CN213918285U - High-precision grating positioning robot - Google Patents
High-precision grating positioning robot Download PDFInfo
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- CN213918285U CN213918285U CN202023151339.1U CN202023151339U CN213918285U CN 213918285 U CN213918285 U CN 213918285U CN 202023151339 U CN202023151339 U CN 202023151339U CN 213918285 U CN213918285 U CN 213918285U
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Abstract
The utility model discloses a high accuracy grating positioning robot belongs to the robotechnology field. The device comprises a base, a programmable main controller, a first supporting arm, a second supporting arm, a spline screw rod integral shaft, a rotating motor and a displacement motor; the second support arm is provided with a grating module for detecting the vertical moving distance of the integral shaft of the spline screw rod, an adjusting mechanism which is fixedly connected to the second support arm and is used for adjusting the inclination angle of the grating module, and a connecting mechanism for connecting the integral shaft of the spline screw rod and a grating reading head in the grating module; the adjusting mechanism is fixedly connected to the second supporting arm, and the scale grating in the grating module is fixedly connected to the adjusting mechanism. The utility model aims at providing a high-precision grating positioning robot; the method is used for improving the vertical repeated positioning precision of the robot.
Description
Technical Field
The utility model relates to the technical field of robot, concretely relates to high accuracy grating positioning robot.
Background
SCARA robots are robot arms that are used in assembly operations. It has 3 rotary joints, is most suitable for plane positioning, and is widely applied to the fields of plastic industry, automobile industry, electronic product industry, medicine industry, food industry and the like. Most of the operation units of the conventional SCARA robot adopt a structure that a spline screw rod integral shaft is combined with a servo motor, and the precision of the SCARA robot is derived from the control precision of the servo motor and the transmission precision of a speed reducer, so that when the servo motor has accumulated errors or the speed reducer has abrasion and other problems, the precision of the SCARA robot is influenced.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of background art, the utility model provides a high accuracy grating positioning robot for to the precision of the vertical repeated positioning who improves the robot, with the transmission performance who improves the robot.
The utility model discloses the technical scheme who adopts: a high-precision grating positioning robot comprises a base, a programmable main controller, a first supporting arm, a second supporting arm and an operation unit; one end of the first support arm is connected with the top of the base and forms a first rotary joint; the other end of the first support arm is connected with one end of the second support arm to form a second rotary joint; the operation unit is arranged at the other end of the second support arm and comprises a spline screw rod integral shaft arranged on the second support arm, a rotating motor arranged on the second support arm and in transmission connection with the spline screw rod integral shaft, and a displacement motor arranged on the second support arm and in transmission connection with the spline screw rod integral shaft; the rotating electrical machines is used for driving the integrative axle of spline lead screw to rotate, and the displacement motor is used for driving the integrative axle of spline lead screw to carry out vertical removal, its characterized in that: the second support arm is provided with a grating module for detecting the vertical moving distance of the integral shaft of the spline screw rod, an adjusting mechanism which is fixedly connected to the second support arm and is used for adjusting the inclination angle of the grating module, and a connecting mechanism for connecting the integral shaft of the spline screw rod and a grating reading head in the grating module; the adjusting mechanism is fixedly connected to the second supporting arm, and the scale grating in the grating module is fixedly connected to the adjusting mechanism.
