CN218428356U - Six-axis robot capable of achieving quick zero calibration - Google Patents
Six-axis robot capable of achieving quick zero calibration Download PDFInfo
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- CN218428356U CN218428356U CN202222743182.4U CN202222743182U CN218428356U CN 218428356 U CN218428356 U CN 218428356U CN 202222743182 U CN202222743182 U CN 202222743182U CN 218428356 U CN218428356 U CN 218428356U
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Abstract
The utility model discloses a six-axis robot capable of fast zero calibration, which comprises a base, wherein a turntable is arranged on the base; the turntable is hinged with a floating plate, and the base is provided with a positioning part for supporting the floating plate; a first level gauge is arranged on the floating plate; the turntable is provided with a lower arm capable of swinging back and forth, and the lower arm is provided with a second level meter which is transversely arranged; the end part of the lower arm is provided with an upper arm which can swing up and down, and the upper arm is provided with a third gradienter which is transversely arranged; the end part of the upper arm is provided with a rotatable middle arm, and the middle arm is provided with a vertically arranged fourth level gauge; the end part of the middle arm is provided with a front arm which can swing up and down, and the front arm is provided with a fifth level meter which is horizontally and transversely arranged; the end part of the front arm is provided with a rotatable operating head, and the operating head is provided with a sixth gradienter which is vertically arranged. The utility model provides a but six robots of quick zero point calibration, usable spirit level realize quick zero point calibration to six pivots of robot, and the cost of manufacture is low, easy operation.
Description
Technical Field
The utility model relates to a robot debugging preparation field especially relates to a but six robots of quick zero point calibration.
Background
With the continuous development of modern science and technology, industrial robots are widely applied to various industries, particularly six-axis robots with flexible actions and high operation precision are widely visible in assembly, part processing and medical industries, zero points are used as reference positions of a coordinate system of the six-axis robot, the operation precision of the six-axis robot is particularly important, if the zero points are not determined, the six-axis robot has no way of judging the positions of operating hands of the six-axis robot, not to mention the precise implementation of action instructions, therefore, the industrial robots can calibrate mechanical parameters and the zero points of the robots before leaving the factory, the adopted zero point calibration positions are basically similar, horizontal or vertical states are used as the zero points of connecting rods of the industrial robots, but the steps of the specific zero point calibration method are complicated, the precision is not high, the assembly and debugging efficiency of the six-axis robot is seriously influenced, the joints of the manual moving robot and the like are lost under special conditions of battery replacement, exceeding of mechanical limit positions, the collision with the environment, the joints of the manual moving robot are also difficult to be found, the zero point calibration method is greatly influenced by a user, the zero point calibration method is not easy to restore the zero point detection, and the zero point detection is not easy to restore.
Disclosure of Invention
For overcoming above-mentioned prior art's is not enough, the utility model provides a but six axis robot of quick zero point calibration, usable spirit level realizes quick zero point calibration to six pivots of robot, and the cost of manufacture is low, and easy operation can improve six axis robot assembly and debugging efficiency to can very big person of facilitating the use later maintenance.
The utility model discloses a realize through following technical scheme:
a six-axis robot capable of achieving rapid zero calibration comprises a base, wherein a first driving rotating shaft is arranged in the base, and a rotating disc capable of rotating in the horizontal direction is arranged on the first driving rotating shaft; the base is provided with a positioning part for supporting the floating plate; a first level meter is arranged on the floating plate; a second driving rotating shaft is arranged on the turntable, a lower arm capable of swinging back and forth is arranged on the second driving rotating shaft, and a second level meter which is transversely arranged is arranged on the lower arm; a third driving rotating shaft is arranged at the end part of the lower arm, an upper arm capable of swinging up and down is arranged on the third driving rotating shaft, and a third gradienter which is transversely arranged is arranged on the upper arm; a fourth driving rotating shaft is arranged at the end part of the upper arm, a rotatable middle arm is arranged on the fourth driving rotating shaft, and a vertically arranged fourth level instrument is arranged on the middle arm; a fifth driving rotating shaft is arranged at the end part of the middle arm, a front arm capable of swinging up and down is arranged on the fifth driving rotating shaft, and a fifth level meter horizontally and transversely arranged is arranged on the front arm; a sixth driving rotating shaft is arranged at the end part of the front arm, a rotatable operating head is arranged on the sixth driving rotating shaft, and a vertically arranged sixth level gauge is arranged on the operating head; the beneficial effects are that: the driving rotating shaft is driven