CN212193251U

CN212193251U - Adjustable industrial robot calibration tool

Info

Publication number: CN212193251U
Application number: CN202021057247.4U
Authority: CN
Inventors: 郑喜贵; 陈林林; 宋海涛; 王基月; 蒋玲玲
Original assignee: Zhengzhou University of Science and Technology
Current assignee: Zhengzhou University of Science and Technology
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-12-22
Anticipated expiration: 2030-06-10

Abstract

The adjustable industrial robot calibration tool solves the problem that the stability of the telescopic sharp rod cannot be guaranteed by adopting a fastening screw pointed out in a background file. The device comprises an inverted concave support frame, wherein a large sphere is arranged in the support frame, the outer circumference of the large sphere is hinged with three telescopic rods, the upper ends of the three telescopic rods are hinged with the support frame, and the upper ends of the three telescopic rods are not in the same plane; the lower extreme fixedly connected with sleeve pipe of spheroid, the intraductal slidable of cover is equipped with flexible sharp pole, and flexible sharp pole lower extreme runs through the sleeve pipe as for the sleeve pipe below, and the rotatable nut that is equipped with of sleeve pipe lower extreme, nut and flexible sharp pole threaded connection, the nut rotate and constitute flexible sharp pole horizontal slip's structure. The utility model discloses novel structure, think about ingenious, easy operation is convenient, and flexible sharp pole is threaded connection's mode, can increase its stable effect in very big degree, and the cusp position of flexible sharp pole can be adjusted in three-dimensional space to realize error compensation.

Description

Adjustable industrial robot calibration tool

Technical Field

The utility model belongs to the technical field of the robot calibration instrument technique and specifically relates to an industrial robot calibration instrument with adjustable.

Background

The robot calibration is used for finishing the modification of parameters such as the zero position of a joint, the length of a rod, the center point of a tool and the like of the robot through a simple and quick data acquisition process aiming at the high precision requirements of the robot in the industries such as welding, carving and the like, so that the absolute in-place precision and the track precision of the robot can be greatly improved.

Application number is 201920447572.2, and the name is an industrial robot demarcation instrument with adjustable, and it includes the shell and sets up flexible sharp pole in the shell, it has simple structure, can be effectual to the robot mark error that the in-process produced compensate, and the accuracy is high. But it has the following disadvantages: the telescopic sharp rod realizes the locking of the position of the telescopic sharp rod through the fastening screw, the fastening screw is unstable, and particularly, the stability of the telescopic sharp rod cannot be well guaranteed for operations such as welding and the like.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned condition, for overcoming prior art's defect, the utility model provides an industrial robot calibration instrument with adjustable, the effectual problem of pointing out in the background file adopting fastening screw can't guarantee flexible sharp pole stability has been solved.

In order to solve the problems, the utility model comprises an inverted concave support frame, wherein a large sphere is arranged in the support frame, the outer circumference ball of the large sphere is articulated with three telescopic rods, the upper ends of the three telescopic rods are articulated with the support frame ball, and the upper ends of the three telescopic rods are not in the same plane;

the lower extreme fixedly connected with sleeve pipe of spheroid, the intraductal slidable of cover is equipped with flexible sharp pole, and flexible sharp pole lower extreme runs through the sleeve pipe as for the sleeve pipe below, and the rotatable nut that is equipped with of sleeve pipe lower extreme, nut and flexible sharp pole threaded connection, the nut rotate and constitute flexible sharp pole horizontal slip's structure.

Preferably, the telescopic rod comprises a first threaded rod, a small sphere is fixedly connected to the lower end of the first threaded rod, a spherical groove is formed in the large sphere, the small sphere is located in the groove, and the outer end of the small sphere is arranged on the outer side of the large sphere.

Preferably, the upper end of the first threaded rod is in threaded connection with a screwing pipe, the upper end of the screwing pipe is arranged above the first threaded rod, the upper end of the screwing pipe is in threaded connection with a second threaded rod, the thread direction of the second threaded rod is opposite to that of the first threaded rod, and the screwing pipe rotates to form a structure with the length of the telescopic rod changed.

Preferably, the upper end of the second threaded rod is arranged above the screwing pipe and is in ball hinge with the support frame.

Preferably, the sleeve pipe lower extreme is equipped with annular T type groove, and T type inslot slidable is equipped with T type piece, and T type piece lower extreme runs through T type groove and nut fixed connection.

Preferably, the sleeve pipe is internally provided with a horizontally sliding guide plate, the upper end of the telescopic sharp rod is fixedly connected with the guide plate, the sleeve pipe is internally provided with a vertical guide groove, the guide groove is internally provided with a guide block in a sliding manner, and the inner end of the guide block penetrates through the guide groove and is fixedly connected with the guide plate.

