CN211639978U - Mechanical arm zero correction combination suit - Google Patents

Abstract

The utility model provides a manipulator zero point correction combination suit, has solved present to find back the artificial interference factor at zero point great, the precision is poor, need many people to participate in, operate inconvenient problem, and it includes the sleeve pipe, and upper casing lower extreme fixedly connected with lower casing, upper casing top are equipped with the percentage table, and the lower extreme slidable of percentage table runs through the lower casing, and the upper casing outside is equipped with holding screw, and holding screw is used for the fixed to the percentage table. The experiment proves, the utility model relates to a robotic arm combination suit is a zero correction device of high accuracy, and is small, processing is convenient, dismantles simple to operate to draw materials, processing, storage are convenient, and advantages such as long service life, maneuverability are strong have very strong practicality and development prospect.

Description

Mechanical arm zero correction combination suit

Technical Field

The utility model belongs to the technical field of zero correction technique and specifically relates to a manipulator zero correction combination suit is related to.

Background

When the automatic industrial mechanical arm works according to a program, each instruction is executed on the basis of the default zero point, but the zero point is lost once special conditions such as sudden power failure, collision, illegal operation and the like occur in the daily operation process, so that the mechanical arm cannot work, and even safety accidents occur.

The common method for finding back the zero point is that under the condition that the zero point is not lost, the relative position of the zero point of each mechanical arm is marked in a color marker pen or nicking mode, so that the artificial interference factor is large, the precision is poor, multiple persons are required to participate, and the operation is inconvenient.

SUMMERY OF THE UTILITY MODEL

To the above situation, for overcoming prior art's defect, the utility model provides a mechanical arm zero point correction combination suit, effectual solution get back now that the zero point artificial interference factor is great, the precision is poor, need many people to participate in, operate inconvenient problem.

In order to achieve the purpose, the utility model discloses a go up the sleeve pipe, go up sleeve pipe lower extreme fixedly connected with lower casing, go up the sleeve pipe top and be equipped with the percentage table, the lower extreme slidable of percentage table runs through the lower casing, goes up the sleeve pipe outside and is equipped with holding screw, and holding screw is used for the fixed to the percentage table.

The utility model discloses a go up the sleeve pipe, go up sleeve pipe lower extreme fixedly connected with lower casing, go up the sleeve pipe top and be equipped with the percentage table, the lower extreme slidable of percentage table runs through the lower casing, goes up the inside equipartition of cover pipe and has the blade of a plurality of "sword" forms, and the outer end of every blade is articulated fixed with last sleeve pipe respectively, and a plurality of blades swing simultaneously and constitute the structure fixed with the percentage table.

Preferably, an outer gear ring is rotatably arranged in the upper sleeve, a pin shaft is fixed on each blade, and the pin shaft is slidably connected with the outer gear ring;

the outer gear ring is provided with a plurality of rectangular grooves, the rectangular grooves correspond to the pin shafts one by one, and the pin shafts can be arranged in the rectangular grooves in a sliding mode.

Preferably, a rack capable of sliding back and forth is meshed on the outer side of the outer gear ring, the front end of the rack penetrates through the upper sleeve and is arranged on the outer side of the upper sleeve, a positioning hole is formed in the upper sleeve, a blind hole corresponding to the positioning hole is formed in the rack, and a positioning shaft is inserted into the positioning hole and the blind hole.

The experiment proves, the utility model relates to a robotic arm combination suit is a zero correction device of high accuracy, and is small, processing is convenient, dismantles simple to operate to draw materials, processing, storage are convenient, and advantages such as long service life, maneuverability are strong have very strong practicality and development prospect.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.

In the drawings:

fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the second embodiment of the present invention.

Fig. 3 is a schematic view of an internal structure of a second upper sleeve according to an embodiment of the present invention.

Fig. 4 is a schematic view of an inner shaft side structure of a second upper sleeve according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of the explosion structure of fig. 3 according to the present invention.

Fig. 6 shows the initial working position of the application method of the present invention.

Fig. 7 shows the middle working position of the usage of the present invention.

Fig. 8 shows the utility model is used to detect the zero working position.

Detailed Description

The following describes the present invention in further detail with reference to fig. 1-8.

Embodiment one is given by figure 1, the utility model discloses a go up sleeve pipe 1, go up 1 lower extreme fixedly connected with lower casing pipe 2 of sleeve pipe, go up sleeve pipe 1 top and be equipped with percentage table 3, the lower extreme slidable of percentage table 3 runs through lower casing pipe 2, goes up the sleeve pipe 1 outside and is equipped with holding screw 4, and holding screw 4 is used for the fixed to percentage table 3.

Go up sleeve pipe 1 and lower casing 2 and adopt Q235 round steel processing and form, both process the through-hole from top to bottom, go up 1 outside drilling mantle fiber of sleeve pipe, installation holding screw 4, holding screw 4 is used for fixing percentage table 3, and the handheld portion of 3 lower extremes of percentage table inserts in sleeve pipe 1, and the probe is arranged in lower casing 2's below, fixes percentage table 3 through revolving holding screw 4 soon.

Embodiment two is given by fig. 2-5, the utility model discloses a 1 lower extreme fixedly connected with lower casing 2 of upper casing, upper casing 1 top is equipped with percentage table 3, and percentage table 3's lower extreme slidable runs through lower casing 2, and the inside equipartition of upper casing 1 has the blade 5 of a plurality of "sword" forms, and every blade 5's outer end is articulated fixedly with upper casing 1 respectively, and a plurality of blades 5 swing simultaneously and constitute the structure of fixing percentage table 3.

