CN209755201U - Robot - Google Patents
Robot Download PDFInfo
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- CN209755201U CN209755201U CN201920477201.9U CN201920477201U CN209755201U CN 209755201 U CN209755201 U CN 209755201U CN 201920477201 U CN201920477201 U CN 201920477201U CN 209755201 U CN209755201 U CN 209755201U
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- calibration
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- rotating arm
- screw rod
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Abstract
The utility model relates to a robot, which comprises a base, a rotating arm and a screw rod, wherein the rotating arm is rotationally connected with the base; the screw rod is rotationally connected with the rotating arm and/or is in sliding connection along the vertical direction; one of the screw rod and the base is provided with a calibration column, the other one of the screw rod and the base is provided with a calibration hole, and the calibration column is used for being inserted into the calibration hole and limiting the screw rod to move along the radial direction of the screw rod so as to calibrate the rotating arm. The utility model discloses improve the structure of robot, improved the demarcation efficiency of the swinging boom of robot.
Description
Technical Field
the utility model relates to the technical field of robot, especially, relate to a robot.
background
In industrial production, a SCARA (Selective Compliance Assembly Robot Arm) Robot is widely used, and the functional characteristic of high speed and high beat greatly improves the production efficiency.
When the robot is maintained or the battery of the robot is replaced, all movable parts of the robot need to be calibrated again, so that the precision of the robot is prevented from being reduced. However, the current method for calibrating the robot takes a long time and has low efficiency.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above-mentioned defect, the utility model aims to provide a robot can improve the demarcation efficiency to the swinging boom of robot at least.
The purpose of the utility model is realized through the following technical scheme:
The utility model relates to a robot, robot includes:
A base;
The rotating arm is rotatably connected with the base;
The screw rod is in rotating connection with the rotating arm and/or in sliding connection along the vertical direction;
One of the screw rod and the base is provided with a calibration column, the other one of the screw rod and the base is provided with a calibration hole, and the calibration column is used for being inserted into the calibration hole and limiting the movement of the screw rod along the radial direction of the screw rod so as to calibrate the rotating arm.
In an embodiment, the inner circumferential surface of the calibration hole has a first calibration surface, the outer circumferential surface of the calibration column has a second calibration surface, and the first calibration surface is used for being attached to the second calibration surface and limiting the rotation of the screw rod relative to the rotating arm, so as to calibrate the rotation angle of the screw rod.
In an embodiment, the calibration hole has a third calibration surface therein, and the third calibration surface is used for abutting against an insertion end of the calibration column inserted into the calibration hole and limiting the lead screw to move in the vertical direction relative to the rotating arm, so as to calibrate the height of the lead screw.
In an embodiment, the third calibration surface is formed on a bottom surface of the calibration hole, and the third calibration surface is used for abutting against an end surface of the insertion end to limit the lead screw from moving in a vertical direction relative to the rotating arm.
In an embodiment, the base is provided with a positioning portion, the calibration hole is opened on the positioning portion, and the calibration column is located at the lower end of the screw rod.
In one embodiment, the positioning portion is integrally disposed with the base.
In one embodiment, the positioning portion is detachably connected to the base.
In one embodiment, the positioning portion is located at one end of the base close to the rotating arm, and the positioning portion extends out from a side surface of the base.
In one embodiment, the calibration hole has an opening for inserting the calibration post, and the opening is in flaring arrangement.
in one embodiment, the rotating arm comprises a large arm rotatably connected with the base, and a small arm rotatably connected with the large arm, and the screw rod is rotatably connected with the small arm and/or slidably connected in the vertical direction.
The utility model discloses a robot includes the base, rotates the swinging boom of being connected with the base to and rotate the lead screw of being connected and/or following vertical direction sliding connection with the swinging boom, wherein, the lead screw with one in the base has the calibration post, and another has the calibration hole, and this calibration post is used for inserting the calibration downthehole, and the restriction lead screw removes along its self radial direction, calibrates with the swinging boom. It can be understood that, because the lead screw is rotationally connected and/or slides along the vertical direction relative to the rotating arm, the robot controls the rotating arm to rotate relative to the base so as to enable the lead screw to move along the radial direction of the lead screw, and after the movement of the wire manufacturing rod along the radial direction of the wire manufacturing rod is limited, the rotating arm cannot rotate relative to the base, so that the rotating arm can be calibrated. It is visible, the utility model discloses technical scheme has effectively improved the efficiency of maring to the swinging boom of robot.
drawings
For the purpose of illustration, the invention is described in detail with reference to the following preferred embodiments and the accompanying drawings.
