CN205784947U - Revolute robot the 4th axle and the first measuring cubing of axle axis runout - Google Patents

Revolute robot the 4th axle and the first measuring cubing of axle axis runout Download PDF

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Publication number
CN205784947U
CN205784947U CN201620579558.4U CN201620579558U CN205784947U CN 205784947 U CN205784947 U CN 205784947U CN 201620579558 U CN201620579558 U CN 201620579558U CN 205784947 U CN205784947 U CN 205784947U
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China
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axle
robot
gauge head
mandrel
axis
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CN201620579558.4U
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Chinese (zh)
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饶玲进
罗金城
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GUANGZHOU NUMERICAL CONTROL APPARATUS CO Ltd
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GUANGZHOU NUMERICAL CONTROL APPARATUS CO Ltd
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Abstract

Open a kind of revolute robot the 4th axle of this utility model and the first measuring cubing of axle axis runout, including casing mandrel and rotating disk mandrel, casing mandrel is located on the axis of robot forearm, rotating disk mandrel is located on the driving motor output shaft axis of robot rotating disk, and casing mandrel is respectively arranged at two ends with front gauge head and rear gauge head.This section humanoid robot the 4th axle and the first measuring cubing of axle axis runout, by simulating robot the 4th axle and the axis of the first axle, are measured the deviation of mandrel axis, thus are directly measured the deviation of robot respective axes.This metering system simple and fast, and measure accurately, can effectively ensure that the operating accuracy of robot.It addition, the detection tool structure of this structure is simple, cost of manufacture is low, is conducive to controlling production cost, can be applicable on a large scale.

