CN211103997U - Full-automatic manipulator calibrating device - Google Patents
Full-automatic manipulator calibrating device Download PDFInfo
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- CN211103997U CN211103997U CN201921698403.2U CN201921698403U CN211103997U CN 211103997 U CN211103997 U CN 211103997U CN 201921698403 U CN201921698403 U CN 201921698403U CN 211103997 U CN211103997 U CN 211103997U
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Abstract
The utility model relates to a supporting, control or change casting melt container pouring nozzle's device field specifically is a full-automatic manipulator calibrating device. The utility model provides a full-automatic manipulator calibrating device, includes trunnion ring fork seat (11) and trunnion ring (12), characterized by: the device also comprises a large arm (2), a large arm rotating mechanism (21), a small arm (3), a small arm rotating mechanism (31), a small arm rotating mechanism (32), a small arm twisting mechanism (33) and a supporting reference frame (4). The utility model discloses convenient operation improves the precision.
Description
Technical Field
The utility model relates to a supporting, control or change casting melt container pouring nozzle's device field specifically is a full-automatic manipulator calibrating device.
Background
The long nozzle manipulator is used for realizing the installation of the long nozzle in the continuous casting production, and the production site is reduced to be unmanned as far as possible in consideration of the safety and the reliability of the operation, so that the automatic manipulator can be adopted to automatically complete the installation work of the long nozzle. Since the movement of the robot is liable to cause an accumulated error, it is necessary to periodically calibrate the zero point of the robot.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model provides a convenient operation, precision improvement, the utility model discloses a full-automatic manipulator calibrating device.
The utility model discloses a following technical scheme reaches the invention purpose:
the utility model provides a full-automatic manipulator calibrating device, includes trunnion ring fork seat and trunnion ring, and the trunnion ring is fixed on the trunnion ring fork seat, and the trunnion ring is used for snatching long mouth of a river, characterized by: the large arm supporting device comprises a large arm, a large arm rotating mechanism, a small arm rotating mechanism, a small arm swinging mechanism, a small arm twisting mechanism and a supporting reference frame, wherein the rear end of the large arm is rotatably arranged on a fixed surface through the large arm rotating mechanism, the front end of the large arm is rotatably arranged at the small arm through the small arm rotating mechanism, the two ends of the small arm swinging mechanism are respectively connected with the rear ends of the small arm and the small arm rotating mechanism, the front end of the small arm twisting mechanism is connected with a supporting ring fork seat, the supporting reference frame is fixed on the fixed surface, the top end of the supporting reference frame is provided with a positioning groove, and the outer side surface of the small arm twisting mechanism is embedded in the positioning.
Full-automatic manipulator calibrating device, characterized by:
the large arm slewing mechanism comprises a large arm support, a large arm driven gear, a large arm slewing bracket, a large arm servo motor and a large arm driving gear, the bottom end of the large arm support is fixed on a fixing surface, the large arm driven gear is fixed at the top end of the large arm support, the large arm slewing bracket is rotatably sleeved on a gear shaft of the large arm driven gear, the large arm servo motor is fixed on the large arm slewing bracket, an output shaft of the large arm servo motor is connected with the large arm driving gear, the large arm driving gear and the large arm driven gear are meshed with each other, and the rear end of the large arm is fixed on the large arm slewing bracket;
the small arm swing mechanism comprises a small arm driven gear, a small arm swing support, a small arm servo motor and a small arm driving gear, the small arm driven gear is fixed at the front end of the large arm, the small arm swing support is rotatably sleeved on a gear shaft of the small arm driven gear, the small arm servo motor is fixed on the small arm swing support, an output shaft of the small arm servo motor is connected with the small arm driving gear, the small arm driving gear and the small arm driven gear are meshed with each other, and the rear end of the small arm is arranged on the small arm swing support;
the small arm swinging mechanism comprises a small arm rotating support and a small arm swinging hydraulic cylinder, the small arm rotating support is fixed on the small arm rotating support and strides over the small arm, the rear end of the small arm is rotatably arranged on the small arm rotating support, the cylinder body of the small arm swinging hydraulic cylinder is fixed on the small arm rotating support, and the moving end of the piston rod of the small arm swinging hydraulic cylinder is connected with the small arm;
the forearm torsion mechanism comprises a forearm torsion shaft and a forearm torsion motor, the forearm torsion shaft is rotatably sleeved in the forearm, an output shaft of the forearm torsion motor is connected with the rear end of the forearm torsion shaft through a speed reducer, and the backing ring fork seat is fixed at the front end of the forearm torsion shaft;
the outer side surface of the forearm torsion shaft is embedded in the positioning groove.