Fig. 1 is a schematic structural view of the robot when the calibration column is not inserted into the calibration hole;
FIG. 2 is an enlarged view taken at A in FIG. 1;
Fig. 3 is a schematic structural view of the robot after the calibration column is inserted into the calibration hole;
FIG. 4 is a top view of the robot of FIG. 3;
FIG. 5 is a partial cross-sectional view of the robot of FIG. 3;
FIG. 6 is an enlarged view taken at B in FIG. 5;
FIG. 7 is another angular view of the robot of FIG. 3;
FIG. 8 is an enlarged view at C of FIG. 7;
FIG. 9 is a partial cross-sectional view of another angular view of the robot of FIG. 1;
Fig. 10 is an enlarged view at D in fig. 9.
Description of reference numerals:
A robot 10; a base 11; a calibration hole 111; a positioning portion 112; a first calibration face 1111; a third calibration face 1112; an opening 1113; a rotating arm 12; an upper arm 121; a small arm 122; a screw rod 13; a calibration post 131; a second calibration face 1311; a connecting member 14.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The utility model provides a robot.
Referring to fig. 1, the robot 10 includes a base 11, a rotating arm 12 rotatably connected to the base 11, and a lead screw 13 movably connected to the rotating arm 12, wherein a lower end of the lead screw 13 is used for connecting to an actuator (not shown), and when the robot 10 is in operation, the rotating arm 12 is controlled to rotate relative to the base 11, and the lead screw 13 is controlled to move relative to the rotating arm 12, so as to move the actuator to a set position, and the actuator is enabled to perform industrial operations such as assembly, transportation, and the like.
wherein, the lead screw 13 can rotate with the swinging boom 12 and be connected, still follow vertical direction sliding connection with the swinging boom 12 simultaneously, after setting for the angle with the swinging boom 12 rotation, slide along vertical direction through rotatory lead screw 13 and control lead screw 13 to adjust the angle and the height of the actuating mechanism of lead screw 13 lower extreme, thereby remove actuating mechanism to the settlement position.
of course, the lead screw 13 may only move axially with respect to the rotary arm 12, or may only slide in a vertical direction with respect to the rotary arm 12, depending on the type of the robot 10 or the environment in which the robot 10 is used.
When the screw 13 is connected with the rotating arm 12 in a sliding manner in the up-down direction, a screw nut (not shown) in threaded fit with the screw 13 may be disposed on the rotating arm 12, and a first motor (not shown) on the rotating arm 12 drives the screw nut to rotate relative to the rotating arm 12 through a first driving mechanism (not shown), so as to drive the screw 13 to slide in the up-down direction.
when the screw 13 is rotatably connected to the rotating arm 12, a spline (not shown) matching with a key groove of the screw 13 may be disposed on the rotating arm 12, and a second motor (not shown) on the rotating arm 12 drives the spline to rotate relative to the rotating arm 12 through a second driving mechanism (not shown), so as to drive the screw 13 to rotate relative to the rotating arm 12.
The rotating arm 12 may be an unbendable integral structure, or may be formed by sequentially connecting a plurality of sub-rotating arms in a rotating manner, which may be determined according to the type of the robot 10.
for example, as shown in fig. 1, the rotating arm 12 of the robot 10 may include a large arm 121 rotatably connected to the base 11, and a small arm 122 rotatably connected to the large arm 121, and the lead screw 13 may be rotatably connected to the small arm 122 and/or slidably connected in a vertical direction, whereby the lead screw 13 and an actuator connected to a lower end of the lead screw 13 may have a greater range of movement by controlling the rotation angles of the large arm 121 and the small arm 122.
Specifically, one end of the large arm 121 is rotatably connected with the base 11, one end of the small arm 122 is rotatably connected with one end of the large arm 121 far away from the base 11, the large arm 121 and the small arm 122 both rotate in the horizontal direction, and the screw rod 13 is rotatably connected with the other end of the small arm 122 and/or slidably connected in the vertical direction.
