CN206937361U - Robot zero point correction device and robot calibration system - Google Patents
Robot zero point correction device and robot calibration system Download PDFInfo
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- CN206937361U CN206937361U CN201720376257.6U CN201720376257U CN206937361U CN 206937361 U CN206937361 U CN 206937361U CN 201720376257 U CN201720376257 U CN 201720376257U CN 206937361 U CN206937361 U CN 206937361U
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- truing tool
- robot
- zero point
- point correction
- correction device
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Abstract
The utility model provides a kind of robot zero point correction device and robot calibration system, belongs to robot calibration technique field, and robot zero point correction device includes the first truing tool, the second truing tool and the 3rd truing tool；First truing tool and the perpendicular connection of the second truing tool；Second truing tool is mutually slidably connected with the 3rd truing tool, and the 3rd truing tool setting parallel with first truing tool.In this programme, the first truing tool is close to plane in robot, and because the first truing tool is parallel with the 3rd truing tool, the 3rd truing tool of adjustment slides, and then realizes the zero point correction to robot, and simple in construction, calibration error is small, improves calibration accuracy.
Description
Technical field
Robot calibration technique field is the utility model is related to, more particularly, to a kind of robot zero point correction device and machine
People's calibration system.
Background technology
At present, as expanding economy, social progress, industrial robot rapid development, delta robots have begun to
It is widely used in factory lines, delta robots need very high positioning precision, so the calibration of zero point is extremely important.It is logical
Chang Putong Detla robots can not be kept away by artificial range estimation, gross error, many Subjective Factors be present, precision is very poor.
Utility model content
A purpose of the present utility model is to provide a kind of robot zero point correction device, to solve to exist in the prior art
Artificial range estimation position error it is big, and the technical problem that precision is low.
Another purpose of the present utility model is to provide a kind of robot school with above-mentioned robot zero point correction device
Barebone, to solve present in prior art, manually range estimation position error is big, and the technical problem that precision is low.
To achieve these goals, the robot zero point correction device that the utility model first aspect provides, including the first school
Quasi- instrument, the second truing tool and the 3rd truing tool；
First truing tool and the perpendicular connection of the second truing tool；
Second truing tool is mutually slidably connected with the 3rd truing tool, and the 3rd truing tool with it is described
The parallel setting of first truing tool.
In any of the above-described technical scheme, further, the company of first truing tool and second truing tool
The place of connecing is provided with support block.
In the technical scheme, the junction of the first truing tool and the second truing tool is provided with support block, support block
Supporting role is served to the first truing tool and the second truing tool, is not easy to make to deform upon bending therebetween, improves
Bonding strength, also improve the calibration accuracy of product.
In any of the above-described technical scheme, further, one end of the support block is connected with first truing tool
Connect, the other end is connected with second truing tool.
In any of the above-described technical scheme, further, waist through hole is provided with second truing tool, described
The locking member being engaged with the waist through hole is provided with three truing tools, the locking member can pass through the waist through hole
It is connected with the 3rd truing tool, and the 3rd truing tool can be made to be slided along the waist through hole, the lock
Tight part can lock the 3rd truing tool.
In the technical scheme, one end of locking member is connected with the 3rd truing tool, meanwhile, locking member can lead in kidney-shaped
Slided in hole, adjust the vertical range between the 3rd truing tool and the first truing tool, after adjustment, locking member and the 3rd
Truing tool is locked, and prevents it from being moved in waist through hole, simple and easy to use.
In any of the above-described technical scheme, further, the waist through hole is arranged to two, the locking member with it is described
The quantity of waist through hole is identical.
In the technical scheme, the quantity of waist through hole is two, makes it more steady in slidable adjustment, not volatile
Weighing apparatus.
In any of the above-described technical scheme, further, guide groove is provided with second truing tool, the described 3rd
The sliding block being engaged with the guide groove is provided with truing tool.
In the technical scheme, being used cooperatively for guide groove and sliding block, it is set more to be added when adjusting three truing tools
Standard, improve precision during measurement.
In any of the above-described technical scheme, further, directive slide track is provided with second truing tool, described
The chute being engaged with the directive slide track is provided with three truing tools.
In the technical scheme, directive slide track and chute are used cooperatively, make its when adjusting three truing tools more
Enter standard, improve precision during measurement.
In any of the above-described technical scheme, further, the locking member is lock screw.
