process of installation, a plurality of infrared light beads in the infrared light source assembly 8 are welded and fixed on the second bearing panel 2, electric connection between the infrared light beads and the second bearing panel 2 is achieved, and then the diffusion plate 4 and the annular pressing piece 104 are placed in the loading cavity in sequence, so that the diffusion plate 4 is abutted to the annular bearing plane, and the annular pressing piece 104 is abutted to the diffusion plate 4. After the steps are finished, the first bearing panel 1 and the second bearing panel 2 are mutually adhered and fixed, and the second bearing panel 2 is abutted to one side, far away from the annular bearing plane, of the annular bearing plane, so that the installation can be finished.
Based on the above structure, the annular pressing member 104 is located between the first carrying panel and the second carrying panel, and deformation between the first carrying panel and the second carrying panel due to excessive locking is prevented by the annular pressing member 104, so as to promote protection effect on the infrared light source assembly 8
Preferably, the annular pressing member 104 has an aluminum alloy structure, and a reflecting mirror surface is formed on the inner side of the annular pressing member 104. The inner side of the annular pressing piece 104 forms a reflecting mirror surface, when a plurality of infrared light beads in the infrared light source assembly 8 emit infrared light, the annular pressing piece 104 can collect light emitted by the infrared light source assembly 8 by utilizing the reflecting mirror surface formed on the inner side of the annular pressing piece, so that more infrared light can be emitted smoothly, and the intensity of the infrared light is improved.
Specifically, the infrared light source assemblies 8 are provided with 6; correspondingly, the circular light outlet 101 and the diffusion plate 4 are respectively provided with 6. Generally, the navigation calibration apparatus requires at least 4 infrared light source assemblies 8, and the calibration apparatus is provided with 6. The optical positioner can improve the precision of the optical positioner identification calibration device by more infrared light source components, meanwhile, the reliability of the calibration device can be improved, even if any 2 infrared light source components in 6 infrared light source components fail, the rest 4 infrared light source components still can support the normal work of the calibration device, and the normal work of the calibration device in a larger angle range can be ensured.
Preferably, the diffusion plate 4 is a semitransparent acrylic plate. The semitransparent acrylic plate is adopted as the diffusion plate 4, so that the light scattering effect can be ensured, and the light scattering plate has the advantages of high strength, low manufacturing cost and the like.
The process for calibrating the operation navigation system based on the calibration device comprises the following steps: the calibration device is fixedly arranged on an operating part of the mechanical arm, such as a planting mobile phone, and the plane where the plurality of round light ray emission ports 101 are located can be ensured by the calibration connecting assembly 3 which is designed in advance according to the size of the operating part, the plane is in the same plane with the action point of the operating part on the mechanical arm, and the action point of the operating part on the mechanical arm is positioned at the central positions of the first bearing panel 1 and the second bearing panel 2. At this time, the infrared light source assemblies 8 are controlled to emit infrared light, and the optical positioner can determine the coordinates of the central positions of the first carrying panel 1 and the second carrying panel 2 according to the infrared light emitted by the plurality of infrared light source assemblies 8. And establishing a coordinate conversion relation with the coordinate of the mechanical arm according to the obtained coordinate, and thus completing calibration. The calibrated mechanical arm can be operated under the coordination guidance of the navigation system.
It is to be understood that the utility model is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (10)
1. The mechanical arm navigation calibration device is characterized by comprising:
the LED lamp comprises a first bearing panel and a second bearing panel, wherein the first bearing panel and the second bearing panel are mutually attached and fixed, a plurality of circular light ray emission ports are formed in the first bearing panel, a plurality of infrared light source assemblies are arranged between the first bearing panel and the second bearing panel, and the infrared light source assemblies are arranged in the circular light ray emission ports in a one-to-one correspondence manner;
the calibration connecting assembly is characterized in that one end of the calibration connecting assembly is fixedly arranged on the first bearing panel and the second bearing panel, and the other end of the calibration connecting assembly is fixedly arranged on the mechanical arm;
the diffusion plates are arranged in the circular light ray emission ports in a one-to-one correspondence mode, the diffusion plates are positioned on the same plane, and infrared light emitted by the infrared light source assembly is emitted outwards through the circular light ray emission ports after being diverged by the diffusion plates corresponding to the infrared light source assembly.