In order to improve the accuracy of the robot 10, the rotary arm 12 of the robot 10 is calibrated before the robot 10 is shipped, and the zero point position of the rotary arm 12 is determined. When the robot 10 is repaired or the battery of the robot 10 is replaced, the zero position of the rotating arm 12 of the robot 10 is lost, and at this time, the robot 10 needs to be returned to the factory to calibrate the rotating arm 12 of the robot 10 again, so as to prevent the accuracy of the robot 10 from being lowered. However, this method greatly prolongs the calibration time of the rotating arm 12 of the robot 10, which results in a decrease in the calibration efficiency of the rotating arm 12 of the robot 10, and thus results in a lower maintenance efficiency and higher maintenance cost of the robot 10.
In order to avoid the above problem, as shown in fig. 1 and 2, one of the screw 13 and the base 11 may have a calibration post 131, and the other has a calibration hole 111, and when the calibration of the rotating arm 12 of the robot 10 is required, as shown in fig. 3, the calibration post 131 is used for being inserted into the calibration hole 111 and limiting the movement of the screw 13 along the radial direction of the screw 13, so as to limit the rotation of the rotating arm 12 relative to the base 11, so as to calibrate the rotating arm 12, and enable the control system of the robot 10 to determine the zero point position of the rotating arm 12. Particularly, when the rotating arm 12 includes the large arm 121 and the small arm 122, as shown in fig. 4, after the calibration column 131 is inserted into the calibration hole 111, the large arm 121, the small arm 122 and the base 11 can be connected to form a stable triangular structure (as shown by a dotted line in fig. 4), so that neither the large arm 121 nor the small arm 122 can rotate relative to the base 11, and calibration of the large arm 121 and the small arm 122 of the rotating arm 12 is more accurate.
It is understood that the lead screw 13 can rotate and/or slide in the vertical direction relative to the rotating arm 12, and cannot move in the radial direction of the lead screw 13 relative to the rotating arm 12. After the calibration column 131 is inserted into the calibration hole 111, the outer circumferential surface of the calibration column 131 is matched with the inner circumferential surface of the calibration hole 111 to limit the movement of the screw 13 in the radial direction, and further limit the rotation of the rotating arm 12 relative to the base 11. Therefore, the position where the rotating arm 12 is located at this time can be taken as the zero point position. After the robot 10 is repaired or the battery of the robot 10 is replaced, the rotating arm 12 of the robot 10 can be manually or electrically controlled to rotate, so that the calibration column 131 is inserted into the calibration hole 111 to position the rotating arm 12, and the rotating arm 12 is prevented from rotating relative to the base 11, so that the control system of the robot 10 determines the zero position of the rotating arm 12, the operation is very convenient, and the calibration is not required to be carried out in a factory, the calibration efficiency of the rotating arm 12 of the robot 10 is improved, the time and cost spent on calibrating the rotating arm 12 of the robot 10 are greatly reduced, the maintenance efficiency of the robot 10 is improved, and the maintenance cost of the robot 10 is reduced.
the calibration column 131 can be inserted into the calibration hole 111 in various ways, which can be determined according to the connection way of the screw rod 13 and the rotating arm 12. For example: when the screw rod 13 is connected with the rotating arm 12 in a sliding manner along the vertical direction, the calibration column 131 and the calibration hole 111 can extend along the vertical direction, after the rotating arm 12 is rotated to a set position, the screw rod 13 is controlled to move downwards or upwards, so that the calibration column 131 is inserted into the calibration hole 111, and the outer peripheral surface of the calibration column 131 is matched with the inner peripheral surface of the calibration hole 111 to limit the movement of the screw rod 13 along the radial direction of the screw rod 13, so that the calibration of the rotating arm 12 is realized.
When the lead screw 13 is only connected with the rotation arm 12 in a rotating mode, the calibration hole is provided with an opening along one side of the rotation direction of the rotation arm 12, when the rotation arm 12 needs to be calibrated, the calibration column is inserted into the calibration hole through the opening of the calibration hole by controlling the rotation of the rotation arm 12, the peripheral surface of the calibration column is matched with the inner surface of the calibration hole to limit the movement of the lead screw 13 along the radial direction of the lead screw 13, and therefore the calibration of the rotation arm 12 is achieved.
In addition, it should be noted that a calibration column 131 may be disposed on the screw rod 13, and a calibration hole 111 is formed on the base 11; or a calibration hole 111 is arranged on the screw rod 13, and a calibration column 131 is arranged at a corresponding position on the base 11; alternatively, the calibration column 131 and the calibration hole 111 may be simultaneously disposed on the screw 13, and the calibration hole 111 and the calibration column 131 may be disposed at corresponding positions on the base 11, which may be determined according to the structure of the robot 10.