A plurality of blades 5 are hinged in the upper sleeve 1, specifically 6 blades 5 are hinged in the upper sleeve 1, the outer ends of the blades 5 are hinged and fixed with the upper sleeve 1, and the blades 5 can swing simultaneously to form a sealed ring shape, so that the handheld part of the dial indicator 3 is fixed.

An outer gear ring 6 is rotatably arranged in the upper sleeve 1, a pin shaft 7 is fixed on each blade 5, and the pin shaft 7 is connected with the outer gear ring 6 in a sliding manner;

the outer gear ring 6 is provided with a plurality of rectangular grooves 8, the rectangular grooves 8 correspond to the pin shafts 7 one by one, and the pin shafts 7 can be arranged in the rectangular grooves 8 in a sliding mode.

Outer ring gear 6 is rotatable through the bearing and is fixed in last sleeve pipe 1, is equipped with rectangular channel 8 on outer ring gear 6, when outer ring gear 6 rotates, can drive rectangular channel 8 and rotate together, thereby rectangular channel 8 rotates and promotes round pin axle 7 and rotate, thereby round pin axle 7 rotates and makes blade 5 swing.

The outer gear ring 6 is engaged with a rack 9 capable of sliding back and forth on the outer side, the front end of the rack 9 penetrates through the upper sleeve 1 and is arranged on the outer side of the upper sleeve 1, the upper sleeve 1 is provided with a positioning hole, the rack 9 is provided with a blind hole corresponding to the positioning hole, and a positioning shaft is inserted into the positioning hole and the blind hole.

Be fixed with little box in last sleeve pipe 1 outside, rack 9 is located little box, and the slip through rack 9 drives the ring gear and rotates to accomplish blade 5's swing, after blade 5 fixes percentage table 3, fix rack 9 in locating hole and blind hole through the location axle cartridge, just also accomplished blade 5's locking this moment.

The utility model discloses when using, it includes following step:

a) fixing the dial indicator;

b) the whole is arranged on a mechanical arm zero point frame;

c) when the dial indicator probe contacts the zero V-shaped block, the rotating speed is reduced to 10&, and the mechanical arm is rotated from the plus direction to the minus direction;

d) the speed was reduced to 1% to continue rotation when the dial indicator reading was found to be smaller.

e) When the reading is found to be increased, the lowest point of the zero-point V-shaped block, namely the zero-point position of the mechanical arm, is proved to be contacted, and the position of the inflection point is recorded;

f) repeating the step c, the step d and the step e twice to determine a numerical value of the inflection point;

g) confirming the point position in the teaching box and storing;

h) and finishing zero point correction.

The dial indicator 3 is installed in the upper sleeve 1 and the lower sleeve 2, the dial indicator 3 is fixed through sliding of the set screw 4 or the rack 9, after the dial indicator is fixed, the whole dial indicator is installed on a zero point frame of the mechanical arm, the working position is shown in fig. 7, the stop cap of the dial indicator 3 is pressed down, the probe of the dial indicator 3 is made to contact with the zero point V-shaped block, then when the probe of the dial indicator 3 is made to contact with the zero point V-shaped block, the rotating speed is reduced to 10&, and the mechanical arm is rotated from the + direction to the-direction; the speed was reduced to 1% to continue rotation when the dial indicator 3 reading was found to be smaller. When the reading is found to be increased, the lowest point of the zero-point V-shaped block, namely the zero-point position of the mechanical arm, is proved to be contacted, and the position of the inflection point is recorded; repeating the steps twice, determining an inflection point value, confirming the point position in the teaching box, and storing; and finishing zero point correction.

The utility model discloses small, convenient operation, swift, easily dismantlement.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (4)

1. The utility model provides a manipulator zero point correction combination suit, its characterized in that, includes sleeve pipe (1), goes up sleeve pipe (1) lower extreme fixedly connected with lower casing pipe (2), goes up sleeve pipe (1) top and is equipped with percentage table (3), and the lower extreme slidable of percentage table (3) runs through lower casing pipe (2), goes up the sleeve pipe (1) outside and is equipped with holding screw (4), and holding screw (4) are used for the fixed to percentage table (3).

2. The utility model provides a manipulator zero point correction combination suit, a serial communication port, including last sleeve pipe (1), go up sleeve pipe (1) lower extreme fixedly connected with lower casing pipe (2), it is equipped with percentage table (3) to go up sleeve pipe (1) top, the lower extreme slidable of percentage table (3) runs through lower casing pipe (2), it has blade (5) of a plurality of "sword" forms to go up the inside equipartition of sleeve pipe (1), the outer end of every blade (5) is articulated fixedly with last sleeve pipe (1) respectively, a plurality of blades (5) swing simultaneously and constitute the structure of fixing percentage table (3).

3. The mechanical arm zero point correction combined set according to claim 2, wherein an outer gear ring (6) is rotatably arranged in the upper sleeve (1), a pin shaft (7) is fixed on each blade (5), and the pin shaft (7) is slidably connected with the outer gear ring (6);

the outer gear ring (6) is provided with a plurality of rectangular grooves (8), the rectangular grooves (8) correspond to the pin shafts (7) one by one, and the pin shafts (7) can be arranged in the rectangular grooves (8) in a sliding mode.

4. The mechanical arm zero point correction combination set according to claim 3, wherein a rack (9) capable of sliding back and forth is engaged with the outer side of the outer gear ring (6), the front end of the rack (9) penetrates through the upper sleeve (1) and is arranged on the outer side of the upper sleeve (1), a positioning hole is formed in the upper sleeve (1), a blind hole corresponding to the positioning hole is formed in the rack (9), and a positioning shaft is inserted into the positioning hole and the blind hole.

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