Preferably, the upper end of the guide plate is fixedly connected with a tension spring, and the upper end of the tension spring is fixedly connected with the large ball body.

The utility model discloses novel structure, think about ingenious, easy operation is convenient, and flexible sharp pole is threaded connection's mode, can increase its stable effect in very big degree, and the cusp position of flexible sharp pole can be adjusted in three-dimensional space to realize error compensation.

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 view of the overall structure of the present invention.

Fig. 2 is the structure schematic diagram of the utility model after the support frame is removed.

Fig. 3 is the schematic view of the telescopic rod structure of the present invention.

Fig. 4 is a schematic structural view of the telescopic sharp rod of the present invention sliding vertically (after the casing is cut open).

Detailed Description

The following description will be made in detail with reference to fig. 1 to 4.

As shown in fig. 1-4, the utility model comprises an inverted concave support frame 1, a large sphere 2 is arranged in the support frame 1, the outer circumference of the large sphere 2 is hinged with three telescopic rods 3, the upper ends of the three telescopic rods 3 are hinged with the support frame 1, and the upper ends of the three telescopic rods 3 are not in the same plane;

2 lower extreme fixedly connected with sleeve pipe 4 of spheroid, slidable is equipped with flexible sharp pole 5 in the

sleeve pipe

4, and 5 lower extremes of flexible sharp pole run through sleeve pipe 4 as for sleeve pipe 4 below, and the rotatable nut 6 that is equipped with of sleeve pipe 4 lower extreme,

nut

6 and 5 threaded connection of flexible sharp pole, nut 6 rotate and constitute 5 horizontal slip's of flexible sharp pole structure.

The support frame 1 is similar to a shell in a background document, three telescopic rods 3 are spherically hinged in the support frame 1, the positions of the support frame 1 and the three telescopic rods 3 which are spherically hinged are not in the same plane, the inner ends of the three telescopic rods 3 are spherically hinged with a large ball body 2, a telescopic pointed rod 5 which vertically slides is arranged below the large ball body 2, the space position of the large ball body 2 can be adjusted by adjusting the length of the telescopic rods 3, and the space position is in a three-dimensional angle, so that the error compensation can be carried out on the calibration position of the robot;

the telescopic pointed rod 5 is provided with scales, the length of the telescopic pointed rod 5 in the sleeve 4 can be adjusted through the rotation of the nut 6, and therefore the position of the whole telescopic pointed rod 5 relative to the sleeve 4 can be adjusted, and error compensation of a calibration position is further achieved.

The telescopic rod 3 comprises a first threaded rod 8, a small sphere 9 is fixedly connected to the lower end of the first threaded rod 8, a spherical groove is formed in the large sphere 2, the small sphere 9 is located in the groove, and the outer end of the small sphere is arranged on the outer side of the large sphere 2.

The three telescopic rods 3 are connected with the large ball body 2 in the same mode, the structure is the same, here, we only use one position for explanation, for example, the telescopic rod 3 at the top is used for explanation, the spherical groove is arranged at the upper end of the large ball body 2, the opening of the groove is upward, the small ball body 9 is positioned in the groove, thus the small ball body 9 is embedded in the groove, the small ball body 9 can rotate for 360 degrees, and the spherical hinge function of the small ball body 9 and the large ball body 2 is realized.

The upper end of the first threaded rod 8 is connected with a screwing pipe 10 in a threaded manner, the upper end of the screwing pipe 10 is arranged above the first threaded rod 8, the upper end of the screwing pipe 10 is connected with a second threaded rod 11 in a threaded manner, the thread turning directions of the second threaded rod 11 and the first threaded rod 8 are opposite, and the screwing pipe 10 rotates to form a structure with the length changed by the telescopic rod 3.

Twist soon pipe 10 through rotating, can realize twisting the change of twisting pipe 10 and first threaded rod 8, 11 cooperation lengths of second threaded rod to remove the length of adjusting telescopic link 3, in addition, threaded connection has better auto-lock effect, the stability of length after the assurance telescopic link 3 that can be fine stretches out and draws back.

The upper end of the second threaded rod 11 is arranged above the screwing pipe 10 and is in spherical hinge with the support frame 1.

The upper end of the second threaded rod 11 is also fixedly connected with a small sphere 9, the lower end of the support frame 1 is fixedly connected with a square block, the lower end of the square block is provided with a spherical groove, and the small sphere 9 is positioned in the spherical groove, so that the spherical hinge of the second threaded rod 11 and the support frame 1 is realized.