Description

Revolute robot the 4th axle and the first measuring cubing of axle axis runout
Technical field
This utility model relates to dimensional measurement technical field, particularly to a kind of revolute robot the 4th axle and the first axle The measuring cubing of axis runout.
Background technology
Revolute robot is in operation, and its 4th axle axis needs to keep with the first axle axis co-planar (i.e. at sky Between intersect).But in actual commercial Application, owing to part each in dimension chain exists deviation, the most usually occur that two axial lines is The phenomenon of deviation, this deviation is big then can affect the operating accuracy of robot.
At present, laser tracker is often used to realize the measurement to this deviation, but owing to its structure is complicated, price is held high Expensive, for most enterprises, add laser tracker, production cost can be greatly improved, be unfavorable for controlling product cost, because of This, laser tracker is also difficult to be applied on a large scale in industrial robot produces.Meanwhile, existing spatial position precision Detection equipment (such as three-coordinate measuring machine etc.) be not suitable for the 4th axle of revolute robot and the first axle axis runout is surveyed yet Amount.Therefore, for above-mentioned situation, a kind of simple in construction of exploitation, lower-cost detection device are necessary.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of simple in construction, equipment cost are relatively low Revolute robot the 4th axle and the first measuring cubing of axle axis runout.
The technical solution of the utility model is: a kind of revolute robot the 4th axle and the first axle axis runout are measuring Cubing, including casing mandrel and rotating disk mandrel, casing mandrel is located on the axis (the i.e. the 4th axle axis) of robot forearm, rotating disk Mandrel is located on the driving motor output shaft axis (the i.e. first axle axis) of robot rotating disk, before casing mandrel is respectively arranged at two ends with Gauge head and rear gauge head.
Described front gauge head or rear gauge head make the location on 0 ° or 180 ° of positions around casing mandrel axis.Casing mandrel is pacified Dress gauge head assembly (the most front gauge head and rear gauge head) removes to measure the right position of rotating disk mandrel, and this just requires the micrometer on gauge head assembly Table can measure jitter values around the accurate displacement of 0 ° or 180 ° of casing mandrel axis work, and application jitter values is equal to the former of bias 2 times Reason, i.e. D=2e, obtains bias with the half of jitter values, i.e. e=D/2.In order to realize the accurate position of 0 ° or 180 °, it is desirable to front Gauge head or rear gauge head all can rotate around the axis gapless of casing mandrel, and position in relevant position gapless.
Described casing mandrel is hollow axle, and axial length is about 1m.
The installation positioning datum of described casing mandrel is the variator installing hole in robot forearm and interdigitated rotor bearing Hole.I.e. casing mandrel should ensure that consistent with the axis originally installing forearm, so choosing the installation of robot forearm upper reducer Positioning at hole and interdigitated rotor dead eye two, rotating disk mandrel then positions with motor installed surface on the first axle and seam.
Described front gauge head and the gauge head assembly that rear gauge head is that structure is identical.
Described gauge head assembly includes dial gauge, sleeve and wobble plate, and sleeve is horizontally placed in wobble plate, and instruction is installed in wobble plate side Table, sleeve bottom is provided with stage clip with the junction of wobble plate, and stage clip side is provided with micrometer adjusting screw;Sleeve is arranged on the axle of casing mandrel On head, sleeve has centrosymmetric two V-shaped grooves, positioned by the spring on spindle nose and steel ball between two V-shaped grooves.
During measurement, first gauge head component placement is 0 ° of position, and tilting block mandrel leans against by the gauge head of dial test indicator and turns On the side peak of hub axle, and carry out lever meter indicating value zeroing, arrange casing mandrel, gauge head assembly is indexed to 180 ° of positions Put.Swinging back casing mandrel again and measure the opposite side peak of rotating disk mandrel by the gauge head of dial test indicator, its indicating value is bias Away from.
When above-mentioned revolute robot the 4th axle and the first measuring cubing of axle axis runout use, can be at rotating disk mandrel On multiple measurement position is set, by rotating box, position is measured in conversion, thus obtains two axle deviation values of different location.
This utility model, relative to prior art, has the advantages that
This section humanoid robot the 4th axle and the first measuring cubing of axle axis runout are by simulating robot the 4th axle With the axis of the first axle, measure the deviation of mandrel axis, thus directly measure the deviation of robot respective axes.This metering system Simple and fast, and measure accurately, can effectively ensure that the operating accuracy of robot.It addition, the detection tool structure of this structure is simple, make Low cost, is conducive to controlling production cost, can be applicable on a large scale.
Accompanying drawing explanation
Fig. 1 is this section humanoid robot the 4th axle and the first axle axis runout measuring detection tool structure schematic diagram.
Fig. 2 is front gauge head or the structural representation of rear gauge head.
Fig. 3 is the A direction view of Fig. 2.
Fig. 4 be in embodiment this cubing in the view of three locations.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail, but embodiment of the present utility model It is not limited to this.
Embodiment
The present embodiment one revolute robot the 4th axle and the first measuring cubing of axle axis runout, as it is shown in figure 1, Including casing mandrel 1 and rotating disk mandrel 2, casing mandrel is located on the axis (the i.e. the 4th axle axis) of robot forearm, rotating disk core It is located on the driving motor 4 output shaft axis (the i.e. first axle axis) of robot rotating disk 3;Front gauge head 5 and rear gauge head 6 are installed on Casing mandrel two ends (so-called ' front ' is that its sensing is consistent with forearm installation direction, otherwise is ' afterwards ').
Casing mandrel rotates around the axis (axis of the i.e. the 3rd axle 7) of robot's arm 15, and the anglec of rotation is 0 ° or 180 °, By connected for installing the casing 8 of casing mandrel.Front gauge head and rear gauge head by casing mandrel two ends are to rotating disk core The right position of axle measures, and this just requires the accurate change that the micrometer gauge on front gauge head and rear gauge head can carry out 0 ° or 180 ° Position, measures jitter values, and application jitter values, equal to the principle of eccentric distance 2 times, i.e. D=2e, obtains bias with the half of jitter values, I.e. e=D/2;Simultaneously, it is desirable to front gauge head and rear gauge head are equal to the distance of the 3rd axle axis, so that casing mandrel is around the 3rd After axle axis just can use after turning over 180 °, the first axle is measured by gauge head.Owing to dial gauge installing space is limited, requirement again There is the null adjustment of larger row journey, and conveniently to operate, therefore, in order to realize 0 ° or 180 ° of accurate displacements, it is desirable to front gauge head All can rotate around the axis gapless of casing mandrel with rear gauge head, and position in relevant position gapless.
Casing mandrel is hollow axle, and axial length is about 1m.
The installation positioning datum of casing mandrel is the variator installing hole in robot forearm and interdigitated rotor dead eye.I.e. Casing mandrel should ensure that consistent with the axis originally installing forearm, so choosing installing hole and the friendship of robot forearm upper reducer Positioning at fork armature spindle bearing bore two, rotating disk mandrel then positions with motor installed surface on the first axle and seam.
As shown in Figure 2 or Figure 3, front gauge head is the gauge head assembly that structure is identical with rear gauge head.
Gauge head assembly includes dial gauge 13, sleeve 9 and wobble plate 10, and sleeve is horizontally placed in wobble plate, and sleeve 9 and wobble plate 10 are passed through Leaf spring 14 connects, and dial gauge is installed in wobble plate side, and sleeve bottom is provided with stage clip 11 with the junction of wobble plate, and stage clip side is provided with micro- Adjust screw 12;Sleeve is arranged on the spindle nose of casing mandrel, and sleeve has centrosymmetric two V-shaped grooves 16, two V-shaped grooves it Between positioned by the spring 17 on spindle nose and steel ball 18.
During measurement, first gauge head is placed in 0 ° of position, and tilting block mandrel leans against rotating disk core by the gauge head of dial test indicator On the side peak of axle, and carry out lever meter indicating value zeroing, arrange casing mandrel, gauge head is indexed to 180 ° of positions.Put again Returning casing mandrel and measure the opposite side peak of rotating disk mandrel by the gauge head of dial test indicator, its indicating value is eccentric throw.
When above-mentioned revolute robot the 4th axle and the first measuring cubing of axle axis runout use, can be at rotating disk mandrel On multiple measurement position is set, by rotating box, position is measured in conversion, thus obtains two axle deviation values of different location.As Shown in Fig. 4, the present embodiment arranges three locations, has the 1st location and the 2nd location when robot's arm becomes 80 ° with plumb line, Robot's arm has the 3rd location when becoming-10 ° with plumb line.During 1 location, casing mandrel is in the top of robot's arm, also It is i.e. to measure with front gauge head.During 2 location, casing mandrel is in the lower section of robot's arm, that is to say and measures with rear gauge head.The Also measure with front gauge head during 3 location.Owing to there being the change of space location, just the 4th axle can be gone out relative to the first axle by labor Trend, thus find out to start repair position.
As it has been described above, just can preferably realize this utility model, above-described embodiment is only preferable enforcement of the present utility model Example, is not used for limiting practical range of the present utility model;The most all impartial changes made according to this utility model content and modification, All contained by this utility model claim scope required for protection.