In the technical scheme, lock screw is simple in construction, easy to operate, and cost is low.
In any of the above-described technical scheme, further, divide on first truing tool and the 3rd truing tool
It is not provided with multiple through holes separately.
The utility model second aspect provides a kind of robot calibration system, including described in any of the above-described technical scheme
Robot zero point correction device.
The robot calibration system that the utility model second aspect provides, it is provided with the robot zero point of first aspect offer
Calibrator, therefore whole beneficial effects of the robot zero point correction device provided with first aspect, are not just repeated one by one herein.
Using above-mentioned technical proposal, the utility model has the advantages that：
Robot zero point correction device provided by the utility model, the first truing tool and the perpendicular company of the second truing tool
Connect；Second truing tool is mutually slidably connected with the 3rd truing tool, and the 3rd truing tool is parallel with the first truing tool sets
Put, the first truing tool is close to plane in robot, because the first truing tool is parallel with the 3rd truing tool, adjusts the 3rd school
Quasi- tool slide, and then the zero point correction to robot is realized, simple in construction, calibration error is small, improves calibration accuracy.
Additional aspect and advantage of the present utility model will become obvious in following description section, or new by this practicality
The practice of type is recognized.
Brief description of the drawings
Below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the robot zero point correction device that the utility model embodiment provides；
Fig. 2 is the mplifying structure schematic diagram in the A portions shown in Fig. 1；
Fig. 3 is the second truing tool and lock screw for the robot zero point correction device that the utility model embodiment provides
One viewing angle constructions schematic diagram；
Fig. 4 is that the guide groove of robot zero point correction device that the utility model embodiment provides and the sectional structure of sliding block show
It is intended to.
Reference：
The truing tools of 10- first；The truing tools of 20- second；21- waist through hole；22- guide grooves；30- the 3rd calibrates work
Tool；31- lock screws；32- sliding blocks；40- support blocks；50- through holes.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.It should be noted that in the case where not conflicting, the feature in embodiments herein and embodiment can
To be mutually combined.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Explanation is further explained to the utility model with reference to specific embodiment.
Fig. 1 is the structural representation for the robot zero point correction device that the utility model embodiment provides；Fig. 2 is shown in Fig. 1
A portions mplifying structure schematic diagram；Fig. 3 is the second calibration work of the robot zero point correction device that the utility model embodiment provides
One viewing angle constructions schematic diagram of tool and lock screw；Fig. 4 is the robot zero point correction device that the utility model embodiment provides
The cross section structure diagram of guide groove and sliding block.
Embodiment one
As shown in Figure 1-2, the robot zero point correction device that embodiment of the present utility model provides, including the first truing tool
10th, the second truing tool 20 and the 3rd truing tool 30；
First truing tool 10 and the 20 perpendicular connection of the second truing tool；
Second truing tool 20 is slidably connected with the phase of the 3rd truing tool 30, and the 3rd truing tool 30
With the 10 parallel setting of the first truing tool.
In an optional embodiment of the present embodiment, as shown in figure 1, further, first truing tool
10 are provided with support block 40 with the junction of second truing tool 20.
In this embodiment, the junction of the first truing tool 10 and the second truing tool 20 is provided with support block 40,
Support block 40 serves supporting role to the first truing tool 10 and the second truing tool 20, is not easy to make to deform upon therebetween
Bending, improves bonding strength, also improves the calibration accuracy of product.
Specifically, further improve, one end of the support block 40 is connected with first truing tool 10, another
End is connected with second truing tool 20.
The implementation being slidably connected for realizing the second truing tool 20 and the 3rd truing tool 30, in the present embodiment
An optional embodiment in, as shown in Figures 2 and 3, further, kidney-shaped is provided with second truing tool 20
Through hole 21, the locking member being engaged with the waist through hole 21, the locking member energy are provided with the 3rd truing tool 30
It is enough to be connected through the waist through hole 21 with the 3rd truing tool 30, and can make the 3rd truing tool 30 along
The waist through hole 21 slides, and the locking member can lock the 3rd truing tool 30.
In this embodiment, one end of locking member is connected with the 3rd truing tool 30, meanwhile, locking member can be in kidney-shaped
Slided in through hole 21, adjust the vertical range between the 3rd truing tool 30 and the first truing tool 10, after adjustment, locking
Part is locked with the 3rd truing tool 30, prevents it from being moved in waist through hole 21, simple and easy to use.Further illustrate, institute
It is lock screw 31 to state locking member.Lock screw 31 is simple in construction, easy to operate, and cost is low.