by a power unit consisting of a motor, a planetary gear or a belt, the technology is generally adopted by the existing six-shaft robot, the technology is mature, and the control precision is high; the level can adopt a conventional bubble level, and has low manufacturing cost and high measurement precision; the floating plate is used as an installation platform of the first level gauge, one end of the floating plate is hinged on the rotary turntable, the whole plate body is in an inclined non-horizontal state when in a non-zero calibration position, and the floating plate can reach a horizontal state under the supporting action of the positioning part when passing through the positioning part on the base, so that the zero position of the turntable is determined; the second level gauge is transversely arranged on the lower arm which can swing back and forth, and when the lower arm is in a vertical position, the transversely arranged second level gauge is in a horizontal position so as to determine the zero point position of the lower arm; the third gradienter is transversely arranged on the upper arm which can swing up and down, and when the upper arm is in a horizontal position, the transversely arranged third gradienter is also in the horizontal position so as to determine the zero position of the upper arm; the fourth gradienter is vertically arranged on the rotatable middle arm, and when the middle arm drives the fourth gradienter to move to the top end, the vertically arranged fourth gradienter is in a horizontal position so as to determine the zero point position of the middle arm; the fifth gradienter is transversely arranged on the forearm which can swing up and down, and when the forearm is in the horizontal position, the transversely arranged fifth gradienter is also in the horizontal position so as to determine the zero position of the forearm; the sixth gradienter is vertically arranged on the rotatable operating head, when the operating head drives the sixth gradienter to move to the top end, the vertically arranged sixth gradienter is in a horizontal position, so that the zero position of the operating head is determined, the whole zero calibration operation is simple, and compared with a marking mode of drawing lines, the calibration precision of the gradienter is higher, the observation is convenient, and the gradienter is not easy to damage and lose.
Preferably, a groove is formed in the rotary table, the floating plate is hinged in the groove, and the upper surface of the first level is lower than the upper surface of the rotary table; the beneficial effects are that: with floating plate built-in the recess of carousel, have the hidden nature, except there being better whole outward appearance visual sense, more importantly, can reduce the condition emergence of unexpected collision floating plate in work, cause the skew or the damage of floating plate, influence the later equipment maintenance.
Preferably, the lower end of the floating plate is provided with a roller; the beneficial effects are that: the contact part of the turntable and the base adopts rolling friction, so that the abrasion in long-term sliding friction can be reduced, and the caused deviation is reduced.
Preferably, the positioning part is an arc-shaped bulge arranged at the edge of the base; the beneficial effects are that: the arc-shaped protrusion can be integrally cast with the base, and can also be designed to be an independent part to be installed on the base, and when the roller on the floating plate passes through the vertex position of the arc-shaped protrusion, the floating plate is located at a horizontal position and can be read through the level meter, so that the zero-degree position of the rotary table is driven.
Preferably, the positioning part is a positioning wheel arranged on the base, and the base is provided with a mounting groove for fixing the positioning wheel; the beneficial effects are that: location portion adopts the form of gyro wheel equally, and two-way rolling friction can further reduce the friction loss, changes the maintenance more easily moreover, and the mounting groove can hide the locating wheel wherein, and on the one hand plays the effect of protection to the locating wheel, and on the other hand reduces the length that the locating wheel protrudes the base upper limb for the gyro wheel is smooth-going, stable more with the in-process of locating wheel contact, removal, also can reduce the amplitude of oscillation of floating plate, improvement stability.
Preferably, the third level is fixed on the upper surface of the upper arm; the fifth gradienter is fixed on the upper surface of the forearm; the beneficial effects are that: the observation is convenient, and the operation can be carried out by workers in the maintenance process.
The beneficial effects of the utility model reside in that: 1. the six-axis robot can finish quick zero calibration of six rotating shafts by using the level gauge with simple structure and low cost, improves the assembly and debugging efficiency of the six-axis robot, and can greatly facilitate later maintenance of a user; 2. the gradienter is reasonably arranged, so that the observation and the operation of constructors can be facilitated; 3. the floating plate and the base adopt a rolling friction mode, so that the abrasion of a contact part is reduced, the service life of a component is prolonged, the stability of the adjustment precision is further ensured, and the leveling instrument is more stable and convenient to read in the leveling process; 4. the floating plate is hidden in the groove, so that the situation that the floating plate is accidentally collided in work to cause deviation or damage of the floating plate and influence on later equipment maintenance can be reduced.