The using method of the full-automatic manipulator calibrating device is characterized by comprising the following steps: the method is implemented in sequence according to the following steps:
① the big arm rotates, the big arm rotating mechanism rotates to drive the big arm to rotate;
② the small arm rotates, the small arm rotating mechanism rotates to drive the small arm to rotate;
③ swing of small arm, the small arm swing mechanism rotates to substitute the small arm swing;
④ twisting the small arm, wherein the small arm twisting mechanism rotates to drive the support ring fork seat and the support ring to twist sequentially through the small arm;
⑤ zeroing, namely embedding the outer side surface of the forearm torsion shaft into a positioning groove through steps ① - ④ or manual operation, taking a support reference frame as a zero point position, and automatically correcting the zero point by a zeroing mechanism, namely unifying a mechanical zero point and an electrical zero point;
the zero setting mechanism is a mechanical fixed position, the manipulator moves to the position and stops, or the manipulator is manually moved to the position, the system performs zero setting, namely the system records the absolute value of the position, compares the absolute value with the absolute value of the position originally recorded by the system, records the deviation and uses the deviation for correcting other positions.
The using method of the full-automatic manipulator calibrating device is characterized by comprising the following steps: the method is implemented in sequence according to the following steps:
① large arm rotation, wherein the large arm servo motor drives the large arm driving gear to rotate, the large arm driving gear rotates around the large arm driven gear through the meshing of the large arm driving gear and the large arm driven gear, and the large arm driving gear drives the large arm to rotate around the large arm driven gear through the large arm rotation bracket when rotating;
② rotation of the small arm, wherein the small arm servo motor drives the small arm driving gear to rotate, the small arm driving gear rotates around the small arm driven gear through the meshing of the small arm driving gear and the small arm driven gear, and the small arm driving gear drives the small arm to rotate around the small arm driven gear through the small arm rotation bracket when rotating;
③ swing of the small arm, namely, the piston rod of the small arm swing hydraulic cylinder stretches and retracts to drive the small arm to swing around the rear end of the small arm;
④ torsion of the forearm, namely the forearm torsion motor drives the forearm torsion shaft to rotate through the speed reducer, and the forearm torsion shaft drives the backing ring to twist through the backing ring fork seat;
⑤ zeroing, namely embedding the outer side surface of the forearm torsion shaft into the positioning groove through steps ① - ④ or manually, taking the support reference frame as a zero point position, and automatically correcting the zero point by the zeroing mechanism, namely unifying the mechanical zero point and the electrical zero point.
The manipulator is used as a tool for installing the ladle long nozzle, the spatial position of the manipulator is mainly controlled by a servo motor and a hydraulic system, and the deviation of the system is often caused due to mechanical intermittence and the accumulated error of the system. The utility model discloses at the end of manipulator work orbit, support benchmark frame (4) promptly as the zero point of system through a fixed mechanical device, like this, when the manipulator moves so far fixed position at every turn, the zero set mechanism of manipulator is automatic to be calibrated, unifies mechanical zero point and electric zero point, reduces the systematic error that causes by factors such as mechanical clearance by the at utmost to can reduce the accumulative error of system.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples.
Example 1
A full-automatic manipulator calibrating device comprises a trunnion ring fork seat 11, a trunnion ring 12, a large arm 2, a large arm swing mechanism 21, a small arm 3, a small arm swing mechanism 31, a small arm swing mechanism 32, a small arm torsion mechanism 33 and a supporting reference frame 4, and as shown in figure 1, the full-automatic manipulator calibrating device has the specific structure that:
the trunnion ring 12 is fixed on the trunnion ring fork seat 11, and the trunnion ring 12 is used for grabbing the long nozzle 13;
the rear end of the large arm 2 is rotatably arranged on the fixed surface through the large arm rotating mechanism 21, the small arm 3 is rotatably arranged at the front end of the large arm 2 through the small arm rotating mechanism 31, two ends of the small arm rotating mechanism 32 are respectively connected with the rear ends of the small arm 3 and the small arm rotating mechanism 31, the front end of the small arm twisting mechanism 33 is connected with the trunnion ring fork seat 11, the supporting reference frame 4 is fixed on the fixed surface, the top end of the supporting reference frame 4 is provided with a positioning groove 41, and the outer side surface of the small arm twisting mechanism 33 is embedded in the positioning groove 41.
