CN215749175U

CN215749175U - Hip joint ball zero calibration system of two-degree-of-freedom robot

Info

Publication number: CN215749175U
Application number: CN202121586522.6U
Authority: CN
Inventors: 吴晓源; 苏寒飞; 吴连生
Original assignee: Hainan Guoxuan Intelligent Technology Co ltd
Current assignee: Liuzhou Guoxuan Intelligent Technology Co ltd
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2022-02-08
Anticipated expiration: 2031-07-13

Abstract

The utility model discloses a hip joint ball zero calibration system of a two-degree-of-freedom robot, which comprises a workbench and a hip joint ball, wherein a first ball socket joint is arranged at the bottom of the workbench and is movably connected with the hip joint ball, a through hole is formed in the first ball socket joint, a zero calibration hole is formed in the top of the hip joint ball, a zero calibration component is arranged at the top of the workbench, a control panel is arranged on one side of the top of the workbench and is electrically connected with an analog-to-digital converter arranged in the control panel, the control panel is electrically connected with the zero calibration component, and the zero calibration component is connected with the through hole and the zero calibration hole in a sliding manner; the robot hip joint zero calibration device is convenient to zero the robot hip joint by arranging the zero calibration component on the workbench, firstly, the zero calibration component is adjusted into the first ball socket joint, the hip joint ball is rotated until the zero calibration component can normally extend and retract into the zero calibration hole on the hip joint ball, the zero calibration of the robot hip joint is completed, the practicability of the device is improved, the work efficiency of zero calibration is improved, and the use timeliness of the device is improved.

Description

Hip joint ball zero calibration system of two-degree-of-freedom robot

Technical Field

The utility model relates to the field of robot zero calibration, in particular to a hip joint ball zero calibration system of a two-degree-of-freedom robot.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

The industrial robot needs to be zeroed when leaving a factory, the industrial robot needs to be zeroed once every using period of time in the later period, the operation precision of the robot is guaranteed, most of the existing industrial robot zeroing means are laser calibration zeroing, the operation is complex, a large amount of time needs to be wasted, and therefore the hip joint ball zeroing system of the double-freedom-degree robot is provided.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model provides the zero calibration system for the hip joint ball of the two-degree-of-freedom robot, which adopts a mechanical structure to calibrate the hip joint ball of the robot, is favorable for improving the practicability of the device, improving the working efficiency of zero calibration of the device and improving the use time efficiency of the device.

In order to solve the technical problems, the utility model provides the following technical scheme: the utility model provides a two degree of freedom robot's hip joint ball zero-checking system, includes workstation, hip joint ball, workstation bottom fixed mounting has the first ball socket joint that carries out the installation to the hip joint ball, first ball socket joint of hip joint ball swing joint, run through in the first ball socket joint and set up the through-hole, zero-checking hole has been seted up at hip joint ball top, zero-checking hole size is the same with first ball socket joint, workstation top fixed mounting has zero-checking subassembly, workstation top one side fixed mounting has control panel, control panel electric connection has the analog-to-digital converter of installing in control panel, control panel electric connection zero-checking subassembly, zero-checking subassembly sliding connection through-hole, zero-checking hole.

Preferably, the zero calibration subassembly includes elevator motor, elevator motor output fixed mounting has the converter, converter bottom fixed mounting has the lifter, the lifter is connected in the elevator motor transmission, the lifter is located the through-hole, and it respectively with through-hole, zero calibration hole sliding connection.

Preferably, a guide plate is fixedly installed around the top of the zeroing hole, the guide plate is an arc-shaped plate, and the inner diameter of the guide plate is slightly larger than the zeroing hole.

Preferably, the bottom of the hip joint ball is provided with a supporting leg, the top of the supporting leg is fixedly provided with a second ball-and-socket joint, and the second ball-and-socket joint is movably connected with the hip joint ball.

Preferably, the supporting foot bottom is run through and is seted up the mounting groove, wear to be equipped with the pivot in the mounting groove, pivot middle part fixed mounting has the gyro wheel.

Preferably, the inner part of the first ball-and-socket joint and the surface of the hip joint ball are both electroplated with a protective layer, and the protective layer is a wear-resistant layer.