Preferably, the waist through hole 21 is arranged to two, and the locking member is identical with the quantity of the waist through hole 21.
In the preferred scheme, the quantity of waist through hole 21 is two, makes it more steady in slidable adjustment, not volatile
Weighing apparatus.
It is further to improve, it is provided with guide groove 22, the 3rd truing tool 30 on second truing tool 20
On be provided with the sliding block 32 being engaged with the guide groove 22.
In the improvement project, guide groove 22 is used cooperatively with sliding block 32, makes it when adjusting three truing tools 30
Standard is more added, improves precision during measurement.
The implementation being slidably connected for realizing the second truing tool 20 and the 3rd truing tool 30, in the present embodiment
Another optional embodiment in, as shown in figure 4, further, guiding is provided with second truing tool 20 and is slided
Rail, the chute being engaged with the directive slide track is provided with the 3rd truing tool 30.
In this embodiment, directive slide track and chute are used cooperatively, make its when adjusting three truing tools 30 more
Standard is added, improves precision during measurement.
In addition, multiple through holes are separately provided with respectively on first truing tool 10 and the 3rd truing tool 30
50.The convenient fixation with robotic surface.
As Figure 1-4, in an embodiment of the present utility model, first truing tool 10 with it is described
Second truing tool, 20 perpendicular connection, i.e., be attached by fixed screw, second truing tool 20 and the described 3rd
The phase of truing tool 30 is slidably connected, and the 3rd truing tool 30 and the 10 parallel setting of the first truing tool, enters one
Step, the junction of first truing tool 10 and second truing tool 20 is provided with support block 40.Specifically, enter one
The improvement of step, one end of the support block 40 are connected with first truing tool 10, the other end and the described second calibration work
Tool 20 is connected, and further, is provided with waist through hole 21 on second truing tool 20, on the 3rd truing tool 30
It is provided with the locking member being engaged with the waist through hole 21, the locking member can pass through the waist through hole 21 and described the
Three truing tools 30 are connected, and the 3rd truing tool 30 can be made to be slided along the waist through hole 21, the locking
Part can lock the 3rd truing tool 30, and one end of locking member is connected with the 3rd truing tool 30, meanwhile, locking member can
Slided in waist through hole 21, adjust the vertical range between the 3rd truing tool 30 and the first truing tool 10, adjustment finishes
Afterwards, locking member is locked with the 3rd truing tool 30, prevents it from being moved in waist through hole 21, simple and easy to use.Further
Illustrate, the locking member is lock screw 31, and lock screw 31 is simple in construction, easy to operate, and cost is low.Preferably, the waist
Shape through hole 21 is arranged to two, and the locking member is identical with the quantity of the waist through hole 21.The quantity of waist through hole 21 is two
It is individual, make it more steady in slidable adjustment, be not easy unbalance, further improvement, set on second truing tool 20
There is guide groove 22, the sliding block 32 being engaged with the guide groove 22 is provided with the 3rd truing tool 30.
Embodiment two
The utility model embodiment two provides a kind of robot calibration system, including the machine described in above-described embodiment one
People's zero point correction device.
The robot calibration system that the utility model embodiment two provides, it is provided with the robot zero point of the offer of embodiment one
Calibrator, therefore whole beneficial effects of the robot zero point correction device provided with embodiment one, are not just repeated one by one herein.
In addition, other existing zero point correction devices on the market, with high costs using laser calibration, additionally, due to laser
Emission principle, direct-view contact, may damage the health of operating personnel, and product structure is simple, easy to operate, make its into
This is cheap, and injury will not be brought to health.
In summary, robot zero point correction device provided by the utility model, the first truing tool and the second truing tool
Perpendicular connection；Second truing tool is mutually slidably connected with the 3rd truing tool, and the 3rd truing tool and the first truing tool
Parallel setting, the first truing tool are close to plane in robot, because the first truing tool is parallel with the 3rd truing tool, adjust
Whole 3rd truing tool slides, and then realizes the zero point correction to robot, and simple in construction, calibration error is small, improves calibration
Precision.Meanwhile the horizontal vertical distance of the first truing tool and the 3rd truing tool is adjusted, go for different specification size
Robot, improve the scope of application of product.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.In addition, it will be appreciated by those of skill in the art that although some implementations described herein
Example includes some features included in other embodiments rather than further feature, but the combination of the feature of different embodiments is anticipated
Taste within the scope of the utility model and forms different embodiments.For example, in superincumbent claims, institute
The one of any of claimed embodiment mode can use in any combination.
