CN210633668U

CN210633668U - Origin positioning device

Info

Publication number: CN210633668U
Application number: CN201921078672.9U
Authority: CN
Inventors: 陈毅强; 王振强; 黄达豪
Original assignee: Guangdong Tianji Robot Co ltd
Current assignee: Guangdong Tianji Robot Co ltd
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2020-05-29
Anticipated expiration: 2029-07-11

Abstract

The utility model relates to an original point positioning device, which comprises a base, a first positioning mechanism and a second positioning mechanism, wherein the base is provided with a limiting hole, the limiting hole is provided with an extending port and a pressing port, and the extending port is communicated with the pressing port; the first positioning mechanism comprises a positioning sliding block, the positioning sliding block is movably connected with the base, the position of the positioning sliding block corresponds to the pressure opening, and the positioning sliding block can extend into the limiting hole through the pressure opening; the second positioning mechanism is connected with the base and comprises a positioning shaft, and an angle except 0 degree and 180 degrees is formed between the positioning shaft and the running direction of the positioning sliding block. The positions of the fourth shaft flat position and the third shaft positioning hole are calibrated simultaneously, so that the origin of the third shaft and the fourth shaft of the multi-joint industrial robot is calibrated, the operation is simple, and the positioning precision is high.

Description

Origin positioning device

Technical Field

The utility model relates to a multi-joint industrial robot's accessory technical field especially relates to initial point positioner.

Background

A horizontal multi-joint industrial robot has four axes and four degrees of freedom of movement: x, Y, Z, and a first shaft, a second shaft and a fourth shaft have rotation characteristics, and a third shaft has linear movement characteristics, and the third shaft and the fourth shaft move generally by using a ball screw-ball spline.

Before the origin calibration of each shaft of the horizontal multi-joint industrial robot, the mechanical positioning of each shaft is needed, and for joints using harmonic reducers, circular pin rods or strip-shaped pin blocks are generally used for positioning; for the joint using the ball screw-ball spline, the joint cannot be simply positioned by the round pin bar or the long-strip pin block, and a special positioning device needs to be designed for the joint.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide an origin positioning device for calibrating the positions of the fourth axis flat position and the third axis positioning hole simultaneously to calibrate the origin of the third axis and the fourth axis of the multi-joint industrial robot, which is simple in operation and high in positioning accuracy.

An origin positioning device comprising:

the base is provided with a limiting hole, the limiting hole is provided with an extending port and a pressing port, and the extending port is communicated with the pressing port;

the first positioning mechanism comprises a positioning sliding block, the positioning sliding block is movably connected with the base, the position of the positioning sliding block corresponds to the pressure port, and the positioning sliding block can extend into the limiting hole through the pressure port; and

and the second positioning mechanism is connected with the base and comprises a positioning shaft, and the positioning shaft and the operating direction of the positioning sliding block form an angle except 0 degree and 180 degrees.

The original point positioning device sets the basic state of the third shaft and the fourth shaft as the original point state, the position of the flat position of the ball screw of the fourth shaft corresponding to the positioning hole on the third shaft is the basic position, the intersection point of the basic positions of the flat position and the positioning hole can be regarded as the original point, and when the flat position and the positioning hole return to the basic position again, the third shaft and the fourth shaft return to the original point state; when the positioning device is used, the ball screw of the third shaft is inserted into the limiting hole of the base until the screw limiting block of the ball screw abuts against the upper end face of the base, then the positioning slide block is pressed to the flat position, the positioning shaft is then lifted to be inserted into the positioning hole, if the positioning shaft cannot be inserted into the positioning hole, the flat position and the positioning hole do not reach the basic position, the ball screw needs to be rotated until the positioning shaft corresponds to the positioning hole and can be inserted into the positioning hole, the flat position and the positioning hole return to the basic position, and the third shaft and the fourth shaft are positioned at the original point to complete original point positioning; the utility model discloses an original point positioner, easy operation, positioning accuracy is high, can be used to the original point calibration to third axle and fourth axle, does benefit to the accurate control to third axle and fourth axle.