Compared with the prior art, the utility model can achieve the following beneficial effects:

1. the robot hip joint zero calibration device is convenient to zero by arranging the zero calibration component on the workbench, the zero calibration component is adjusted into the first ball socket joint, the hip joint ball is rotated until the zero calibration component can normally extend into a zero calibration hole on the hip joint ball, the zero calibration of the robot hip joint is completed, the practicability of the device is improved, the work efficiency of zero calibration is improved, and the use time of the device is improved;

2. through setting up the school subassembly into elevator motor and lifter, be favorable to improving the practicality of device, school subassembly part is comparatively common, and the theory of operation is also comparatively simple, and the dismouting and the maintenance of being convenient for are through setting up lifter bottom sliding connection through-hole, school zero hole, are favorable to improving the use ageing of device, reduce the wearing and tearing of lifter to improve the precision of robot school zero.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an exploded view of the overall structure of the present invention;

FIG. 3 is a bottom view of the worktable according to the present invention;

FIG. 4 is a block diagram of the working system of the present invention;

wherein: 1. a work table; 11. a through hole; 12. a first ball joint; 2. supporting legs; 3. a roller; 4. a second ball joint; 5. a hip ball; 51. a zero calibration hole; 52. a guide plate; 6. a control panel; 61. an analog-to-digital converter; 7. a lifting motor; 8. a converter; 9. a lifting rod; 10. and (4) mounting the groove.

Detailed Description

The present invention will be further described with reference to specific embodiments for the purpose of facilitating an understanding of technical means, characteristics of creation, objectives and functions realized by the present invention, but the following embodiments are only preferred embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.

Example (b):

as shown in fig. 1-4, the utility model provides a hip joint ball zero calibration system of a two-degree-of-freedom robot, which comprises a workbench 1 and a hip joint ball 5, wherein a first ball-and-socket joint 12 for installing the hip joint ball 5 is fixedly installed at the bottom of the workbench 1, the hip joint ball 5 is movably connected with the first ball-and-socket joint 12, a through hole 11 is formed in the first ball-and-socket joint 12 in a penetrating manner, a zero calibration hole 51 is formed in the top of the hip joint ball 5, the size of the zero calibration hole 51 is the same as that of the first ball-and-socket joint 12, a zero calibration component is fixedly installed at the top of the workbench 1, a control panel 6 is fixedly installed on one side of the top of the workbench 1, the control panel 6 is electrically connected with an analog-to-digital converter 61 installed in the control panel 6, the control panel 6 is electrically connected with the zero calibration component, and the zero calibration component is slidably connected with the through hole 11 and the zero calibration hole 51;

through setting up the school subassembly on the workstation 1, be convenient for carry out the school zero to the robot hip joint, adjust the school subassembly earlier to first ball socket 12 in, rotate hip joint ball 5, in can normally stretch out and draw back the school zero hole 51 that gets into on hip joint ball 5 to the school subassembly, accomplish the school zero to the robot hip joint, be favorable to improving the practicality of device, improve the work efficiency of school zero, be favorable to improving the use ageing of device.

As shown in fig. 1 and fig. 2, the embodiment further discloses that the zero calibration assembly includes a lifting motor 7, an output end of the lifting motor 7 is fixedly provided with a converter 8, a lifting rod 9 is fixedly provided at the bottom of the converter 8, the lifting motor 7 is in transmission connection with the lifting rod 9, the lifting rod 9 is located in the through hole 11, and is respectively in sliding connection with the through hole 11 and the zero calibration hole 51;

set up to elevator motor 7 and lifter 9 through the school's subassembly, be favorable to improving the practicality of device, school's subassembly part is comparatively common, and the theory of operation is also comparatively simple, and the dismouting and the maintenance of being convenient for are through setting up lifter 9 bottom sliding connection through-hole 11, school zero hole 51, are favorable to improving the use prescription of device, reduce the wearing and tearing of lifter 9 to improve the precision of robot school zero.

As shown in fig. 2, the embodiment further discloses that a guide plate 52 is fixedly installed around the top of the zeroing hole 51, the guide plate 52 is an arc-shaped plate, and the inner diameter of the guide plate 52 is slightly larger than the zeroing hole 51;

through setting up the deflector 52 of installing around zero calibration hole 51 top, establish deflector 52 into the arc, be favorable to improving the practicality of device, when lifter 9 pushes up hip joint ball 5, adjust hip joint ball 5, treat that lifter 9 pushes up deflector 52, deflector 52 can make lifter 9 move to zero calibration hole 51 internal motion, is favorable to improving the use ageing of device, improves zero calibration's work efficiency.