2. The mechanical arm navigation calibration device according to claim 1, wherein the first bearing panel is an aluminum plate, and the second bearing panel is a PCB plate;
the infrared light source assembly comprises a plurality of infrared light beads, and the infrared light beads are fixedly arranged on the second bearing panel and electrically connected with the second bearing panel.
3. The mechanical arm navigation calibration device according to claim 2, wherein 8 infrared light beads are arranged in one infrared light source assembly, and the 8 infrared light beads are arranged in a 2 x 4 bead matrix.
4. The mechanical arm navigation calibration device according to claim 2, wherein a power connection line is arranged on the second bearing panel, and the infrared light source assembly is electrically connected with the power connection line through the second bearing panel;
the cable locking piece comprises a first connecting piece, an arc-shaped pressing piece and a second connecting piece which are sequentially connected end to end, the cable locking piece passes through the first connecting piece and the second connecting piece through a bolt to be fixed on the second bearing panel, and the power supply connecting wire is fixedly connected between the arc-shaped pressing piece and the second bearing panel in a pressing mode;
the first connecting piece, the arc-shaped pressing piece and the second connecting piece are of metal structures.
5. The mechanical arm navigation calibration device according to claim 2, wherein a circular groove is formed in the center of the first bearing panel, and a circular through hole is formed in the center of the second bearing panel;
the calibration connecting assembly comprises a calibration connecting rod and a calibration connecting cylinder which are integrally formed, an internal thread connecting hole is formed in one end, far away from the calibration connecting rod, of the calibration connecting cylinder, and the outer diameter of the calibration connecting cylinder is equal to the inner diameter of the circular groove;
the calibration connecting cylinder is embedded in the circular groove and is abutted to one face of the first bearing panel, a fixed connecting bolt is arranged in the internal thread connecting hole, the inner diameter of the circular through hole is larger than the outer diameter of the fixed connecting bolt, and the fixed connecting bolt is abutted to the other face of the first bearing panel.
6. The mechanical arm navigation calibration device according to claim 5, wherein a plurality of circular loading holes are formed in the first bearing panel, the circular loading holes and the circular light emitting holes are arranged concentrically with each other, the circular loading holes are formed in one surface of the first bearing panel, which is close to the second bearing panel, the circular light emitting holes are formed in one surface of the first bearing panel, which is far away from the second bearing panel, and the circular loading holes, the infrared light source assembly, the circular light emitting holes and the diffusion plate are in one-to-one correspondence;
the infrared light source assemblies are respectively positioned in the circular loading holes.
7. The mechanical arm navigation calibration device according to claim 6, wherein an annular bearing plane is formed on the bottom surface of the circular loading hole, and a loading cavity is formed between the circular loading hole and the second bearing panel;
the loading cavity is internally provided with an annular pressing piece, the diffusion plate is arranged between the annular pressing piece and the annular bearing plane, and the second bearing panel sequentially locks and abuts the annular pressing piece and the diffusion plate on the annular bearing plane of the first bearing panel.
8. The mechanical arm navigation calibration device according to claim 7, wherein the annular pressing member is of an aluminum alloy structure, and a reflecting mirror surface is formed on the inner side of the annular pressing member.
9. The mechanical arm navigation calibration device according to any one of claims 1-8, wherein 6 infrared light source assemblies are provided; correspondingly, the circular light ray outlet and the diffusion plate are respectively provided with 6.
10. The device according to any one of claims 1 to 8, wherein the diffusion plate is a semitransparent acrylic plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222608091.XU CN219184092U (en) | 2022-09-30 | 2022-09-30 | Mechanical arm navigation calibration device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222608091.XU CN219184092U (en) | 2022-09-30 | 2022-09-30 | Mechanical arm navigation calibration device |
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| CN219184092U true CN219184092U (en) | 2023-06-16 |
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| CN202222608091.XU Active CN219184092U (en) | 2022-09-30 | 2022-09-30 | Mechanical arm navigation calibration device |
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2022
- 2022-09-30 CN CN202222608091.XU patent/CN219184092U/en active Active
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