In one embodiment, the first positioning mechanism further comprises a first fixing member connected with the base, a return elastic member and an adjusting handle movably connected with the first fixing member, wherein one end of the return elastic member, which is far away from the base, is connected with the positioning slide block, the first fixing member is provided with an adjusting hole, the adjusting handle is movably connected with the first fixing member through the adjusting hole, and the adjusting handle is abutted against the positioning slide block.

In one embodiment, the inner wall of the adjusting hole is provided with internal threads, and the adjusting handle is provided with external threads matched with the internal threads of the adjusting hole.

In one embodiment, the positioning slide block comprises a free part and a working part connected with the free part, the free part is connected with the return elastic piece, the adjusting handle is abutted against the free part, and one end, far away from the free part, of the working part is close to the limiting hole.

In one embodiment, the base is provided with a return groove, and the return elastic element is positioned in the return groove and extends along the length direction of the return groove.

In one embodiment, the first positioning mechanism further comprises a handle connected to the positioning slider.

In one embodiment, the base is provided with a movable groove corresponding to the handle, and the handle protrudes out of the base through the movable groove.

In one embodiment, the second positioning mechanism further comprises a second fixing member connected with the base, the second fixing member is provided with a connecting hole, and the positioning shaft is movably connected with the second fixing member through the connecting hole.

In one embodiment, the second fixing member comprises an installation part, a half clamping part and a butt clamping part which are respectively connected with two sides of the installation part, and a fastener movably connected with the half clamping part and the butt clamping part, wherein a gap is formed between the half clamping part and the butt clamping part, and the fastener is used for adjusting the distance between the half clamping part and the butt clamping part.

In one embodiment, the second positioning mechanism further comprises a guide part, the guide part is connected with the base, one surface, close to the base, of the second fixing part is connected with the guide part, the guide part is provided with a guide hole, the position of the guide hole corresponds to the position of the connecting hole, and the positioning shaft is movably connected with the guide part through the guide hole.

In one embodiment, the origin positioning device further comprises a bottom plate, the bottom plate is mounted at the bottom of the base, the limiting hole is a through hole, and the limiting hole is communicated with the bottom plate.

Drawings

FIG. 1 is a schematic view of a preferred embodiment of the origin positioning device of the present invention;

FIG. 2 is an exploded view of the origin positioning device of FIG. 1;

FIG. 3 is a schematic view of a second fixing member of the origin positioning device of FIG. 2;

fig. 4 is a schematic view of an application of the origin positioning apparatus of fig. 1.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully below. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Referring to fig. 1 to 3, in order to provide the origin positioning device 100 of the present invention, it is mainly used for performing origin positioning on a third shaft 500 and a fourth shaft 600 of a multi-joint industrial robot, as shown in fig. 4, a ball screw 601 of the fourth shaft 600 has a flat 602 and a screw stopper 603, a positioning hole 501 is provided at the bottom of the third shaft 500, a basic state of the third shaft 500 and the fourth shaft 600 is set as an origin state, a position corresponding to the flat 602 of the ball screw 601 of the fourth shaft 600 and the positioning hole 501 on the third shaft 500 is a basic position, a basic position crossing point of the flat 602 and the positioning hole 501 can be regarded as an origin, when the flat 602 and the positioning hole 501 return to the basic position again, a crossing point of the basic positions of the two returns to the origin, and the third shaft 500 and the fourth shaft 600 return to the origin.

The origin positioning device 100 includes:

the device comprises a base 20, wherein the base 20 is provided with a limiting hole 21, the limiting hole 21 is provided with an extending port and a pressure port (not shown), and the extending port is communicated with the pressure port;

the first positioning mechanism 30, the first positioning mechanism 30 includes the positioning slide block 31, the positioning slide block 31 connects the base 20 movably, and the position of the positioning slide block 31 corresponds to the pressure port, the positioning slide block 31 can extend into the spacing hole 21 through the pressure port; and

the second positioning mechanism 40 is connected with the base 20, the second positioning mechanism 40 comprises a positioning shaft 41, and an angle except 0 degree and 180 degrees is formed between the positioning shaft 41 and the running direction of the positioning slide block 31.