As shown in fig. 1 and fig. 2, the present embodiment further discloses that a supporting foot 2 is arranged at the bottom of the hip joint ball 5, a second ball-and-socket joint 4 is fixedly installed at the top of the supporting foot 2, and the second ball-and-socket joint 4 is movably connected with the hip joint ball 5;

the supporting legs 2 arranged at the bottoms of the hip joint balls 5 are convenient for supporting the upper half of the robot, the practicability of the device is improved, the hip joint balls 5 are movably connected with the second ball socket joints 4, the maneuverability of the device is improved, and the use timeliness of the device is improved.

As shown in fig. 1 and 2, the embodiment further discloses that a mounting groove 10 is formed in the bottom of the supporting leg 2 in a penetrating manner, a rotating shaft penetrates through the mounting groove 10, and a roller 3 is fixedly mounted in the middle of the rotating shaft;

through the mounting groove 10 that sets up in supporting legs 2 bottoms, be convenient for install the countershaft, through setting up at epaxial gyro wheel 3 of commentaries on classics, be favorable to improving the mobility of device, improve the use prescription of device.

As shown in fig. 1-3, this embodiment further discloses that a protective layer is electroplated inside the first ball-and-socket joint 12 and on the surface of the hip joint ball 5, and the protective layer is a wear-resistant layer;

through the protective layers arranged on the surface of the hip joint ball 5 and in the first ball socket joint 12, the practicability of the device is improved, the abrasion of the hip joint ball 5 is reduced, the service life of the device is prolonged, and the use time of the device is prolonged.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. 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.

The foregoing shows and describes the general principles, essential features, and advantages of the utility model. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a two degree of freedom robot's hip joint ball zero-checking system, includes workstation (1), hip joint ball (5), workstation (1) bottom fixed mounting has carries out first ball-and-socket joint (12) installed hip joint ball (5), hip joint ball (5) swing joint first ball-and-socket joint (12), its characterized in that: run through in first ball-and-socket joint (12) and set up through-hole (11), zero correction hole (51) have been seted up at hip joint ball (5) top, zero correction hole (51) size is the same with first ball-and-socket joint (12), workstation (1) top fixed mounting has the zero correction subassembly, workstation (1) top one side fixed mounting has control panel (6), control panel (6) electric connection has analog-to-digital converter (61) of installing in control panel (6), control panel (6) electric connection zero correction subassembly, zero correction subassembly sliding connection through-hole (11), zero correction hole (51).

2. The hip sphere zero alignment system of a two degree of freedom robot of claim 1, wherein: the zero calibration assembly comprises a lifting motor (7), a converter (8) is fixedly mounted at the output end of the lifting motor (7), a lifting rod (9) is fixedly mounted at the bottom of the converter (8), the lifting rod (9) is connected in transmission of the lifting motor (7), the lifting rod (9) is located in a through hole (11), and the lifting rod is respectively connected with the through hole (11) and a zero calibration hole (51) in a sliding mode.

3. The hip sphere zero alignment system of a two degree of freedom robot of claim 1, wherein: and a guide plate (52) is fixedly arranged around the top of the zero calibration hole (51), the guide plate (52) is an arc-shaped plate, and the inner diameter of the guide plate is slightly larger than the zero calibration hole (51).

4. The hip sphere zero alignment system of a two degree of freedom robot of claim 1, wherein: the hip joint comprises a hip joint ball (5) and is characterized in that a supporting leg (2) is arranged at the bottom of the hip joint ball (5), a second ball-and-socket joint (4) is fixedly mounted at the top of the supporting leg (2), and the second ball-and-socket joint (4) is movably connected with the hip joint ball (5).

5. The hip ball zero alignment system of a two-degree-of-freedom robot as claimed in claim 4, wherein: supporting legs (2) bottom is run through and is seted up mounting groove (10), wear to be equipped with the pivot in mounting groove (10), pivot middle part fixed mounting has gyro wheel (3).

6. The hip sphere zero alignment system of a two degree of freedom robot of claim 1, wherein: protective layers are electroplated inside the first ball-and-socket joint (12) and on the surface of the hip joint ball (5), and the protective layers are wear-resistant layers.