In this embodiment:
the large arm slewing mechanism 21 comprises a large arm support 211, a large arm driven gear 212, a large arm slewing bracket 213, a large arm servo motor 214 and a large arm driving gear 215, wherein the bottom end of the large arm support 211 is fixed on a fixed surface, the large arm driven gear 212 is fixed at the top end of the large arm support 211, the large arm slewing bracket 213 is rotatably sleeved on a gear shaft of the large arm driven gear 212, the large arm servo motor 214 is fixed on the large arm slewing bracket 213, an output shaft of the large arm servo motor 214 is connected with the large arm driving gear 215, the large arm driving gear 215 and the large arm driven gear 212 are mutually meshed, and the rear end of the large arm 2 is fixed on the large arm slewing bracket 213;
the small arm swing mechanism 31 comprises a small arm driven gear 311, a small arm swing support 312, a small arm servo motor 313 and a small arm driving gear 314, the small arm driven gear 311 is fixed at the front end of the large arm 2, the small arm swing support 312 is rotatably sleeved on a gear shaft of the small arm driven gear 311, the small arm servo motor 313 is fixed on the small arm swing support 312, an output shaft of the small arm servo motor 313 is connected with the small arm driving gear 314, the small arm driving gear 314 is meshed with the small arm driven gear 311, and the rear end of the small arm 3 is arranged on the small arm swing support 312;
the small arm swing mechanism 32 comprises a small arm rotating support 321 and a small arm swing hydraulic cylinder 322, the small arm rotating support 321 is fixed on the small arm rotary support 312 and strides over the small arm 3, the rear end of the small arm 3 is rotatably arranged on the small arm rotating support 321, the cylinder body of the small arm swing hydraulic cylinder 322 is fixed on the small arm rotating support 321, and the moving end of the piston rod of the small arm swing hydraulic cylinder 322 is connected with the small arm 3;
the forearm torsion mechanism 33 comprises a forearm torsion shaft 331 and a forearm torsion motor 332, the forearm torsion shaft 331 is rotatably sleeved in the forearm 3, an output shaft of the forearm torsion motor 332 is connected with the rear end of the forearm torsion shaft 331 through a speed reducer, and the trunnion ring fork seat 11 is fixed at the front end of the forearm torsion shaft 331;
the outer side surface of the arm torsion shaft 331 is fitted in the positioning groove 41.
When the method is used, the steps are implemented in sequence as follows:
① large arm rotation, wherein the large arm rotation mechanism 21 rotates to drive the large arm 2 to rotate, specifically, the large arm servo motor 214 drives the large arm driving gear 215 to rotate, the large arm driving gear 215 rotates around the large arm driven gear 212 through the meshing of the large arm driving gear 215 and the large arm driven gear 212, and the large arm driving gear 215 drives the large arm 2 to rotate around the large arm driven gear 212 through the large arm rotation support 213 when rotating;
② rotation of the small arm, namely rotating the small arm rotation mechanism 31 to drive the small arm 3 to rotate, specifically, rotating the small arm driving gear 314 by the small arm servo motor 313, rotating the small arm driving gear 314 around the small arm driven gear 311 by the meshing of the small arm driving gear 314 and the small arm driven gear 311, and driving the small arm 3 to rotate around the small arm driven gear 311 by the small arm rotation support 312 when the small arm driving gear 314 rotates;
③ swing of the small arm, namely, the small arm swing mechanism 32 rotates to substitute the swing of the small arm 3, in particular, the piston rod of the small arm swing hydraulic cylinder 322 extends and retracts to drive the small arm 3 to swing around the rear end of the small arm 3;
④ torsion of forearm, namely the rotation of the forearm torsion mechanism 33 drives the trunnion ring fork seat 11 and the trunnion ring 12 to turn through the forearm 3, specifically, the rotation of the forearm torsion motor 332 drives the rotation of the forearm torsion shaft 331 through the speed reducer, and the rotation of the forearm torsion shaft 331 drives the trunnion ring 12 to turn through the trunnion ring fork seat 11;
⑤ zeroing, namely embedding the outer side surface of the forearm torsion shaft 331 into the positioning groove 41 through steps ① - ④ or manual operation, taking the support reference frame 4 as a zero point position, and automatically correcting the zero point by a zeroing mechanism, namely unifying a mechanical zero point and an electrical zero point;
the zero setting mechanism is a mechanical fixed position, the manipulator moves to the position and stops, or the manipulator is manually moved to the position, the system performs zero setting, namely the system records the absolute value of the position, compares the absolute value with the absolute value of the position originally recorded by the system, records the deviation and uses the deviation for correcting other positions.