Of course, since the diameter of the screw rod 13 is smaller, the calibration column 131 is arranged on the screw rod 13, and the calibration hole 111 is arranged on the base 11, so that the processing of the screw rod 13 is more convenient, and the influence on the strength of the screw rod 13 caused by the arrangement of the calibration hole 111 on the screw rod 13 is avoided.
In an embodiment, as shown in fig. 1 to fig. 3, the calibration column 131 may be located at the lower end of the screw 13, and correspondingly, the calibration hole 111 is located on the base 11, and an opening of the calibration hole 111 is disposed upward, so that the calibration column 131 and the calibration hole 111 are more conveniently processed. Moreover, because the diameter of the calibration column 131 is limited by the diameter of the calibration hole 111, when the calibration column 131 is formed at the lower end of the screw rod 13, the calibration hole 111 is located on the base 11, and the diameters of the calibration hole 111 and the calibration column 131 can be set to be larger, so that the matching precision of the calibration column 131 and the calibration hole 111 is improved, and the calibration precision of the rotating arm 12 is further improved.
Specifically, as shown in fig. 2 and 3, the lower end of the screw 13 is provided with a connecting member 14 for connecting with an actuator, so that the calibration column 131 can be positioned on the connecting member 14 and extend downward from the connecting member 14. Wherein, the connecting piece 14 is detachably connected with the screw rod 13.
Of course, the calibration hole 111 may also be formed on the lower end surface of the screw 13, and the corresponding position of the positioning portion 112 is protruded to form the calibration column 131, which is not described herein again.
In an embodiment, when the calibration hole 111 is opened on the base 11, the positioning portion 112 may be disposed on the base 11, and the calibration hole 111 is opened on the positioning portion 112, so as to facilitate the processing of the calibration hole 111 on the base 11.
As shown in fig. 1, the positioning portion 112 may be directly provided integrally with the base 11. Therefore, errors generated in the process of connecting the positioning part 112 with the base 11 are avoided, and the calibration of the rotating arm 12 is more accurate.
of course, the positioning portion 112 may be detachably connected to the base 11. Therefore, when the rotating arm 12 needs to be calibrated, the positioning portion 112 can be connected with the base 11 according to the preset precision requirement, and then the rotating arm 12 is rotated, so that the calibration column 131 on the screw rod 13 is inserted into the calibration hole 111 on the positioning portion 112, so as to calibrate the rotating arm 12. After calibration of the rotating arm 12 of the robot 10 is completed, the positioning portion 112 can be removed from the base 11, so as to avoid the interference between the positioning portion 112 and the screw 13 to affect the rotation of the rotating arm 12. While also preventing the positioning portion 112 from affecting the appearance of the robot 10.
it should be noted that, the positioning portion 112 and the base 11 may be connected together by a screw connection, a snap connection, or the like, and only the positioning portion 112 and the base 11 need to meet the precision requirement, which is not limited herein.
In one embodiment, as shown in fig. 1 and fig. 5, the positioning portion 112 may be located at an end of the base 11 close to the rotating arm 12, and the positioning portion 112 extends from a side surface of the base 11. Accordingly, the calibration hole 111 or the calibration post 131 of the positioning portion 112 also protrudes from the side surface of the base 11, so that the calibration post 131 of the lead screw 13 can be inserted into the calibration hole 111 of the positioning portion 112 or the calibration post 131 of the positioning portion 112 can be inserted into the calibration hole 111 of the lead screw 13 after the rotation arm 12 is rotated toward the base 11 by a set angle.
In one embodiment, the cross-section of the calibration hole 111 may be a non-circular cross-section, and the cross-section of the calibration post 131 is adapted to the cross-section of the calibration hole 111. Therefore, when the screw 13 is rotatably connected with the rotating arm 12, the calibration column 131 can calibrate the rotating angle of the screw 13 relative to the rotating arm 12 after being inserted into the calibration hole 111, so that the calibration of the rotating angle of the screw 13 is more convenient.
