CN203245581U - Balance arm improving positioning control precision - Google Patents
Balance arm improving positioning control precision Download PDFInfo
- Publication number
- CN203245581U CN203245581U CN 201320160001 CN201320160001U CN203245581U CN 203245581 U CN203245581 U CN 203245581U CN 201320160001 CN201320160001 CN 201320160001 CN 201320160001 U CN201320160001 U CN 201320160001U CN 203245581 U CN203245581 U CN 203245581U
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- CN
- China
- Prior art keywords
- encoder
- arm bridge
- back shaft
- angular adjustment
- arm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Abstract
A balance arm improving positioning control precision comprises a mounting bracket, a first arm bridge, a second arm bridge, a first encoder and a second encoder. The two ends of the first arm bridge are respectively provided with a supporting shaft. One end of the first arm bridge is arranged on the mounting bracket through a rotation pair. One end of the second arm bridge is connected with the other end of the first arm bridge through another rotation pair. The first encoder is arranged between the first arm bridge and the mounting bracket. The second encoder is arranged between the first arm bridge and the second arm bridge. One end of the first arm bridge rotates around the mounting bracket. The first encoder can detect the rotation angle of the first arm bridge. The first arm bridge rotates around a supporting shaft of the other end of the first arm bridge. The second encoder can detect the rotation angle of the second arm bridge. The first encoder and the second encoder transmit angle signals to a controller. The controller calculates the accurate position of the tool mounting bracket at the front end of the second arm bridge. The balance arm improves production efficiency and product quality.
Description
Technical field:
The utility model relates to mechanical field, relates in particular to the automatic pilot in the automatic assembly line, particularly a kind of counter-jib that improves position control accuracy.
Background technology:
In the industrial circle, extensively adopt automatic pilot on the station of automatic assembly line, to enhance productivity.As often adopting the mechanical arm of automatic screw-driving on the assembly station.In order to guarantee operating accuracy, need to obtain mechanical arm exact position in the course of the work.In the prior art, the position control accuracy of robotic arm is not high, causes production efficiency low, and Product Precision can not further improve.
Summary of the invention:
The purpose of this utility model is to provide a kind of counter-jib that improves position control accuracy, and the counter-jib of described this raising position control accuracy will solve the lower technical problem of robotic arm position control accuracy in the prior art.
The counter-jib of this raising position control accuracy of the present utility model, comprise a mounting bracket, a first arm bridge, a second arm bridge, first encoder and second encoder, include separately a power shaft in described the first encoder and the second encoder, wherein, described the first arm bridge is made of a rod member, one end of the first arm bridge is provided with first back shaft, the other end of the first arm bridge is provided with second back shaft, described the first back shaft is arranged on the described mounting bracket by revolute pair, be fixedly connected with first encoder mounting rack on the mounting bracket, described the first encoder is fixedly installed on described the first encoder mounting rack, the central axes of the central axis of the power shaft of the first encoder and the first back shaft, be connected with one first radially drive link on the power shaft of the first encoder, described first radially an end of drive link be fixedly connected with the first arm bridge, one end of described the second arm bridge is connected with the second back shaft on the first arm bridge by revolute pair, be fixedly connected with second encoder mounting rack on the first arm bridge, described the second encoder is fixedly installed on described the second encoder mounting rack, the central axes of the central axis of the power shaft of the second encoder and the second back shaft, be connected with one second radially drive link on the power shaft of the second encoder, described second radially an end of drive link be fixedly connected with the second arm bridge.
Further, described the second arm bridge is made of a four-bar linkage, described four-bar linkage comprises first Connection Block, second Connection Block and two be arranged in parallel long-armed, described two long-armed ends are hinged with described the first Connection Block respectively, two long-armed other ends are hinged with described the second Connection Block respectively, parallel and the equal in length of line between line between the first Connection Block and two the long-armed pin joints and the second Connection Block and two the long-armed pin joints, the first Connection Block is connected with the second back shaft on the first arm bridge by revolute pair.
Further, the axially parallel of axial and second back shaft of the first back shaft.
Further, be provided with the instrument installing rack on the second Connection Block.
Further, described mounting bracket comprises a mounting seat and an angular adjustment bar, described angular adjustment bar is arranged in the described mounting seat by revolute pair, be provided with the angle locking device between mounting seat and the angular adjustment bar, the first back shaft on the first arm bridge is arranged on the angular adjustment bar by revolute pair.
Further, the central axis of the first back shaft on the first arm bridge and the central axes of angular adjustment bar.
Further, be provided with angular adjustment bar installing hole in the mounting seat, the angular adjustment bar is arranged in the described angular adjustment bar installing hole, is provided with radially screw in the sidewall of angular adjustment bar installing hole, is provided with lock-screw in the described radially screw.
Further, be provided with an electric screw driver on the described instrument installing rack.
Operation principle of the present utility model is: the first arm bridge can the first back shaft be that axle rotates, and the first encoder can detect the rotational angle of the first arm bridge, and the first arm bridge can the second back shaft be that axle rotates, and the second encoder can detect the rotational angle of the second arm bridge.The first encoder and the second encoder pass to controller with angle signal, are calculated the accurate location of the second arm bridge front end tool installing rack by controller.
The utility model and prior art are compared, and its effect is actively with obvious.The utility model arranges respectively encoder at the cradle head place of robotic arm, can accurately measure the rotational angle of rotatable parts in the robotic arm, thereby for controller provides position signalling, the accurate location of robotic arm front end tool installing rack be can be calculated by controller, production efficiency and product quality improved.
Description of drawings:
Fig. 1 is the structural representation of the counter-jib of raising position control accuracy of the present utility model.
The specific embodiment:
Embodiment 1:
As shown in Figure 1, the counter-jib of raising position control accuracy of the present utility model, comprise a mounting bracket 4, a first arm bridge 7, a second arm bridge 3, first encoder 8 and second encoder 6, include separately a power shaft in described the first encoder 8 and the second encoder 6, wherein, described the first arm bridge 7 is made of a rod member, one end of the first arm bridge 7 is provided with first back shaft, the other end of the first arm bridge 7 is provided with second back shaft, described the first back shaft is arranged on the described mounting bracket 4 by revolute pair, be fixedly connected with first encoder mounting rack 12 on the mounting bracket 4, described the first encoder 8 is fixedly installed on described the first encoder mounting rack 12, the central axes of the central axis of the power shaft of the first encoder 8 and the first back shaft, be connected with one first radially drive link 13 on the power shaft of the first encoder 8, described first radially an end of drive link 13 be fixedly connected with the first arm bridge 7 by connector 9, one end of described the second arm bridge 3 is connected with the second back shaft on the first arm bridge 7 by revolute pair, be fixedly connected with second encoder mounting rack 14 on the first arm bridge 7, described the second encoder 6 is fixedly installed on described the second encoder mounting rack 14, the central axes of the central axis of the power shaft of the second encoder 6 and the second back shaft, be connected with one second radially drive link 5 on the power shaft of the second encoder 6, described second radially an end of drive link 5 be fixedly connected with the second arm bridge 3.
Further, described the second arm bridge 3 is made of a four-bar linkage, described four-bar linkage comprises first Connection Block 31, second Connection Block 32 and be arranged in parallel long-armed 33 and long-armed 34, an end of long-armed 33 and long-armed 34 is hinged with described the first Connection Block 31 respectively, long-armed 33 and long-armed 34 the other end is hinged with described the second Connection Block 32 respectively, parallel and the equal in length of line between line between the first Connection Block 31 and two the long-armed pin joints and the second Connection Block 32 and two the long-armed pin joints, the first Connection Block 31 is connected with the second back shaft on the first arm bridge 7 by revolute pair.
Further, the axially parallel of axial and second back shaft of the first back shaft.
Further, be provided with instrument installing rack 2 on the second Connection Block 32.
Further, described mounting bracket 4 comprises a mounting seat 11 and an angular adjustment bar 10, described angular adjustment bar 10 is arranged in the described mounting seat 11 by revolute pair, be provided with the angle locking device between mounting seat 11 and the angular adjustment bar 10, the first back shaft on the first arm bridge 7 is arranged on the angular adjustment bar 10 by revolute pair.
Further, the central axis of the first back shaft on the first arm bridge 7 and the central axes of angular adjustment bar 10.
Further, be provided with angular adjustment bar 10 installing holes in the mounting seat 11, angular adjustment bar 10 is arranged in described angular adjustment bar 10 installing holes, is provided with radially screw in the sidewall of angular adjustment bar 10 installing holes, is provided with lock-screw 16 in the described radially screw.
Further, be provided with an electric screw driver 1 on the described instrument installing rack 2, comprise a cutter head 15 in the described electric screw driver 1.
The operation principle of the present embodiment is: the first arm bridge 7 can the first back shaft be that axle rotates, the first encoder 8 can detect the rotational angle of the first arm bridge 7, the first arm bridge 7 can the second back shaft be that axle rotates, and the second encoder 6 can detect the rotational angle of the second arm bridge 3.The first encoder 8 and the second encoder 6 pass to the controller (not shown) with angle signal, are calculated the accurate location of the second arm bridge 3 front end tool installing racks 2 by controller.
Claims (8)
1. counter-jib that improves position control accuracy, comprise a mounting bracket, a first arm bridge, a second arm bridge, first encoder and second encoder, include separately a power shaft in described the first encoder and the second encoder, it is characterized in that: described the first arm bridge is made of a rod member, one end of the first arm bridge is provided with first back shaft, the other end of the first arm bridge is provided with second back shaft, described the first back shaft is arranged on the described mounting bracket by revolute pair, be fixedly connected with first encoder mounting rack on the mounting bracket, described the first encoder is fixedly installed on described the first encoder mounting rack, the central axes of the central axis of the power shaft of the first encoder and the first back shaft, be connected with one first radially drive link on the power shaft of the first encoder, described first radially an end of drive link be fixedly connected with the first arm bridge, one end of described the second arm bridge is connected with the second back shaft on the first arm bridge by revolute pair, be fixedly connected with second encoder mounting rack on the first arm bridge, described the second encoder is fixedly installed on described the second encoder mounting rack, the central axes of the central axis of the power shaft of the second encoder and the second back shaft, be connected with one second radially drive link on the power shaft of the second encoder, described second radially an end of drive link be fixedly connected with the second arm bridge.
2. the counter-jib of raising position control accuracy as claimed in claim 1, it is characterized in that: described the second arm bridge is made of a four-bar linkage, described four-bar linkage comprises first Connection Block, second Connection Block and two be arranged in parallel long-armed, described two long-armed ends are hinged with described the first Connection Block respectively, two long-armed other ends are hinged with described the second Connection Block respectively, parallel and the equal in length of line between line between the first Connection Block and two the long-armed pin joints and the second Connection Block and two the long-armed pin joints, the first Connection Block is connected with the second back shaft on the first arm bridge by revolute pair.
3. the counter-jib of raising position control accuracy as claimed in claim 1 is characterized in that: the axially parallel of axial and second back shaft of the first back shaft.
4. the counter-jib of raising position control accuracy as claimed in claim 1 is characterized in that: be provided with the instrument installing rack on the second Connection Block.
5. the counter-jib of raising position control accuracy as claimed in claim 1, it is characterized in that: described mounting bracket comprises a mounting seat and an angular adjustment bar, described angular adjustment bar is arranged in the described mounting seat by revolute pair, be provided with the angle locking device between mounting seat and the angular adjustment bar, the first back shaft on the first arm bridge is arranged on the angular adjustment bar by revolute pair.
6. the counter-jib of raising position control accuracy as claimed in claim 5 is characterized in that: the central axis of the first back shaft on the first arm bridge and the central axes of angular adjustment bar.
7. the counter-jib of raising position control accuracy as claimed in claim 5, it is characterized in that: be provided with angular adjustment bar installing hole in the mounting seat, the angular adjustment bar is arranged in the described angular adjustment bar installing hole, be provided with radially screw in the sidewall of angular adjustment bar installing hole, be provided with lock-screw in the described radially screw.
8. the counter-jib of raising position control accuracy as claimed in claim 4 is characterized in that: be provided with an electric screw driver on the described instrument installing rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320160001 CN203245581U (en) | 2013-04-02 | 2013-04-02 | Balance arm improving positioning control precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320160001 CN203245581U (en) | 2013-04-02 | 2013-04-02 | Balance arm improving positioning control precision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203245581U true CN203245581U (en) | 2013-10-23 |
Family
ID=49372042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320160001 Expired - Lifetime CN203245581U (en) | 2013-04-02 | 2013-04-02 | Balance arm improving positioning control precision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203245581U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104280055A (en) * | 2014-10-10 | 2015-01-14 | 浙江长兴中欣机械有限公司 | Sensor positioning device |
| CN104440069A (en) * | 2014-12-26 | 2015-03-25 | 苏州博众精工科技有限公司 | Integrated equipment used for installation and detection of screws |
| CN105290766A (en) * | 2015-08-12 | 2016-02-03 | 法雷奥市光（中国）车灯有限公司 | Automatic screw locking error prevention device and method |
| CN106269402A (en) * | 2016-08-08 | 2017-01-04 | 上海大学 | A kind of Accurate Points glue positioner closing light assembling for laser gyro |
| CN106594210A (en) * | 2016-12-08 | 2017-04-26 | 合肥工业大学 | Track error compensation type four-link mechanism and track error compensation method thereof |
| CN108237528A (en) * | 2018-02-11 | 2018-07-03 | 苏州三德精密机械有限公司 | Adjust arm |
-
2013
- 2013-04-02 CN CN 201320160001 patent/CN203245581U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104280055A (en) * | 2014-10-10 | 2015-01-14 | 浙江长兴中欣机械有限公司 | Sensor positioning device |
| CN104440069A (en) * | 2014-12-26 | 2015-03-25 | 苏州博众精工科技有限公司 | Integrated equipment used for installation and detection of screws |
| CN105290766A (en) * | 2015-08-12 | 2016-02-03 | 法雷奥市光（中国）车灯有限公司 | Automatic screw locking error prevention device and method |
| CN106269402A (en) * | 2016-08-08 | 2017-01-04 | 上海大学 | A kind of Accurate Points glue positioner closing light assembling for laser gyro |
| CN106269402B (en) * | 2016-08-08 | 2019-03-29 | 上海大学 | A kind of accurate dispensing positioning device for the assembly of laser gyro light combination |
| CN106594210A (en) * | 2016-12-08 | 2017-04-26 | 合肥工业大学 | Track error compensation type four-link mechanism and track error compensation method thereof |
| CN108237528A (en) * | 2018-02-11 | 2018-07-03 | 苏州三德精密机械有限公司 | Adjust arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131023 |