Claims (6)

1. revolute robot the 4th axle and the first measuring cubing of axle axis runout, it is characterised in that include casing mandrel With rotating disk mandrel, casing mandrel is located on the axis of robot forearm, and the driving motor that rotating disk mandrel is located at robot rotating disk is defeated On shaft axis, casing mandrel is respectively arranged at two ends with front gauge head and rear gauge head.
Revolute robot the 4th axle and the first measuring cubing of axle axis runout, its feature the most according to claim 1 Being, described front gauge head or rear gauge head make the location on 0 ° or 180 ° of positions around casing mandrel axis.
Revolute robot the 4th axle and the first measuring cubing of axle axis runout, its feature the most according to claim 1 Being, described casing mandrel is hollow axle.
Revolute robot the 4th axle and the first measuring cubing of axle axis runout, its feature the most according to claim 1 Being, the installation positioning datum of described casing mandrel is the variator installing hole in robot forearm and interdigitated rotor dead eye.
Revolute robot the 4th axle and the first measuring cubing of axle axis runout, its feature the most according to claim 1 It is, described front gauge head and the gauge head assembly that rear gauge head is that structure is identical.
Revolute robot the 4th axle and the first measuring cubing of axle axis runout, its feature the most according to claim 5 Being, described gauge head assembly includes dial gauge, sleeve and wobble plate, and sleeve is horizontally placed in wobble plate, and dial gauge, set are installed in wobble plate side Bottom Tong, the junction with wobble plate is provided with stage clip, and stage clip side is provided with micrometer adjusting screw;Sleeve is arranged on the spindle nose of casing mandrel, There are centrosymmetric two V-shaped grooves on sleeve, positioned by the spring on spindle nose and steel ball between two V-shaped grooves.
CN201620579558.4U 2016-06-15 2016-06-15 Revolute robot the 4th axle and the first measuring cubing of axle axis runout Active CN205784947U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620579558.4U CN205784947U (en) 2016-06-15 2016-06-15 Revolute robot the 4th axle and the first measuring cubing of axle axis runout

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620579558.4U CN205784947U (en) 2016-06-15 2016-06-15 Revolute robot the 4th axle and the first measuring cubing of axle axis runout

Publications (1)

Publication Number Publication Date
CN205784947U true CN205784947U (en) 2016-12-07

Family

ID=58132787

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620579558.4U Active CN205784947U (en) 2016-06-15 2016-06-15 Revolute robot the 4th axle and the first measuring cubing of axle axis runout

Country Status (1)

Country Link
CN (1) CN205784947U (en)

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