Preferably, the adjusting mechanism comprises a pair of symmetrically arranged side plates and a scale fixing plate, wherein two sides of the scale fixing plate are respectively connected with the two side plates; the side plate is provided with a first through hole and an arc-shaped adjusting groove, and the circle center of the arc-shaped adjusting groove is superposed with the circle center of the first through hole; a first locking bolt is arranged in the first through hole, and the first locking bolt penetrates through the first through hole and then is in threaded connection with the scale fixing plate; the inner side wall of the scale fixing plate is provided with a fine adjustment assembly, a second locking bolt is arranged in the arc-shaped adjusting groove, and the second locking bolt sequentially penetrates through the arc-shaped adjusting groove and the side wall of the scale fixing plate and then is in threaded connection with the fine adjustment assembly; and scale gratings in the grating module are fixedly connected to the scale fixing plate. Further, the fine adjustment assembly comprises a locking piece, a third locking bolt, a spring and a fixing lug; the second locking bolt sequentially penetrates through the arc-shaped adjusting groove and the side wall of the scale fixing plate and then is in threaded connection with one end of the locking piece; fixed ear integrated into one piece is equipped with the second through-hole on a curb plate side, fixed ear, third locking bolt passes second through-hole, spring back threaded connection locking piece lateral wall in proper order. Furthermore, the side plate and the scale fixing plate are formed by bending stainless steel materials.
Preferably, the connecting mechanism comprises a connecting plate fixedly connected to a grating reading head in the grating module, a clamping block fixedly connected to the spline screw rod integrated shaft, and a cross shaft; a pair of first clamping jaws are integrally formed on one side, away from the grating module, of the connecting plate, first long grooves are formed in the first clamping jaws, and the upper end and the lower end of the cross shaft are respectively connected into the first long grooves in a sliding mode; one end of the clamping block is provided with a third through hole, an opening communicated with the third through hole and a fourth locking bolt for closing the opening; the fixture block is sleeved on the spline screw rod integral shaft through a third through hole and is fixed on the spline screw rod integral shaft through a fourth locking bolt; a pair of second clamping jaws is integrally formed at the other end of the clamping block, a second long groove is formed in each second clamping jaw, and the left end and the right end of the cross shaft are respectively connected in the second long grooves in a sliding mode; and the four ends of the cross shaft are all in threaded connection with fifth locking bolts.
The utility model adopts the beneficial effect behind the above structure to do: the integral shaft of the spline screw rod is detected by adding the grating module on the original SCARA robot, so that the control precision of the vertical repeated positioning of the SCARA robot is effectively improved; through setting up adjustment mechanism and coupling mechanism, can realize adjusting the angle of grating module, make the grating module can keep the state of being parallel to totally with spline lead screw integral axis, make the grating module can reach best detection effect.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an adjusting mechanism in an embodiment of the present invention;
fig. 3 is a sectional view of a top view of a fine adjustment assembly according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a connection mechanism in an embodiment of the present invention.
In the figure: 1-a base, 2-a first support arm, 3-a second support arm, 4-a spline screw rod integral shaft, 5-a rotating motor, 6-a displacement motor, 7-a grating module, 8-an adjusting mechanism and 9-a connecting mechanism; 81-side plate, 82-scale fixing plate, 83-first through hole, 84-arc adjusting groove, 85-first locking bolt and 86-fine adjusting component; 91-connecting plate, 92-clamping block, 93-cross shaft, 94-first clamping jaw, 95-first long groove, 96-third through hole, 97-fourth locking bolt, 98-second clamping jaw and 99-fifth locking bolt; 861-locking element, 862-third locking bolt, 863-spring, 864-fixing lug.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
A high precision grating positioning robot as shown in fig. 1-4, comprising a base 1, a programmable master controller, a first support arm 2, a second support arm 3, and a working unit; one end of the first support arm 2 is connected with the top of the base 1 and forms a first rotary joint; the other end of the first support arm 2 is connected with one end of the second support arm 3 to form a second rotary joint; the operation unit is arranged at the other end of the second supporting arm 3 and comprises a spline screw rod integral shaft 4 arranged on the second supporting arm 3, a rotating motor 5 arranged on the second supporting arm 3 and in transmission connection with the spline screw rod integral shaft 4, and a displacement motor 6 arranged on the second supporting arm 3 and in transmission connection with the spline screw rod integral shaft 4; rotating electrical machines 5 are used for driving the integrative axle of spline lead screw 4 and rotate, and displacement motor 6 is used for driving the integrative axle of spline lead screw 4 and carries out vertical removal, its characterized in that: the second support arm 3 is provided with a grating module 7 for detecting the vertical moving distance of the spline screw rod integral shaft 4, an adjusting mechanism 8 fixedly connected to the second support arm 3 and used for adjusting the inclination angle of the grating module 7, and a connecting mechanism 9 for connecting the spline screw rod integral shaft 4 with a grating reading head in the grating module 7; the adjusting mechanism 8 is fixedly connected to the second supporting arm 3, and the scale grating in the grating module 7 is fixedly connected to the adjusting mechanism 8; the grating module 7 is added on the original SCARA robot to detect the spline screw rod integral shaft 4, so that the control precision of the vertical repeated positioning of the SCARA robot is effectively improved; because the grating module 7 is completely parallel to the spline screw rod integral shaft 4 during detection, the grating module 7 can achieve the best detection effect, and the angle of the grating module 7 can be adjusted by arranging the adjusting mechanism 8 and the connecting mechanism 9, so that the grating module 7 can be kept in a state of being completely parallel to the spline screw rod integral shaft 4.
The programmable main controller is in the prior art and is provided with a data interface for receiving programming control by an external connection upper computer, and after the main controller is electrified, the main controller controls the first rotary joint and the second rotary joint to move according to a pre-programmed program so as to enable the first supporting arm 2 and the second supporting arm 3 to move horizontally, and controls the rotary motor 5 and the displacement motor 6 to move so as to enable the spline screw rod integral shaft 4 to rotate horizontally or move vertically; since the SCARA robot has been known in the industry for years and is not claimed, the programming control is omitted from describing the programming and program control related details. The grating module (also called as a grating ruler displacement sensor and a grating ruler sensor) is the prior art, and consists of a grating reading head and a scale grating, wherein the grating reading head is connected to the side wall of the scale grating in a sliding manner, and the grating module is a measurement feedback device which works by utilizing the optical principle of the grating. The first rotary joint and the second rotary joint are basic structures of a traditional SCARA robot, are generally composed of a motor and a reducer, and have general practicability under various application conditions; the spline lead screw integral shaft 4 is in the prior art, a lead screw sleeve and a spline sleeve which are matched with each other are arranged on the spline lead screw integral shaft 4, and the rotating motor 5 and the displacement motor 6 are connected with the lead screw sleeve and the spline sleeve in a synchronous wheel and synchronous belt manner, and are in a conventional transmission connection manner; the rotating motor 5 and the displacement motor 6 are servo motors or stepping motors.
Preferably, the adjusting mechanism 8 includes a pair of side plates 81 symmetrically disposed, and a scale fixing plate 82 having two sides connected to the two side plates 81 respectively; a first through hole 83 and an arc-shaped adjusting groove 84 are formed in the side plate 81, and the circle center of the arc-shaped adjusting groove 84 is overlapped with that of the first through hole 83; a first locking bolt 85 is arranged in the first through hole 83, and the first locking bolt 85 penetrates through the first through hole 83 and then is in threaded connection with the scale fixing plate 82; the inner side wall of the scale fixing plate 82 is provided with a fine adjustment assembly 86, a second locking bolt 87 is arranged in the arc-shaped adjusting groove 84, and the second locking bolt 87 sequentially penetrates through the arc-shaped adjusting groove 84 and the side wall of the scale fixing plate 82 and then is in threaded connection with the fine adjustment assembly 86; the scale grating in the grating module 7 is fixedly connected to the scale fixing plate 82; when installing grating module 7, fix grating module 7 and scale fixed plate 82 earlier, and install curb plate 81 on second support arm 3, then fix scale fixed plate 82 on curb plate 81 through first locking bolt 85 and second locking bolt 87, but not lock first locking bolt 85 and second locking bolt 87, then adjust the inclination of scale fixed plate 82 through fine setting subassembly 86, until grating module 7 is parallel with integral axle 4 of spline lead screw, lock first locking bolt 85 and second locking bolt 87 after adjusting, and be connected the integral axle 4 of spline lead screw with the grating read head in grating module 7 through coupling mechanism 9, can accomplish the installation. Further, the fine adjustment assembly 86 includes a locking member 861, a third locking bolt 862, a spring 863, and a fixing lug 864; the second locking bolt 87 sequentially penetrates through the arc-shaped adjusting groove 84 and the side wall of the scale fixing plate 82 and then is in threaded connection with one end of a locking piece 861; fixed ear 864 integrated into one piece is equipped with the second through-hole on one side of curb plate 81, fixed ear 864, third locking bolt 862 passes second through-hole, spring 863 back threaded connection locking piece 861 lateral wall in proper order, simple structure, and it is convenient to adjust. Furthermore, the side plate 81 and the scale fixing plate 82 are formed by bending stainless steel materials, so that the side plate 81 and the scale fixing plate 82 are convenient to process, and the side plate 81 and the scale fixing plate 82 formed by bending plates are small in thickness and convenient to mount.
Preferably, the connecting mechanism 9 includes a connecting plate 91 fixedly connected to the grating reading head in the grating module 7, a fixture block 92 fixedly connected to the spline screw rod integral shaft 4, and a cross shaft 93; a pair of first clamping jaws 94 are integrally formed on one side of the connecting plate 91, which is far away from the grating module 7, a first long groove 95 is formed in the first clamping jaws 94, and the upper end and the lower end of the cross shaft 93 are respectively connected in the first long groove 95 in a sliding manner; one end of the fixture block 92 is provided with a third through hole 96, an opening communicated with the third through hole 96, and a fourth locking bolt 97 for closing the opening; the fixture block 92 is sleeved on the spline screw rod integrated shaft 4 through a third through hole 96 and fixed on the spline screw rod integrated shaft 4 through a fourth locking bolt 97; a pair of second clamping jaws 98 are integrally formed at the other end of the clamping block 92, a second long groove is formed in the second clamping jaws 98, and the left end and the right end of the cross shaft 93 are respectively connected in the second long groove in a sliding manner; the four ends of the cross shaft 93 are both in threaded connection with fifth locking bolts 99; the structural design of the connecting mechanism 9 can facilitate the self-form adjustment according to the position of the grating module 7; and has extremely strong fixing performance.
The above embodiment is the preferred embodiment of the present invention, which is only used to facilitate the explanation of the present invention, it is not right to the present invention, which makes the restriction on any form, and any person who knows commonly in the technical field can use the present invention to make the equivalent embodiment of local change or modification without departing from the technical features of the present invention.
Claims (5)
1. A high-precision grating positioning robot comprises a base (1), a programmable main controller, a first supporting arm (2), a second supporting arm (3) and an operation unit; one end of the first supporting arm (2) is connected with the top of the base (1) to form a first rotary joint; the other end of the first supporting arm (2) is connected with one end of the second supporting arm (3) to form a second rotary joint; the operation unit is arranged at the other end of the second supporting arm (3), and comprises a spline screw rod integral shaft (4) arranged on the second supporting arm (3), a rotating motor (5) which is arranged on the second supporting arm (3) and is in transmission connection with the spline screw rod integral shaft (4), and a displacement motor (6) which is arranged on the second supporting arm (3) and is in transmission connection with the spline screw rod integral shaft (4); rotating electrical machines (5) are used for driving integral axis of spline lead screw (4) to rotate, and displacement motor (6) are used for driving integral axis of spline lead screw (4) to carry out vertical removal, its characterized in that: the second support arm (3) is provided with a grating module (7) for detecting the vertical moving distance of the spline screw rod integral shaft (4), an adjusting mechanism (8) which is fixedly connected to the second support arm (3) and is used for adjusting the inclination angle of the grating module (7), and a connecting mechanism (9) for connecting the spline screw rod integral shaft (4) with a grating reading head in the grating module (7); adjustment mechanism (8) fixed connection is on second support arm (3), and scale grating fixed connection in grating module (7) is on adjustment mechanism (8).
2. The high-precision grating positioning robot of claim 1, wherein: the adjusting mechanism (8) comprises a pair of side plates (81) which are symmetrically arranged and a scale fixing plate (82) of which two sides are respectively connected with the two side plates (81); a first through hole (83) and an arc-shaped adjusting groove (84) are formed in the side plate (81), and the circle center of the arc-shaped adjusting groove (84) is overlapped with that of the first through hole (83); a first locking bolt (85) is arranged in the first through hole (83), and the first locking bolt (85) penetrates through the first through hole (83) and then is in threaded connection with the scale fixing plate (82); a fine adjustment assembly (86) is arranged on the inner side wall of the scale fixing plate (82), a second locking bolt (87) is arranged in the arc-shaped adjusting groove (84), and the second locking bolt (87) penetrates through the arc-shaped adjusting groove (84) and the side wall of the scale fixing plate (82) in sequence and then is in threaded connection with the fine adjustment assembly (86); and scale gratings in the grating module (7) are fixedly connected to the scale fixing plate (82).
3. The high-precision grating positioning robot of claim 2, wherein: the fine adjustment assembly (86) comprises a locking member (861), a third locking bolt (862), a spring (863) and a fixing lug (864); the second locking bolt (87) penetrates through the arc-shaped adjusting groove (84) and the side wall of the scale fixing plate (82) in sequence and then is in threaded connection with one end of the locking piece (861); fixed ear (864) integrated into one piece is equipped with the second through-hole on fixed ear (864) one side at curb plate (81), third locking bolt (862) pass second through-hole, spring (863) back threaded connection locking piece (861) lateral wall in proper order.
4. The high-precision grating positioning robot of claim 3, wherein: the side plate (81) and the scale fixing plate (82) are formed by bending stainless steel materials.
5. The high-precision grating positioning robot of claim 1, wherein: the connecting mechanism (9) comprises a connecting plate (91) fixedly connected to a grating reading head in the grating module (7), a fixture block (92) fixedly connected to the spline screw rod integrated shaft (4), and a cross shaft (93); a pair of first clamping jaws (94) are integrally formed on one side, away from the grating module (7), of the connecting plate (91), a first long groove (95) is formed in each first clamping jaw (94), and the upper end and the lower end of the cross shaft (93) are respectively connected into the first long grooves (95) in a sliding mode; one end of the clamping block (92) is provided with a third through hole (96), an opening communicated with the third through hole (96) and a fourth locking bolt (97) used for closing the opening; the fixture block (92) is sleeved on the spline screw rod integral shaft (4) through a third through hole (96) and is fixed on the spline screw rod integral shaft (4) through a fourth locking bolt (97); a pair of second clamping jaws (98) are integrally formed at the other end of the clamping block (92), a second long groove is formed in each second clamping jaw (98), and the left end and the right end of the cross shaft (93) are respectively connected into the second long grooves in a sliding mode; and the four ends of the cross shaft (93) are in threaded connection with fifth locking bolts (99).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023151339.1U CN213918285U (en) | 2020-12-24 | 2020-12-24 | High-precision grating positioning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023151339.1U CN213918285U (en) | 2020-12-24 | 2020-12-24 | High-precision grating positioning robot |
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| Publication Number | Publication Date |
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| CN213918285U true CN213918285U (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202023151339.1U Active CN213918285U (en) | 2020-12-24 | 2020-12-24 | High-precision grating positioning robot |
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| CN (1) | CN213918285U (en) |
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- 2020-12-24 CN CN202023151339.1U patent/CN213918285U/en active Active
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