The lower extreme of sleeve pipe 4 is equipped with annular T type groove, and T type inslot slidable is equipped with T type piece, and T type groove and nut 6 fixed connection are run through to T type piece lower extreme.

Through the setting in T nature piece and T type groove to guaranteed nut 6 and sleeve pipe 4 rotatable coupling, 6 outer circumferences fixedly connected with of nut have a plurality of teeth of dialling, make things convenient for operating nut 6 to rotate like this.

The telescopic type telescopic pole is characterized in that a guide plate 12 capable of sliding horizontally is arranged in the sleeve 4, the upper end of the telescopic pole 5 is fixedly connected with the guide plate 12, a vertical guide groove is formed in the sleeve 4, a guide block 13 is slidably arranged in the guide groove, and the inner end of the guide block 13 penetrates through the guide groove and is fixedly connected with the guide plate 12.

The arrangement of the guide plate 12 and the guide block 13 ensures that the telescopic sharp rod 5 can vertically slide.

The upper end of the guide plate 12 is fixedly connected with a tension spring 14, and the upper end of the tension spring 14 is fixedly connected with the large ball body 2.

When the telescopic sharp rod 5 vertically slides, the tension spring 14 is stretched, the tension of the tension spring 14 is increased, and thus the stabilizing effect of the lower end of the telescopic sharp rod 5 can be well ensured.

The utility model discloses when using, a certain fixed point in the tip point multiple contact space through flexible sharp pole 5, similar and the theory of operation who mentions in the background, through the length of adjusting telescopic link 3 and the vertical position of flexible sharp pole 5 to realize the regulation of the tip point of flexible sharp pole 5 in three-dimensional space, and then carry out error compensation to the computer tip point that the robot calculated.

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

1. The adjustable industrial robot calibration tool comprises an inverted 'concave' type support frame (1), and is characterized in that a large sphere (2) is arranged in the support frame (1), the outer circumference of the large sphere (2) is hinged with three telescopic rods (3) through a ball joint, the upper ends of the three telescopic rods (3) are hinged with the support frame (1) through a ball joint, and the upper ends of the three telescopic rods (3) are not in the same plane;

big spheroid (2) lower extreme fixedly connected with sleeve pipe (4), slidable is equipped with flexible sharp pole (5) in sleeve pipe (4), and flexible sharp pole (5) lower extreme runs through sleeve pipe (4) as for sleeve pipe (4) below, and the rotatable nut (6) that is equipped with of sleeve pipe (4) lower extreme, nut (6) and flexible sharp pole (5) threaded connection, nut (6) rotate and constitute flexible sharp pole (5) horizontal slip's structure.

2. The adjustable industrial robot calibration tool as claimed in claim 1, wherein the telescopic rod (3) comprises a first threaded rod (8), a small sphere (9) is fixedly connected to the lower end of the first threaded rod (8), a spherical groove is formed in the large sphere (2), the small sphere (9) is located in the groove, and the outer end of the small sphere is located outside the large sphere (2).

3. The adjustable industrial robot calibration tool as claimed in claim 2, wherein the upper end of the first threaded rod (8) is connected with a screwing tube (10) in a threaded manner, the upper end of the screwing tube (10) is arranged above the first threaded rod (8), the upper end of the screwing tube (10) is connected with a second threaded rod (11) in a threaded manner, the thread directions of the second threaded rod (11) and the first threaded rod (8) are opposite, and the screwing tube (10) rotates to form a structure for changing the length of the telescopic rod (3).

4. The adjustable industrial robot calibration tool according to claim 3, characterized in that the upper end of the second threaded rod (11) is placed above the screwed pipe (10) and is ball-hinged with the support frame (1).

5. The adjustable industrial robot calibration tool as claimed in claim 1, wherein the lower end of the sleeve (4) is provided with an annular T-shaped groove, a T-shaped block is slidably arranged in the T-shaped groove, and the lower end of the T-shaped block penetrates through the T-shaped groove and is fixedly connected with the nut (6).

6. The adjustable industrial robot calibration tool as claimed in claim 1, wherein a horizontally sliding guide plate (12) is arranged in the sleeve (4), the upper end of the telescopic sharp rod (5) is fixedly connected with the guide plate (12), a vertical guide groove is arranged in the sleeve (4), a guide block (13) is slidably arranged in the guide groove, and the inner end of the guide block (13) penetrates through the guide groove and is fixedly connected with the guide plate (12).

7. The adjustable industrial robot calibration tool as claimed in claim 6, characterized in that the upper end of the guide plate (12) is fixedly connected with a tension spring (14), and the upper end of the tension spring (14) is fixedly connected with the large sphere (2).