Claims (2)
1. The utility model provides a full-automatic manipulator calibrating device, includes trunnion ring fork seat (11) and trunnion ring (12), and trunnion ring (12) are fixed on trunnion ring fork seat (11), and trunnion ring (12) are used for snatching long mouth of a river (13), characterized by: the large arm support device is characterized by further comprising a large arm (2), a large arm rotating mechanism (21), a small arm (3), a small arm rotating mechanism (31), a small arm swinging mechanism (32), a small arm torsion mechanism (33) and a support reference frame (4), wherein the rear end of the large arm (2) is rotatably arranged on a fixed surface through the large arm rotating mechanism (21), the small arm (3) is rotatably arranged at the front end of the large arm (2) through the small arm rotating mechanism (31), the two ends of the small arm swinging mechanism (32) are respectively connected with the rear ends of the small arm (3) and the small arm rotating mechanism (31), the front end of the small arm torsion mechanism (33) is connected with a supporting ring fork seat (11), the support reference frame (4) is fixed on the fixed surface, a positioning groove (41) is arranged at the top end of the support reference frame (4), and the outer side face of the small arm torsion mechanism (33) is embedded in the positioning groove (.
2. The fully automated robot calibration device of claim 1, further comprising:
the large arm slewing mechanism (21) comprises a large arm support (211), a large arm driven gear (212), a large arm slewing support (213), a large arm servo motor (214) and a large arm driving gear (215), the bottom end of the large arm support (211) is fixed on a fixing surface, the large arm driven gear (212) is fixed at the top end of the large arm support (211), the large arm slewing support (213) is rotatably sleeved on a gear shaft of the large arm driven gear (212), the large arm servo motor (214) is fixed on the large arm slewing support (213), an output shaft of the large arm servo motor (214) is connected with the large arm driving gear (215), the large arm driving gear (215) and the large arm driven gear (212) are meshed with each other, and the rear end of the large arm (2) is fixed on the large arm slewing support (213);
the small arm slewing mechanism (31) comprises a small arm driven gear (311), a small arm slewing bracket (312), a small arm servo motor (313) and a small arm driving gear (314), the small arm driven gear (311) is fixed at the front end of the large arm (2), the small arm slewing bracket (312) is rotatably sleeved on a gear shaft of the small arm driven gear (311), the small arm servo motor (313) is fixed on the small arm slewing bracket (312), an output shaft of the small arm servo motor (313) is connected with the small arm driving gear (314), the small arm driving gear (314) and the small arm driven gear (311) are mutually meshed, and the rear end of the small arm (3) is arranged on the small arm slewing bracket (312);
the small arm swinging mechanism (32) comprises a small arm rotating support (321) and a small arm swinging hydraulic cylinder (322), the small arm rotating support (321) is fixed on the small arm rotating support (312) and strides over the small arm (3), the rear end of the small arm (3) is rotatably arranged on the small arm rotating support (321), the cylinder body of the small arm swinging hydraulic cylinder (322) is fixed on the small arm rotating support (321), and the moving end of the piston rod of the small arm swinging hydraulic cylinder (322) is connected with the small arm (3);
the forearm torsion mechanism (33) comprises a forearm torsion shaft (331) and a forearm torsion motor (332), the forearm torsion shaft (331) is rotatably sleeved in the forearm (3), an output shaft of the forearm torsion motor (332) is connected with the rear end of the forearm torsion shaft (331) through a speed reducer, and the trunnion ring fork seat (11) is fixed at the front end of the forearm torsion shaft (331);
the outer side surface of the forearm torsion shaft (331) is embedded in the positioning groove (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921698403.2U CN211103997U (en) | 2019-10-11 | 2019-10-11 | Full-automatic manipulator calibrating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921698403.2U CN211103997U (en) | 2019-10-11 | 2019-10-11 | Full-automatic manipulator calibrating device |
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| CN211103997U true CN211103997U (en) | 2020-07-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110695985A (en) * | 2019-10-11 | 2020-01-17 | 宝钢工程技术集团有限公司 | Full-automatic manipulator calibration device and use method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110695985A (en) * | 2019-10-11 | 2020-01-17 | 宝钢工程技术集团有限公司 | Full-automatic manipulator calibration device and use method thereof |
| CN110695985B (en) * | 2019-10-11 | 2023-11-17 | 宝钢工程技术集团有限公司 | Full-automatic manipulator calibration device and application method thereof |
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