When the positioning device is used, the ball screw 601 of the fourth shaft 600 is inserted into the limiting hole 21 of the base 20 until the screw limiting block 603 of the ball screw 601 abuts against the upper end face of the base 20, then the positioning slider 31 is pressed against the flat position 602, and then the positioning shaft 41 is lifted to be inserted into the positioning hole 501, if the positioning shaft 41 cannot be inserted into the positioning hole 501, it is indicated that the flat position 602 and the positioning hole 501 have not reached their basic positions, the ball screw 601 needs to be rotated until the positioning shaft 41 corresponds to the positioning hole 501 and can be inserted into the positioning hole 501, the flat position 602 and the positioning hole 501 return to the basic positions, and the third shaft 500 and the fourth shaft 600 are in an original point state, so. Preferably, the axis of the positioning shaft 41 is perpendicular to the axis of the positioning slider 31 on the projection plane, so that the positioning slider and the positioning shaft are more convenient to operate and easier to calibrate accurately.

In one embodiment, the base 20 is further provided with a receiving space for providing a movable space for the positioning slider 31, and the bottom wall of the movable space has a supporting function for the positioning slider 31.

In one embodiment, as shown in fig. 2, the first positioning mechanism 30 further includes a first fixing member 32 connected to the base 20, a return elastic member 33 and an adjusting handle 34 movably connected to the first fixing member 32, wherein an end of the return elastic member 33 away from the base 20 is connected to the positioning slider 31, the first fixing member 32 is provided with an adjusting hole 35, the adjusting handle 34 is movably connected to the first fixing member 32 through the adjusting hole 35, and the adjusting handle 34 abuts against the positioning slider 31. When the flat position 602 needs to be compressed, the adjusting handle 34 is rotated or pushed to move towards the limiting hole 21, and then the positioning slide block 31 is pushed to move towards the limiting hole 21, so that the flat position 602 is compressed. When the flat position 602 is released, the adjusting handle 34 is rotated or pulled to move towards the direction away from the limiting hole 21, the return elastic member 33 has the property of natural extension and has a thrust force on the positioning slide block 31, after the adjusting handle 34 releases the positioning slide block 31, the return elastic member 33 naturally extends to push the positioning slide block 31 to the adjusting handle 34, and then the flat position 602 is released, so that the origin positioning device 100 can be taken out.

In one embodiment, the first fixing element 32 is provided with an extending groove 36 at a position corresponding to the positioning shaft 41, and the extending groove 36 can accommodate a part of the positioning shaft 41, so that the positioning shaft 41 can extend in length.

In one embodiment, the elastic return member 33 is a return spring, which can maintain good elasticity for a long time and is easy to install and replace.

In one embodiment, the inner wall of the adjusting hole 35 is provided with an internal thread, the adjusting handle 34 is provided with an external thread matched with the internal thread of the adjusting hole 35, and the adjusting handle 34 can be screwed on the first fixing member 32 through the matching of the internal thread and the external thread, so that the problem of inaccurate positioning caused by the looseness of the positioning sliding block 31 in the calibration process is avoided.

In one embodiment, the positioning slider 31 includes a free portion 37 and an operating portion 38 connected to the free portion 37, the free portion 37 is connected to the return elastic member 33, the adjusting handle 34 abuts against the free portion 37, an end of the operating portion 38 away from the free portion 37 is close to the limiting hole 21, the base 20 is opened with the return groove 22, and the return elastic member 33 is located in the return groove 22 and extends along a length direction of the return groove 22. The return groove 22 has a limiting and guiding function on the return elastic member 33, and avoids the problem that the positioning slide block 31 is deviated and the return elastic member 33 is easily damaged due to the swinging deviation or the outward bulging of the middle part when the return elastic member 33 is extended or contracted.

In a preferred embodiment, the number of the return elastic members 33 is two, the free portion 37 is connected with the working portion 38 and then forms a T shape, the free portion 37 is a shoulder of the T shape, and the two return elastic members 33 are connected with the free portion 37 and located at two sides of the working portion 38, so that the positioning slider 31 is stressed in a balanced manner and returns smoothly. The base 20 is provided with two return grooves 22 corresponding to the two return elastic members 33, and the return elastic members 33 can move back and forth in the return grooves 22 to limit the swing amplitude and the movement path of the return elastic members 33.

In one embodiment, the first positioning mechanism 30 further includes a handle 39, the handle 39 is connected to the positioning sliding block 31, and when the return elastic member 33 cannot work normally, the handle 39 can be pulled manually to pull the positioning sliding block 31 to a direction close to the adjusting handle 34 or a direction close to the limiting hole 21. In a preferred embodiment, the base 20 is provided with a movable slot 23 at a position corresponding to the handle 39, the handle 39 protrudes out of the base 20 through the movable slot 23, and the movable slot 23 has a guiding function on the handle 39, so that the moving path of the handle 39 is along the extending direction of the movable slot 23.

In one embodiment, as shown in fig. 2 and 3, the second positioning mechanism 40 further includes a second fixing member 42 connected to the base 20, the second fixing member 42 is provided with a connecting hole 43, the positioning shaft 41 is movably connected to the second fixing member 42 through the connecting hole 43, the second fixing member 42 is used for supporting the positioning shaft 41, and the positioning shaft 41 can be raised or lowered relative to the second fixing member 42.

In one embodiment, the second fixing member 42 includes a main body 44 and a fastening member 45 movably coupled to the main body 44. The main body 44 comprises an installation part 46, and a half clamping part 47 and a butt clamping part 48 which are respectively connected with two sides of the installation part 46, the connecting hole 43 is positioned on the installation part 46, the fastener 45 is movably connected with the half clamping part 47 and the butt clamping part 48, a gap is formed between the half clamping part 47 and the butt clamping part 48, the half clamping part 47 is communicated with the connecting hole 43 with the gap of the butt clamping part 48, and the fastener 45 is used for adjusting the distance between the half clamping part 47 and the butt clamping part 48. It can be understood that the half clamping portion 47 and the opposite clamping portion 48 are both provided with a fastening hole 49, the inner wall of the fastening hole 49 is provided with a thread, the outer surface of the fastening piece 45 is provided with a thread matched with the thread of the fastening hole 49, the distance between the half clamping portion 47 and the opposite clamping portion 48 is adjusted by screwing the fastening piece 45 and the fastening hole 49 in a matching manner, and the positioning shaft 41 is further clamped in the connecting hole 43, so that the positioning shaft 41 cannot be loosened in the calibration process, and the calibration accuracy is not affected; or the positioning shaft 41 is released so that the positioning shaft 41 can be adjusted in height to be raised and lowered.

In one embodiment, the second positioning mechanism 40 further includes a guide 410, the guide 410 is connected to the base 20, the second fixing member 42 is connected to the guide 410, the guide 410 is provided with a guide hole 411, the position of the guide hole 411 corresponds to the position of the connection hole 43, the positioning shaft 41 is movably connected to the guide 410 through the guide hole 411, and the guide 410 is mainly used for guiding the ascending and descending directions of the positioning shaft 41, so that the positioning shaft 41 does not deviate from the position, and the positioning shaft is not inclined at an angle, which results in inaccurate positioning.

In one embodiment, the origin positioning apparatus 100 further includes a bottom plate 50, the bottom plate 50 is mounted at the bottom of the base 20, the limiting hole 21 is a through hole, and the limiting hole 21 is communicated with the bottom plate 50. The bottom plate 50 is mainly used for supporting the bottom end of the ball screw 601, so that the distance between the upper end face of the bottom plate 50 and the upper end face of the base 20 is determined to be equal to the distance between the bottom end of the ball screw 601 and the bottom end of the screw limiting block 603, the specification of the distance between the upper end face of the bottom plate 50 of each origin positioning device 100 and the upper end face of the base 20 corresponding to the specification of the fourth shaft 600 ball screw 601 can be formulated, during calibration, a proper origin positioning device 100 can be selected rapidly according to the specification of the fourth shaft 600 ball screw 601, and the positioning accuracy is guaranteed. In a preferred embodiment, the bottom plate 50 is provided with an expanded hole 51 or a bump at a position corresponding to the position of the position-limiting hole 21, the expanded hole 51 is a blind hole, and the diameter of the expanded hole 51 is equal to the diameter of the position-limiting hole 21, so that the calibration specification of the origin positioning device 100 can be changed by replacing bottom plates 20 with different specifications, the operation is convenient, and materials are saved.

The above-mentioned original point positioning device 100 is applied to calibrate the original points of the third shaft 500 and the fourth shaft 600 of the multi-joint industrial robot, as shown in fig. 4, the rotary adjusting handle 34 moves in the direction away from the base 20, the positioning slide block 31 moves in the direction away from the limiting hole 21 under the push of the return elastic member 33, a space is left for the ball screw 601 of the fourth shaft 600, the lower end of the ball screw 601 is inserted into the limiting hole 21 until the bottom end of the ball screw 601 abuts against the bottom plate 50, at this time, the lower end of the screw limiting block 603 abuts against the upper end surface of the base 20, the ball screw 601 is rotated until the flat position 602 corresponds to the positioning slide block 31, then the rotary adjusting handle 34 moves in the direction close to the base 20, further the positioning slide block 31 is pushed to press the flat position 602, and the positioning slide block; rotating the fastener 45, loosening the positioning shaft 41, lifting the positioning shaft 41, and inserting the positioning shaft 41 into the positioning hole 501 of the third shaft 500; if the positioning shaft 41 cannot correspond to the positioning hole 501, the ball screw 601 is rotated to drive the origin positioning device 100 to move until the position of the positioning shaft 41 corresponds to the positioning hole 501, then the positioning shaft 41 is inserted into the positioning hole 501, and the fastener 45 is screwed to complete the origin positioning calibration of the third shaft 500 and the fourth shaft 600.

The utility model discloses initial point positioner 100 is through the flat position 602 of demarcating ball screw 601 simultaneously and third axle 500's locating hole 501, marks the initial point of third axle 500 and fourth axle 600, easy operation, and work efficiency is high, and positioning accuracy is high, can be used to the initial point calibration of third axle 500 and fourth axle 600, does benefit to the accurate control to many joints industrial robot's third axle 500 and fourth axle 600.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent one embodiment of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. An origin positioning device, comprising:

the second positioning mechanism is connected with the base and comprises a positioning shaft, and an angle except 0 degree and 180 degrees is formed between the positioning shaft and the running direction of the positioning sliding block.

2. The origin positioning device according to claim 1, wherein the first positioning mechanism further comprises a first fixing member connected to the base, a return elastic member and an adjusting handle movably connected to the first fixing member, wherein one end of the return elastic member away from the base is connected to the positioning slider, the first fixing member is provided with an adjusting hole, the adjusting handle is movably connected to the first fixing member through the adjusting hole, and the adjusting handle abuts against the positioning slider.

3. The origin positioning device according to claim 2, wherein the inner wall of the adjusting hole is provided with an internal thread, and the adjusting handle is provided with an external thread matching the internal thread of the adjusting hole.

4. The origin positioning device according to claim 2 or 3, wherein the positioning slider comprises a free portion and a working portion connected to the free portion, the free portion is connected to the return elastic member, the adjusting handle abuts against the free portion, and one end of the working portion, which is far away from the free portion, is close to the limiting hole.

5. The origin positioning device according to claim 4, wherein the base defines a return slot, and the return elastic member is located in the return slot and extends along a length direction of the return slot.

6. The origin positioning device according to claim 2 or 3, wherein the first positioning mechanism further comprises a handle connected to the positioning slider; the base is provided with a movable groove corresponding to the handle, and the handle protrudes out of the base through the movable groove.

7. The origin positioning device according to claim 1, wherein the second positioning mechanism further comprises a second fixing member connected to the base, the second fixing member is provided with a connecting hole, and the positioning shaft is movably connected to the second fixing member through the connecting hole.

8. The origin positioning device according to claim 7, wherein the second fixing member comprises an installation part, a half clamping part and a butt clamping part respectively connected with two sides of the installation part, and a fastener movably connected with the half clamping part and the butt clamping part, wherein a gap is formed between the half clamping part and the butt clamping part, and the fastener is used for adjusting the distance between the half clamping part and the butt clamping part.

9. The origin positioning device according to claim 7 or 8, wherein the second positioning mechanism further comprises a guide member, the guide member is connected to the base, one surface of the second fixing member close to the base is connected to the guide member, the guide member is provided with a guide hole, the position of the guide hole corresponds to the position of the connection hole, and the positioning shaft is movably connected to the guide member through the guide hole.

10. The origin positioning device according to claim 1, further comprising a bottom plate, wherein the bottom plate is mounted at the bottom of the base, the limiting hole is a through hole, and the limiting hole is communicated with the bottom plate.