Claims (10)
1. a kind of robot zero point correction device, it is characterised in that including the first truing tool, the second truing tool and the 3rd calibration
Instrument；
First truing tool and the perpendicular connection of the second truing tool；
Second truing tool is mutually slidably connected with the 3rd truing tool, and the 3rd truing tool and described first
The parallel setting of truing tool.
2. robot zero point correction device according to claim 1, it is characterised in that
The junction of first truing tool and second truing tool is provided with support block.
3. robot zero point correction device according to claim 2, it is characterised in that
One end of the support block is connected with first truing tool, and the other end is connected with second truing tool.
4. robot zero point correction device according to claim 1, it is characterised in that
Waist through hole is provided with second truing tool, is provided with the 3rd truing tool and the waist through hole phase
The locking member of cooperation, the locking member can be connected through the waist through hole with the 3rd truing tool, and can make
3rd truing tool slides along the waist through hole, and the locking member can lock the 3rd truing tool.
5. robot zero point correction device according to claim 4, it is characterised in that
The waist through hole is arranged to two, and the locking member is identical with the quantity of the waist through hole.
6. robot zero point correction device according to claim 5, it is characterised in that
Guide groove is provided with second truing tool, is provided with the 3rd truing tool and is engaged with the guide groove
Sliding block.
7. robot zero point correction device according to claim 5, it is characterised in that
Directive slide track is provided with second truing tool, is provided with the 3rd truing tool and the directive slide track phase
The chute of cooperation.
8. robot zero point correction device according to claim 4, it is characterised in that
The locking member is lock screw.
9. robot zero point correction device according to claim 1, it is characterised in that
Multiple through holes are separately provided with respectively on first truing tool and the 3rd truing tool.
10. a kind of robot calibration system, it is characterised in that include robot as claimed in any one of claims 1-9 wherein
Zero point correction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720376257.6U CN206937361U (en) | 2017-04-11 | 2017-04-11 | Robot zero point correction device and robot calibration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720376257.6U CN206937361U (en) | 2017-04-11 | 2017-04-11 | Robot zero point correction device and robot calibration system |
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| Publication Number | Publication Date |
|---|---|
| CN206937361U true CN206937361U (en) | 2018-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720376257.6U Active CN206937361U (en) | 2017-04-11 | 2017-04-11 | Robot zero point correction device and robot calibration system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860982A (en) * | 2019-11-27 | 2020-03-06 | 武汉心浩智能科技有限公司 | Automatic debugging and polishing mechanism for dielectric filter |
| CN111716346A (en) * | 2019-03-20 | 2020-09-29 | 台达电子工业股份有限公司 | Method and device for correcting tool of mechanical arm |
-
2017
- 2017-04-11 CN CN201720376257.6U patent/CN206937361U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111716346A (en) * | 2019-03-20 | 2020-09-29 | 台达电子工业股份有限公司 | Method and device for correcting tool of mechanical arm |
| CN110860982A (en) * | 2019-11-27 | 2020-03-06 | 武汉心浩智能科技有限公司 | Automatic debugging and polishing mechanism for dielectric filter |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180710 Address after: 300000 A2 level 1, A area, 8 International Airport base, Ping Ying Road, Dongli, Tianjin. Patentee after: Berkent (Tianjin) robot technology Co., Ltd. Address before: 100000 Room 101, building 28, 18 Chuang thirteen street, Beijing economic and Technological Development Zone, Beijing. Patentee before: Berkent (Beijing) robot technology Co., Ltd. |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20210127 Address after: 212000 building 6, small and medium sized enterprise entrepreneurship North Park, No. 300, Gangnan Road, New District, Zhenjiang City, Jiangsu Province Patentee after: Bokent (Zhenjiang) robot technology Co.,Ltd. Address before: 300000 A2 level 1, A area, 8 International Airport base, Ping Ying Road, Dongli, Tianjin. Patentee before: BEKANNTER (TIANJIN) ROBOT TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |