CN214352551U - Movable platform and robot tail end load mounting device - Google Patents
Movable platform and robot tail end load mounting device Download PDFInfo
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- CN214352551U CN214352551U CN202023183240.XU CN202023183240U CN214352551U CN 214352551 U CN214352551 U CN 214352551U CN 202023183240 U CN202023183240 U CN 202023183240U CN 214352551 U CN214352551 U CN 214352551U
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Abstract
The utility model belongs to the technical field of the robot, a movable platform and terminal load installation device of robot are disclosed, the movable platform includes movable piece, mounting and zero point calibration component, the movable piece passes the mounting, and use the axis of movable piece as the rotation center relative mounting free rotation, zero point calibration component is used for detecting the zero point position of movable piece relative mounting, the movable piece is provided with the first block portion for the zero point calibration jig block, the mounting is provided with the second block portion for the zero point calibration jig block; the robot tail end load mounting device comprises an elastic clamp and the movable platform, wherein the elastic clamp is connected to the tail end of the movable piece. When the zero calibration jig is simultaneously clamped with the first clamping portion and the second clamping portion, the movable piece is limited at the zero position, the movable platform can accurately and quickly calibrate the zero position of the movable piece, further, the elastic clamp clamps external execution pieces with different sizes, and the robot can accurately control the external execution pieces to move.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a move terminal load installation device of platform and robot.
Background
The prior art robots are generally applied to different occasions of use by mounting different actuators at the end of a robot arm. Since different actuators typically have different connection interfaces, the end of the robot arm is typically provided with an adapter that can accommodate the variety of connection interfaces by which the different actuators are mounted at the end of the robot arm.
However, the adapter for mounting the external actuator cannot accurately calibrate the zero position of the actuator, and thus the robot arm cannot control the actuator to perform precise motions.
Based on the above current situation, it is necessary to design a movable platform and a robot end load installation device to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an aim at: provided is a movable platform capable of quickly and accurately calibrating the zero point position of a movable member.
The utility model discloses a still another aim at: the utility model provides a terminal load installation device of robot, moving platform can be fast accurately ground the zero point position of movable piece to the elasticity presss from both sides the outside executive component that tightly not unidimensional, and then the robot can control the accurate action of outside executive component.
To achieve the purpose, the utility model adopts the following technical proposal:
on one hand, the movable platform comprises a movable part, a fixed part and a zero point calibration component, wherein the movable part penetrates through the fixed part and freely rotates relative to the fixed part by taking the axis of the movable part as a rotation center, the zero point calibration component is used for detecting the zero point position of the movable part relative to the fixed part, the movable part is provided with a first clamping part for clamping a zero point calibration jig, the fixed part is provided with a second clamping part for clamping the zero point calibration jig, and when the zero point calibration jig is simultaneously clamped with the first clamping part and the second clamping part, the movable part is limited at the zero point position.
As a preferable scheme, the zero calibration component includes a first calibration portion and a second calibration portion, the first calibration portion is disposed on the movable member, the second calibration portion is disposed on the fixed member, and when the movable member is located at the zero position, the first calibration portion aligns with and senses the second calibration portion.
Preferably, the movable member has a first notch for mounting the first calibration portion, the fixed member has a second notch for mounting the second calibration portion, and the first notch and the second notch are located on the same line when the movable member is located at the zero point position.
As a preferable scheme, one of the first calibration part and the second calibration part is a hall sensor, and the other is a magnetic member for the hall sensor to sense.
Preferably, one of the first calibration portion and the second calibration portion is a photoelectric sensor, and the other is a calibration point for sensing by the photoelectric sensor.
Preferably, the end face of the movable member is provided with at least one central hole for positioning the external execution tail end and at least one threaded hole for fixing the external execution tail end, the center of the central hole coincides with the rotation center, and the threaded holes are distributed along the circumferential direction of the central hole.
Preferably, the central hole is a stepped hole, and the diameters of the stepped holes decrease in sequence in a direction away from the end face.
Preferably, the movable member is provided with a plurality of threaded holes having at least two different diameters for adapting to different quality of the actuating tip.
Preferably, the end face of the movable member is further provided with at least one pin hole for positioning the outer execution end, and the pin holes are distributed along the circumferential direction of the central hole.
Preferably, the movable member is provided with a plurality of said pin holes having at least two different diameters for adapting to different quality of the actuating ends.
Preferably, an end of the movable element away from the end face is provided with a connecting portion for connecting with the outside.
Preferably, the diameter of the connecting portion is smaller than the diameter of the end face.
Preferably, the first engaging portion is provided as a first engaging groove, the second engaging portion is provided as a second engaging groove, and when the movable member is located at the zero point position, the first engaging groove and the second engaging groove extend in the same direction.
As a preferable scheme, the movable platform further comprises a bearing installed on the fixed part, and the movable part is rotatably connected with the fixed part through the bearing.
On the other hand, the robot tail end load mounting device comprises an elastic clamp and the movable platform, wherein the elastic clamp is connected to the tail end of the movable piece, and the elastic clamp can clamp external execution pieces with different sizes.
As a preferred scheme, the collet includes adaptor, retaining member and chuck, the adaptor connect in the end of movable piece, the chuck slides and sets up in slide opening on the adaptor, the terminal surface of chuck is provided with the tight hole of clamp that is used for pressing from both sides tight outside executive part, and along keeping away from the direction of movable piece, the external diameter of chuck increases gradually, retaining member one end with the adaptor is along the axis direction swing joint who presss from both sides tight hole, and the other end gomphosis is in on the outer wall of chuck.
Preferably, the locking member is in threaded connection with the adapter.
Preferably, one of the outer wall of the collet and the end of the locking member is provided with an engaging table, and the other is provided with a engaging groove, and the engaging table is capable of engaging with the engaging groove.
The utility model has the advantages that: the utility model provides a moving platform, including movable piece, mounting and zero point mark component, zero point mark component is used for detecting the zero point position of movable piece relative mounting, still provides a terminal load installation device of robot, includes elasticity clamp and above-mentioned moving platform, and the elasticity clamp is connected in the terminal of movable piece. When the zero calibration jig is simultaneously clamped with the first clamping part and the second clamping part, the movable piece is limited at the zero position, the movable platform can accurately and quickly calibrate the zero position of the movable piece, the elastic clamp can clamp external execution pieces with different sizes, and then the robot can accurately control the external execution pieces to move.
Drawings
FIG. 1 is a schematic structural diagram of a movable platform;
FIG. 2 is a schematic view of the structure of the movable member;
FIG. 3 is a schematic view of the fastener construction;
FIG. 4 is a front view of the mobile platform;
FIG. 5 is a cross-sectional view A-A of FIG. 4;
FIG. 6 is a front view of the robot end load mounting apparatus;
fig. 7 is a sectional view of B-B shown in fig. 6.
In fig. 1 to 7:
100. a movable platform;
1. a movable member; 11. a first engaging portion; 12. a first notch; 13. a central bore; 14. a threaded hole; 15. a pin hole; 16. a connecting portion;
2. a fixing member; 21. a second engaging portion; 22. a second notch;
3. a zero calibration component; 31. a first calibration section; 32. a second calibration section;
4. a bearing;
200. an elastic clip;
5. an adapter;
6. a locking member; 61. a fitting table;
7. a chuck; 71. a card slot;
300. and an executive component.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1, the utility model provides a movable platform, it includes movable part 1, mounting 2 and zero point calibration component 3, movable part 1 passes mounting 2, and use the axis of movable part 1 as 2 free rotations of center of rotation relative mounting, zero point calibration component 3 is used for detecting the zero point position of movable part 1 relative mounting 2, movable part 1 is equipped with the first block portion 11 that supplies zero point calibration tool block, mounting 2 is equipped with the second block portion 21 that supplies zero point calibration tool block, when zero point calibration tool blocks first block portion 11 of block and second block portion 21 simultaneously, movable part 1 is spacing in zero point position. When the movable platform is calibrated, the movable part 1 can rotate relative to the fixed part 2, the zero calibration jig is simultaneously clamped with the first clamping part 11 of the movable part 1 and the second clamping part 21 of the fixed part 2, the movable part 1 is located at a zero position, one-time zero calibration is realized, the movable platform can rapidly calibrate the zero position of the movable part 1, then the zero calibration component 3 can be used for detecting the zero position of the movable part 1 relative to the fixed part 2, secondary zero calibration is realized, and the movable platform can accurately calibrate the zero position of the movable part 1.
As shown in fig. 2 and 3, the zero point calibration member 3 includes a first calibration portion 31 and a second calibration portion 32, the first calibration portion 31 is disposed on the movable element 1, the second calibration portion 32 is disposed on the fixed element 2, and when the movable element 1 is located at the zero point position, the first calibration portion 31 aligns with and senses the second calibration portion 32. In this embodiment, the first calibration portion 31 is a hall sensor, the second calibration portion 32 is a magnetic member for sensing the hall sensor, the hall sensor is installed in the first notch 12 of the movable member 1, the magnetic member is installed in the second notch 22 of the fixed member 2, a space for avoiding the zero calibration component 3 is left, interference is reduced, and the first notch 12 and the second notch 22 are on the same straight line. After the movable part 1 realizes the primary zero calibration, the hall sensor on the movable part 1 senses the signal of the magnetic part on the fixed part 2, so that the secondary zero calibration of the movable part 1 is realized, and the method is accurate and reliable. In other embodiments, the first calibration portion 31 is a photoelectric sensor, the second calibration portion 32 is a calibration point member for the photoelectric sensor to sense, the photoelectric sensor is installed in the first notch 12 of the movable member 1, and the calibration point member is installed in the second notch 22 of the fixed member 2. After the movable part 1 realizes the primary zero calibration, the photoelectric sensor on the movable part 1 senses the signal of the punctuation part on the fixed part 2, and then the secondary zero calibration of the movable part 1 is realized.
As shown in fig. 2, in the present embodiment, the end surface of the movable member 1 is provided with a central hole 13 for positioning the outer actuating tip and eight threaded holes 14 for fixing the outer actuating tip, the center of the central hole 13 coincides with the rotation center, and the threaded holes 14 are distributed along the circumferential direction of the central hole 13. When the actuating member 300 is assembled on the movable member 1, the central hole 13 is used for positioning the actuating member 300, and the eight threaded holes 14 are used for connecting the actuating member 300, so that the structure is simple.
As shown in fig. 5, in the present embodiment, the center hole 13 is provided as a stepped hole whose diameter is successively reduced in a direction away from the end surface. The stepped holes are two holes with diameters which are sequentially reduced in the direction away from the end face of the movable piece 1, one of the holes is 12mm, the other hole is 14mm, when the executing piece 300 is assembled on the movable piece 1, the holes with the two diameters can be respectively matched with 12mm execution tail ends or 14mm execution tail ends, and the universality is improved.
In the present embodiment, four of the eight screw holes 14 for external tip fixation have a diameter of 4mm, and the other four have a diameter of 8 mm. When the actuator 300 is assembled on the movable element 1, the threaded hole 14 with the diameter of 4mm is used for connecting the actuator 300 with the mass of 3kg, and the threaded hole 14 with the diameter of 8mm is used for connecting the actuator 300 with the mass of 8kg, so that the universality is improved.
As shown in fig. 2, the end face of the movable element 1 is further provided with two pin holes 15 for external performing end positioning, said pin holes 15 being distributed along the circumference of said central hole 13. When the actuator 300 is assembled on the movable element 1, the pin penetrates through the actuator 300 and is inserted into the pin hole 15 for positioning the actuator 300, the structure is simple, one of the two pin holes 15 is 4mm in diameter, the other pin hole 15 is 8mm in diameter, the 4 mm-diameter pin hole 15 is used for positioning the actuator 300 with the mass of 3kg, and the 8 mm-diameter pin hole 15 is used for positioning the actuator 300 with the mass of 8kg, so that the universality is improved.
In the present embodiment, the end of the movable element 1 away from the end surface is provided with a connecting portion 16 for connecting with the outside, and the diameter of the connecting portion 16 is smaller than that of the end surface. The connecting portion 16 is provided with a fixing hole, a connecting bolt can penetrate through the fixing hole and connect the movable piece 1 with an external workpiece, the diameter of the connecting portion 16 is smaller than that of the end face, the movable piece 1 can easily penetrate through the fixing piece 2, and assembly difficulty is simplified.
As shown in fig. 4, the first engaging portion 11 is provided as a first engaging groove, the second engaging portion 21 is provided as a second engaging groove, and the first engaging groove and the second engaging groove extend in the same direction when the movable element 1 is located at the zero point position. When the movable platform is calibrated, the movable part 1 can rotate relative to the fixed part 2, the zero calibration jig is clamped with the movable part 1 through the first clamping groove, and the movable part 1 is located at the zero position through the clamping of the second clamping groove and the fixed part 2, so that one-time zero calibration is realized, and the operation is simple. In other embodiments, the first engaging portion 11 is configured as a first engaging platform, the second engaging portion 21 is configured as a second engaging platform, and the zero calibration fixture is engaged with the movable element 1 through the first engaging platform and engaged with the fixed element 2 through the second engaging platform, so that the movable element 1 is at the zero position.
As shown in fig. 5, in the present embodiment, the movable platform further includes a bearing 4 mounted on the fixed member 2, and the movable member 1 is rotatably connected to the fixed member 2 through the bearing 4. Bearing 4 sets up to cylindrical roller bearing, and bearing 4's inner circle cover is established on movable piece 1, and bearing 4's outer lane butt mounting 2, bearing 4 lid are installed and are close to the one end of connecting portion 16 at bearing 4 to bearing 4's both ends are provided with and are used for sealed oil blanket, and movable piece 1 rotates with mounting 2 to be connected simple structure.
As shown in fig. 6 and 7, the present embodiment further provides a robot end load mounting apparatus, which includes the elastic clamp 200 and the movable platform 100 described above, the elastic clamp 200 is connected to the end of the movable member 1, and the elastic clamp 200 can clamp the external actuators 300 of different sizes. One end of the movable part 1 is connected with the driving mechanism, the other end of the movable part 1 is connected with the elastic clamp 200, the elastic clamp 200 can clamp the actuating part 300, the movable platform 100 can accurately and quickly mark the zero position of the movable part 1, the zero position of the actuating part 300 can be marked, the driving mechanism drives the actuating part 300 to rotate through the movable part 1, and accurate control over the actuating part 300 can be achieved.
Specifically, the elastic clamp 200 includes an adaptor 5, a locking member 6 and a collet 7, the adaptor 5 is connected to the end of the movable member, the collet 7 is slidably disposed in a sliding hole on the adaptor 5, a clamping hole for clamping the external actuator 300 is disposed on the end surface of the collet 7, the outer diameter of the collet 7 is gradually increased along the direction away from the movable member, one end of the locking member 6 is movably connected with the adaptor 5 along the axial direction of the clamping hole, and the other end of the locking member is embedded on the outer wall of the collet 7. When the external actuating member 300 is installed, the actuating member 300 is inserted into a clamping hole of the chuck 7, the locking member 6 is movably connected with the adapter 5, one end of the locking member is embedded in the outer wall of the chuck 7, the locking member 6 moves towards the direction close to the movable member along the axis of the clamping hole, the locking member 6 pulls the chuck 7 to move synchronously due to the fixed length of the locking member 6, the outer diameter of the chuck 7 is gradually increased along the direction far away from the movable member, therefore, the outer diameter of the part, located in the sliding hole of the movable member, of the chuck 7 is gradually contracted, the clamping hole is gradually tightened and the actuating member 300 is clamped, the elastic clamp 200 can be adapted to actuating members 300 with different sizes, and the universality is improved.
In this embodiment, the locking member 6 is screwed with the adaptor 5, and the structure is simple.
In this embodiment, the end of the locking member 6 is provided with a fitting table 61, and the outer wall of the collet 7 is provided with a catching groove 71, so that the fitting table 61 can be fitted into the catching groove 71. The draw-in groove 71 sets up to the ring channel, when screwing retaining member 6, makes retaining member 6 remove to the direction that is close to the movable piece along the axis of pressing from both sides tight hole, and retaining member 6 pulls the synchronous syntropy of chuck 7 through the gomphosis platform 61 that is arranged in draw-in groove 71 and removes, certainly the utility model discloses an in other embodiments, the outer wall of chuck 7 is provided with gomphosis platform 61, and the tip of retaining member 6 is provided with draw-in groove 71, also can realize same function.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (18)
1. A movable platform is characterized in that: the movable part penetrates through the fixed part and freely rotates relative to the fixed part by taking the axis of the movable part as a rotation center, the zero point calibration component is used for detecting the zero point position of the movable part relative to the fixed part, the movable part is provided with a first clamping part for clamping a zero point calibration jig, the fixed part is provided with a second clamping part for clamping the zero point calibration jig, and when the zero point calibration jig is simultaneously clamped with the first clamping part and the second clamping part, the movable part is limited at the zero point position.
2. The mobile platform of claim 1, wherein: the zero calibration component comprises a first calibration part and a second calibration part, the first calibration part is arranged on the movable part, the second calibration part is arranged on the fixed part, and when the movable part is located at the zero position, the first calibration part is aligned with and senses the second calibration part.
3. The mobile platform of claim 2, wherein: the movable piece is provided with a first notch used for installing the first calibration part, the fixed piece is provided with a second notch used for installing the second calibration part, and when the movable piece is located at the zero point position, the first notch and the second notch are located on the same straight line.
4. The mobile platform of claim 2, wherein: one of the first calibration part and the second calibration part is a Hall sensor, and the other is a magnetic part for the Hall sensor to sense.
5. The mobile platform of claim 2, wherein: one of the first calibration part and the second calibration part is a photoelectric sensor, and the other one is a mark point for the photoelectric sensor to sense.
6. The mobile platform of claim 1, wherein: the end face of the movable piece is provided with at least one center hole for positioning an external execution tail end and at least one threaded hole for fixing the external execution tail end, the center of the center hole is overlapped with the rotation center, and the threaded holes are distributed along the circumferential direction of the center hole.
7. The mobile platform of claim 6, wherein: the center hole is a stepped hole, and the diameter of the stepped hole is sequentially reduced along the direction far away from the end face.
8. The mobile platform of claim 6, wherein: the movable piece is provided with a plurality of threaded holes, and the plurality of threaded holes at least have two different diameters and are used for adapting to execution tail ends with different qualities.
9. The mobile platform of claim 6, wherein: the end face of the movable piece is also provided with at least one pin hole for positioning the external execution tail end, and the pin holes are distributed along the circumferential direction of the central hole.
10. The mobile platform of claim 9, wherein: the movable member is provided with a plurality of the pin holes having at least two different diameters for fitting the execution ends of different masses.
11. The mobile platform of claim 6, wherein: and one end of the movable piece, which is far away from the end surface, is provided with a connecting part used for being connected with the outside.
12. The mobile platform of claim 11, wherein: the diameter of the connecting portion is smaller than the diameter of the end face.
13. The mobile platform of claim 1, wherein: the first clamping portion is arranged to be a first clamping groove, the second clamping portion is arranged to be a second clamping groove, and when the movable member is located at the zero point position, the extending directions of the first clamping groove and the second clamping groove are the same.
14. The mobile platform of claim 1, wherein: the movable part is connected with the fixed part in a rotating mode through the bearing.
15. A terminal load installation device of robot which characterized in that: a moveable platform according to any of claims 1 to 14 and comprising a resilient clip attached to a distal end of the moveable member, the resilient clip being capable of gripping different sizes of external implements.
16. A robot end load mounting apparatus as recited in claim 15, wherein: the elastic clamp comprises an adapter, a locking piece and a chuck, the adapter is connected to the tail end of the movable piece, the chuck is arranged in a sliding hole in the adapter in a sliding mode, a clamping hole used for clamping an external execution piece is formed in the end face of the chuck, the end face of the chuck is far away from the direction of the movable piece, the outer diameter of the chuck is gradually increased, one end of the locking piece is movably connected with the adapter in the axial direction of the clamping hole, and the other end of the locking piece is embedded in the outer wall of the chuck.
17. A robot end load mounting apparatus as recited in claim 16, wherein: the retaining member is in threaded connection with the adapter.
18. A robot end load mounting apparatus as recited in claim 16, wherein: one of the outer wall of the chuck and the end of the locking piece is provided with an embedding table, and the other is provided with a clamping groove, and the embedding table can be embedded in the clamping groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023183240.XU CN214352551U (en) | 2020-12-25 | 2020-12-25 | Movable platform and robot tail end load mounting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023183240.XU CN214352551U (en) | 2020-12-25 | 2020-12-25 | Movable platform and robot tail end load mounting device |
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| CN214352551U true CN214352551U (en) | 2021-10-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114166252A (en) * | 2022-02-10 | 2022-03-11 | 成都飞机工业（集团）有限责任公司 | Comprehensive positioning precision testing method for industrial robot integrated system |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114166252A (en) * | 2022-02-10 | 2022-03-11 | 成都飞机工业（集团）有限责任公司 | Comprehensive positioning precision testing method for industrial robot integrated system |
| CN114166252B (en) * | 2022-02-10 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Comprehensive positioning precision testing method for industrial robot integrated system |
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