Alternatively, as shown in fig. 2, 5 and 6, the inner circumferential surface of the calibration hole 111 may have a first calibration surface 1111, and the outer circumferential surface of the calibration column 131 has a second calibration surface 1311, when the calibration column 131 is inserted into the calibration hole 111, the first calibration surface 1111 in the calibration hole 111 is configured to be attached to the second calibration surface 1311 on the calibration column 131 to limit the rotation of the screw 13 relative to the rotating arm 12, so as to calibrate the rotation angle of the screw 13, and determine the zero point position of the screw 13 in the rotation direction, thereby further improving the working accuracy of the robot 10. Moreover, the rotation angle of the screw rod 13 does not need to be measured manually, and the calibration efficiency and accuracy of the rotation angle of the screw rod 13 are improved.
the first calibration surface 1111 and the second calibration surface 1311 may be both flat surfaces, and after the calibration column 131 is inserted into the calibration hole 111, the first calibration surface 1111 and the second calibration surface 1311 are attached to each other, so as to prevent the calibration column 131 from rotating in the calibration hole 111, and further limit the rotation of the screw 13 relative to the rotating arm 12 and the base 11.
Alternatively, a plurality of first calibration surfaces 1111 may be provided in the calibration hole 111, and the plurality of first calibration surfaces 1111 may be distributed along the circumferential direction of the calibration hole 111. Similarly, the calibration column 131 has a plurality of second calibration surfaces 1311 on its outer peripheral surface, and the plurality of second calibration surfaces 1311 are distributed along the circumferential direction of the calibration column 131 to improve the effect of limiting the rotation direction of the calibration column 131.
Specifically, as shown in fig. 2, the calibration hole 111 is opened on the base 11, and the lower end of the screw 13 forms a calibration column 131. The number of the first calibration surfaces 1111 in the calibration hole 111 is two, and the two calibration surfaces are opposite to each other. Correspondingly, the number of the second calibration surfaces 1311 on the calibration column 131 is also two, and the two second calibration surfaces 1311 are distributed on two opposite sides of the calibration column 131. The lower end of the screw 13 is inserted into the calibration hole 111 to calibrate the rotating arm 12, and the rotation angle of the screw 13 is calibrated by the cooperation of the two first calibration surfaces 1111 and the two second calibration surfaces 1311.
Of course, the first calibration surface 1111 and the second calibration surface 1311 may also be curved surfaces or surfaces with other shapes, and it is only necessary to make the first calibration surface 1111 and the second calibration surface 1311 fit each other and then restrict the rotation of the screw rod 13 relative to the base 11.
In an embodiment, as shown in fig. 2, 5 and 6, a third calibration surface 1112 may be provided in the calibration hole 111, and when the calibration column 131 is inserted into the calibration hole 111, the third calibration surface 1112 is configured to abut against an insertion end of the calibration column 131 inserted into the calibration hole 111 to limit the lead screw 13 from moving in the vertical direction relative to the rotating arm 12, so as to calibrate the height of the lead screw 13, and determine a zero point position of the lead screw 13 in the vertical direction, thereby further improving the working accuracy of the robot 10.
Alternatively, as shown in fig. 6, 9 and 10, a third calibration surface 1112 may be formed on the bottom surface of the calibration hole 111, and the third calibration surface 1112 is configured to abut against the end surface of the insertion end to limit the downward movement of the wire rod 13. Therefore, the third calibration surface 1112 is more conveniently formed, and the area of the third calibration surface 1112 can be as large as possible, so that the calibration precision of the height of the screw rod 13 is improved.
Specifically, as shown in fig. 6, the calibration hole 111 is opened on the base 11, the calibration column 131 is formed at the lower end of the screw 13, the third calibration surface 1112 is a bottom surface of the calibration hole 111 and is a plane, and an end surface of the lower end of the screw 13 is also a plane. The lower ends of the lead screws 13 are inserted into the calibration holes 111 to calibrate the rotating arm 12, and the third calibration surface 1112 is matched with the end surfaces of the lower ends of the two lead screws 13 to calibrate the height of the lead screws 13.
Of course, it is also possible to directly provide a protrusion on the inner wall of the calibration hole 111, and form the third calibration surface 1112 on the upper surface of the protrusion.
The third calibration surface 1112 may be a plane, a curved surface, etc., and is not limited herein.
In this embodiment, the calibration hole 111 may have both the first calibration surface 1111 and the third calibration surface 1112, or may have only one of the first calibration surface 1111 and the second calibration surface 1311. That is, the rotation angle and the height of the screw 13 may be calibrated at the same time, or only one of the rotation angle and the height of the screw 13 may be calibrated, specifically, it may be determined according to the connection manner of the screw 13 and the rotating arm 12.
