CN204183572U - A kind of 3-dof parallel robot Zero calibration device - Google Patents
A kind of 3-dof parallel robot Zero calibration device Download PDFInfo
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- CN204183572U CN204183572U CN201420542046.1U CN201420542046U CN204183572U CN 204183572 U CN204183572 U CN 204183572U CN 201420542046 U CN201420542046 U CN 201420542046U CN 204183572 U CN204183572 U CN 204183572U
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Abstract
The utility model belongs to robot field, particularly relate to a kind of 3-dof parallel robot Zero calibration device, it is characterized in that: comprise measurement main body, with motor cabinet coupling part, with moving platform coupling part, the described axis of guide is fixed on described first connecting plate, on second connecting plate, read head and the movable part of described depth gauge rule are affixed, described movable part is connected with the axis of guide by linear bearing, one end of described pull bar and affixed and its other end of movable part are through the 3rd linear bearing, described first connecting plate, rotating shaft, first hook hinge, upper connecting axle is connected successively, described upper connecting axle is fixed on terminal pad, one end of described second hook hinge and affixed and its other end of the other end of pull bar are fixed on lower terminal pad.Simply, efficiently, zero point can be given for change fast when 3-dof parallel robot loss at zero point, improve robot precision in running.
Description
Technical field
The utility model belongs to robot field, particularly relates to a kind of 3-dof parallel robot Zero calibration device.
Background technology
Zero point is the benchmark of robot coordinate system, does not have zero point, and robot just way cannot judge self position.Usual industrial robot all can be demarcated the mechanical parameter of robot before dispatching from the factory, provide parameter and the dead-center position of each connecting rod of industrial robot, but under special circumstances, as battery altering, surmount mechanical limit position, collide with environment, loss that manual mobile apparatus person joint etc. all can cause zero point, be the guarantee that robot precise motion controls how seeking the current dead-center position of robot in such cases simply.
At present, external industrial robot has the processing technology of ripe electrical control, stable operating software and high-precision process equipment and maturation, makes its in use quite stable, is not easy to occur that zero point loses.But the industrial robot of China's independent research occurs that the situation of losing zero point is comparatively serious relatively, if mechanical zero device precision is not accurate enough, then can expand repetition calibrated error, increase maintenance time and cost simultaneously.
Therefore, need reasonably to improve robot Zero calibration problem for above problem.
Summary of the invention
The utility model is for above-mentioned technical problem, provide a kind of simple, efficient, zero point can be given for change fast when 3-dof parallel robot loss at zero point, improve the 3-dof parallel robot Zero calibration device of robot precision in running.
The technical scheme that the utility model adopts is: a kind of 3-dof parallel robot Zero calibration device, is characterized in that: comprise measurement main body, with motor cabinet coupling part, with moving platform coupling part, described measurement main body comprises the first connecting plate, second connecting plate, the axis of guide, depth gauge rule, movable part, linear bearing, 3rd linear bearing, pull bar, one end of the described axis of guide is fixed on the upper of described first connecting plate and its other end is fixed on the second connecting plate, blade one end of described depth gauge rule is fixed on the first connecting plate and its other end is fixed on the second connecting plate, read head and the movable part of described depth gauge rule are affixed, described movable part is connected with the axis of guide by linear bearing, described 3rd linear bearing is fixed on the second connecting plate, one end of described pull bar and affixed and its other end of movable part, through the 3rd linear bearing, describedly comprise rotating shaft with motor cabinet coupling part, first hook hinge, upper terminal pad, upper connecting axle, described first connecting plate, rotating shaft, first hook hinge, upper connecting axle is connected successively, and described upper connecting axle is fixed on terminal pad, described rotating shaft, the axis of guide is respectively in the both sides of described first connecting plate, describedly comprises the second hook hinge with moving platform coupling part, lower terminal pad, one end of described second hook hinge and the other end of pull bar is affixed and its other end is fixed on lower terminal pad, described second hook hinge, the axis of guide is respectively in the both sides of described second connecting plate.
Described first connecting plate, the second connecting plate size equal and its both be parallel to each other.
The described axis of guide comprises first axis of guide, second axis of guide, and first axis of guide, the second axis of guide length is identical and be arranged in parallel.
Described first axis of guide, second axis of guide, the first connecting plate, the second connecting plate are connected formation rectangle structure.
Described linear bearing comprises the first linear bearing, the second linear bearing, and one end of described movable part is connected with first axis of guide by the first linear bearing and its other end is connected with second axis of guide by the second linear bearing.
The blade of described depth gauge rule and first axis of guide, second axis of guide are parallel.
Described upper terminal pad the first hook hinge, between connecting axle.
Described pull bar is between described first axis of guide, second axis of guide.
The beneficial effects of the utility model are:
1, the utility model mechanism design is ingenious, and simply, flexibly, certainty of measurement is high in motion for manufacture, mounting process;
2, depth gauge rule is utilized to measure distance between dynamic and static platform, simply, efficiently, zero point can be given for change fast when 3-dof parallel robot loss at zero point, realize the Zero calibration of 3-freedom parallel mechanism fast, accurately, improve robot precision in running.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the schematic diagram of the utility model in 3-dof parallel robot Zero calibration process.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail:
In figure, 1-measures main body, 2-and motor cabinet coupling part, 3-and moving platform coupling part, 4-first connecting plate, 5-second connecting plate, the 6-axis of guide, 7-depth gauge rule, 8-movable part, 9-linear bearing, 10-the 3rd linear bearing, 11-pull bar, 12-rotating shaft, 13-first hook hinge, the upper terminal pad of 14-, the upper connecting axle of 15-, 16-second hook hinge, terminal pad under 17-, 18-first axis of guide, 19-second axis of guide, 20-first linear bearing, 21-second linear bearing.
Embodiment
As shown in Figure 1-2, a kind of 3-dof parallel robot Zero calibration device, comprises and measures main body 1, with motor cabinet coupling part 2, with moving platform coupling part 3, measure main body 1 and comprise the first connecting plate 4, second connecting plate 5, the axis of guide 6, depth gauge rule 7, movable part 8, linear bearing 9, 3rd linear bearing 10, pull bar 11, one end of the axis of guide 6 is fixed on the first connecting plate 4 and its other end is fixed on the second connecting plate 5, blade one end of depth gauge rule 7 is fixed on the first connecting plate 4 and its other end is fixed on the second connecting plate 5, read head and the movable part 8 of depth gauge rule 7 are affixed, movable part 8 is connected with the axis of guide 6 by linear bearing 9, 3rd linear bearing 10 is fixed on the second connecting plate 5, one end of pull bar 11 and affixed and its other end of movable part 8, through the 3rd linear bearing 10, comprise rotating shaft 12 with motor cabinet coupling part 2, first hook hinge 13, upper terminal pad 14, upper connecting axle 15, first connecting plate 4, rotating shaft 12, first hook hinge 13, upper connecting axle 15 is connected successively, and upper connecting axle 15 is fixed on terminal pad 14, rotating shaft 12, the axis of guide 6 is respectively in the both sides of the first connecting plate 4, comprises the second hook hinge 16 with moving platform coupling part 3, one end of lower terminal pad 17, second hook hinge 16 and the other end of pull bar 11 is affixed and its other end is fixed on lower terminal pad 17, the second hook hinge 16, the axis of guide 6 is respectively in the both sides of the second connecting plate 5.
First connecting plate 4, second connecting plate 5 size equal and its both be parallel to each other.
It is identical and be arranged in parallel that the axis of guide 6 comprises the first axis of guide 18, second axis of guide 19, first axis of guide 18, second axis of guide 19 length.
First axis of guide 18, second axis of guide 19, first connecting plate 4, second connecting plate 5 is connected formation rectangle structure.
Linear bearing 9 comprises the first linear bearing 20, second linear bearing 21, and one end of movable part 8 is connected with first axis of guide 18 by the first linear bearing 20 and its other end is connected with second axis of guide 19 by the second linear bearing 21.
The blade of depth gauge rule 7 is parallel with first axis of guide 18, second axis of guide 19.
Upper terminal pad 14 the first hook hinge 13, between connecting axle 15.
Pull bar 11 is between first axis of guide 18, second axis of guide 19.
Operation principle
By affixed with motor cabinet for upper terminal pad 14, lower terminal pad 17 is connected with moving platform, pull bar 11 moves along the blade direction of depth gauge rule 7, pull bar 11 drives the read head of depth gauge rule 7 to move, the displacement of pull bar 11 is measured by the read head of depth gauge rule 7, measure main body 1 and carry out spatial rotational relative to motor cabinet, eventually through rectilinear movement and first hook hinge 13 of pull bar 11, the rotation of the second hook hinge 16, realize Zero calibration device and follow moving platform movement in space, and the distance measured between moving platform and motor cabinet, reach the object of robot Zero calibration,
When carrying out 3-dof parallel robot Zero calibration, rotate by driving each servomotor, when making to measure by depth gauge rule 7 distance that the distance between motor cabinet and moving platform obtained reaches under the dead-center position of regulation between motor cabinet and moving platform, robot can be made to get back to dead-center position.
Above an embodiment of the present utility model has been described in detail, but described content being only preferred embodiment of the present utility model, can not being considered to for limiting practical range of the present utility model.All equalizations done according to the utility model application range change and improve, and all should still belong within patent covering scope of the present utility model.
Claims (8)
1. a 3-dof parallel robot Zero calibration device, is characterized in that: comprise measurement main body, with motor cabinet coupling part, with moving platform coupling part, described measurement main body comprises the first connecting plate, second connecting plate, the axis of guide, depth gauge rule, movable part, linear bearing, 3rd linear bearing, pull bar, one end of the described axis of guide is fixed on the upper of described first connecting plate and its other end is fixed on the second connecting plate, blade one end of described depth gauge rule is fixed on the first connecting plate and its other end is fixed on the second connecting plate, read head and the movable part of described depth gauge rule are affixed, described movable part is connected with the axis of guide by linear bearing, described 3rd linear bearing is fixed on the second connecting plate, one end of described pull bar and affixed and its other end of movable part, through the 3rd linear bearing, describedly comprise rotating shaft with motor cabinet coupling part, first hook hinge, upper terminal pad, upper connecting axle, described first connecting plate, rotating shaft, first hook hinge, upper connecting axle is connected successively, and described upper connecting axle is fixed on terminal pad, described rotating shaft, the axis of guide is respectively in the both sides of described first connecting plate, describedly comprises the second hook hinge with moving platform coupling part, lower terminal pad, one end of described second hook hinge and the other end of pull bar is affixed and its other end is fixed on lower terminal pad, described second hook hinge, the axis of guide is respectively in the both sides of described second connecting plate.
2. a kind of 3-dof parallel robot Zero calibration device according to claim 1, is characterized in that: described first connecting plate, the second connecting plate size equal and its both be parallel to each other.
3. a kind of 3-dof parallel robot Zero calibration device according to claim 1, is characterized in that: the described axis of guide comprises first axis of guide, second axis of guide, and first axis of guide, the second axis of guide length is identical and be arranged in parallel.
4. a kind of 3-dof parallel robot Zero calibration device according to claim 3, is characterized in that: described first axis of guide, second axis of guide, the first connecting plate, the second connecting plate are connected formation rectangle structure.
5. a kind of 3-dof parallel robot Zero calibration device according to claim 3, it is characterized in that: described linear bearing comprises the first linear bearing, the second linear bearing, one end of described movable part is connected with first axis of guide by the first linear bearing and its other end is connected with second axis of guide by the second linear bearing.
6. a kind of 3-dof parallel robot Zero calibration device according to claim 3, is characterized in that: the blade of described depth gauge rule and first axis of guide, second axis of guide are parallel.
7. a kind of 3-dof parallel robot Zero calibration device according to claim 1, is characterized in that: described upper terminal pad the first hook hinge, between connecting axle.
8. a kind of 3-dof parallel robot Zero calibration device according to claim 3, is characterized in that: described pull bar is between described first axis of guide, second axis of guide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420542046.1U CN204183572U (en) | 2014-09-19 | 2014-09-19 | A kind of 3-dof parallel robot Zero calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420542046.1U CN204183572U (en) | 2014-09-19 | 2014-09-19 | A kind of 3-dof parallel robot Zero calibration device |
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| Publication Number | Publication Date |
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| CN204183572U true CN204183572U (en) | 2015-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420542046.1U Expired - Fee Related CN204183572U (en) | 2014-09-19 | 2014-09-19 | A kind of 3-dof parallel robot Zero calibration device |
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| CN (1) | CN204183572U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364924A (en) * | 2015-12-18 | 2016-03-02 | 珠海格力电器股份有限公司 | Zero-scale calibration system and method for robot |
| CN106272412A (en) * | 2016-08-25 | 2017-01-04 | 芜湖瑞思机器人有限公司 | A kind of Zero calibration method of pinion and-rack four-freedom-degree parallel-connection robot |
-
2014
- 2014-09-19 CN CN201420542046.1U patent/CN204183572U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364924A (en) * | 2015-12-18 | 2016-03-02 | 珠海格力电器股份有限公司 | Zero-scale calibration system and method for robot |
| CN106272412A (en) * | 2016-08-25 | 2017-01-04 | 芜湖瑞思机器人有限公司 | A kind of Zero calibration method of pinion and-rack four-freedom-degree parallel-connection robot |
| CN106272412B (en) * | 2016-08-25 | 2018-11-06 | 芜湖瑞思机器人有限公司 | A kind of Zero calibration method of pinion and-rack four-freedom-degree parallel-connection robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150304 Termination date: 20150919 |
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| EXPY | Termination of patent right or utility model |