In an embodiment, as shown in fig. 7, 8 and 10, the calibration hole 111 has an opening 1113 for inserting the calibration post 131, and the opening 1113 may be flared, so that the opening 1113 of the calibration hole 111 has a guiding function, so that the calibration post 131 can be quickly and accurately inserted into the calibration hole 111.
Optionally, a chamfer may be provided at the opening 1113 of the calibration hole 111 to make the opening 1113 of the calibration hole 111 in a flaring arrangement.
The present invention provides a Robot 10, which can be a SCARA (Selective Compliance Assembly Robot Arm) Robot, or any other Robot having the rotating Arm, and is not limited herein.
In the description of the present specification, reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A robot, characterized in that the robot comprises:
A base;
The rotating arm is rotatably connected with the base;
The screw rod is in rotating connection with the rotating arm and/or in sliding connection along the vertical direction;
One of the screw rod and the base is provided with a calibration column, the other one of the screw rod and the base is provided with a calibration hole, and the calibration column is used for being inserted into the calibration hole and limiting the movement of the screw rod along the radial direction of the screw rod so as to calibrate the rotating arm.
2. the robot of claim 1, wherein the calibration hole has a first calibration surface on an inner peripheral surface thereof, and the calibration post has a second calibration surface on an outer peripheral surface thereof, and the first calibration surface is adapted to be attached to the second calibration surface and limit the rotation of the screw rod with respect to the rotating arm, so as to calibrate the rotation angle of the screw rod.
3. The robot as claimed in claim 1, wherein the calibration hole has a third calibration surface therein, and the third calibration surface is configured to abut against an insertion end of the calibration column inserted into the calibration hole and limit the lead screw from moving vertically relative to the rotating arm, so as to calibrate the height of the lead screw.
4. The robot of claim 3, wherein the third calibration surface is formed on a bottom surface of the calibration hole, and the third calibration surface is configured to abut against an end surface of the insertion end to limit the lead screw from moving in a vertical direction relative to the rotating arm.
5. The robot as claimed in claim 1, wherein the base is provided with a positioning portion, the calibration hole is opened on the positioning portion, and the calibration post is located at a lower end of the screw rod.
6. A robot as set forth in claim 5, wherein said positioning portion is provided integrally with said base.
7. a robot as set forth in claim 5, wherein said positioning portion is detachably connected to said base.
8. The robot according to claim 5, wherein the positioning portion is located at an end of the base near the rotating arm, and the positioning portion protrudes from a side surface of the base.
9. A robot as claimed in any of claims 1 to 8, wherein the calibration holes have openings into which the calibration posts are inserted, the openings being flared.
10. Robot according to any of the claims 1-8, characterized in that the rotating arm comprises a big arm rotationally connected with the base, and a small arm rotationally connected with the big arm, and the lead screw is rotationally connected with the small arm and/or slidably connected in the vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920477201.9U CN209755201U (en) | 2019-04-09 | 2019-04-09 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920477201.9U CN209755201U (en) | 2019-04-09 | 2019-04-09 | Robot |
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| Publication Number | Publication Date |
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| CN209755201U true CN209755201U (en) | 2019-12-10 |
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| CN201920477201.9U Active CN209755201U (en) | 2019-04-09 | 2019-04-09 | Robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872931A (en) * | 2020-07-31 | 2020-11-03 | 安徽巨一科技股份有限公司 | Robot automatic calibration detection position mechanism |
| CN112762822A (en) * | 2020-12-21 | 2021-05-07 | 北京无线电计量测试研究所 | Mechanical arm calibration method and system based on laser tracker |
-
2019
- 2019-04-09 CN CN201920477201.9U patent/CN209755201U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872931A (en) * | 2020-07-31 | 2020-11-03 | 安徽巨一科技股份有限公司 | Robot automatic calibration detection position mechanism |
| CN111872931B (en) * | 2020-07-31 | 2021-08-13 | 安徽巨一科技股份有限公司 | Robot automatic calibration detection position mechanism |
| CN112762822A (en) * | 2020-12-21 | 2021-05-07 | 北京无线电计量测试研究所 | Mechanical arm calibration method and system based on laser tracker |
| CN112762822B (en) * | 2020-12-21 | 2022-05-20 | 北京无线电计量测试研究所 | Mechanical arm calibration method and system based on laser tracker |
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