Drawings
Fig. 1 is a schematic structural diagram of a six-axis robot capable of performing fast zero calibration according to the first embodiment;
fig. 2 is a partial structural schematic diagram of a six-axis robot capable of performing fast zero calibration according to the first embodiment;
fig. 3 is a schematic structural diagram of a six-axis robot capable of performing fast zero calibration according to the second embodiment;
fig. 4 is a partial structural schematic diagram of a six-axis robot capable of fast zero calibration according to the second embodiment;
fig. 5 is a schematic structural diagram of a six-axis robot capable of performing fast zero calibration according to the third embodiment;
fig. 6 is a schematic partial structural diagram of a six-axis robot capable of fast zero calibration according to the third embodiment;
in the figure: 1. a base; 11. an arc-shaped bump; 12. an arc-shaped bulge; 13. mounting grooves; 14. positioning wheels; 2. a turntable; 21. a floating plate; 22. a roller; 23. positioning a rod; 24. a first level; 25. a groove; 3. a lower arm; 31. a second level; 4. an upper arm; 41. a third level; 5. a middle arm; 51. a fourth level; 6. a forearm; 61. a fifth level gauge; 7. an operating head; 71. and a sixth level.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Example one
As shown in fig. 1-2, a six-axis robot capable of fast zero calibration includes a base 1, a first driving rotating shaft is arranged in the base 1, and a rotating disc 2 capable of rotating in a horizontal direction is arranged on the first driving rotating shaft; a floating plate 21 with a square structure is hinged on the turntable 2; the floating plate 21 is transversely arranged, and the lower end surface of the floating plate is provided with a roller 22; the base 1 is provided with a positioning part for supporting the floating plate 21, the positioning part is an independent arc-shaped bump 11 and can be fixed on the base 1 through a bolt; the floating plate 21 is provided with a first level gauge 24, and the first level gauge 24 is transversely arranged and parallel to the floating plate 21; a positioning rod 23 is also arranged on the turntable 2 and used for limiting the position of the floating plate 21; a second driving rotating shaft is arranged on the turntable 2, a lower arm 3 capable of swinging back and forth is arranged on the second driving rotating shaft, and a second level gauge 31 arranged transversely is arranged on the lower arm 3; a third driving rotating shaft is arranged at the end part of the lower arm 3, an upper arm 4 capable of swinging up and down is arranged on the third driving rotating shaft, and a third level gauge 41 arranged transversely is arranged on the upper arm 4; a fourth driving rotating shaft is arranged at the end part of the upper arm 4, a rotatable middle arm 5 is arranged on the fourth driving rotating shaft, and a vertically arranged fourth level instrument 51 is arranged on the middle arm 5; a fifth driving rotating shaft is arranged at the end part of the middle arm 5, a front arm 6 capable of swinging up and down is arranged on the fifth driving rotating shaft, and a fifth level gauge 61 horizontally and transversely arranged is arranged on the front arm 6; a sixth driving rotating shaft is arranged at the end part of the front arm 6, a rotatable operating head 7 is arranged on the sixth driving rotating shaft, and a vertically arranged sixth level instrument 71 is arranged on the operating head 7; the driving rotating shaft is driven by a power unit consisting of a motor, a planetary gear or a belt, is a technology commonly adopted by the existing six-shaft robot, and has mature technology and high control precision; the level meter adopts a conventional bubble level meter, and has low manufacturing cost and high measurement precision; the floating plate 21 is used as a mounting platform of the first level gauge 24, one end of the floating plate is hinged on the rotary turntable 2, the whole plate body is in an inclined non-horizontal state when in a non-zero calibration position, and the floating plate 21 can just reach a horizontal state when passing through the highest point of the arc-shaped bump 11 on the base 1, so that the zero position of the turntable 2 is determined; the second level 31 is transversely arranged on the lower arm 3 which can swing back and forth, and when the lower arm 3 is in the vertical direction, the transversely arranged second level 31 is in the horizontal position, so that the zero point position of the lower arm 3 is determined; the third level gauge 41 is transversely arranged on the upper arm 4 which can swing up and down, and when the upper arm 4 is in a horizontal position, the transversely arranged third level gauge 41 is also in the horizontal position, so that the zero point position of the upper arm 4 is determined; the fourth level gauge 51 is vertically arranged on the rotatable middle arm 5, and when the middle arm 5 drives the fourth level gauge 51 to move to the top end, the vertically arranged fourth level gauge 51 is in a horizontal position, so that the zero point position of the middle arm 5 is determined; the fifth level meter 61 is transversely arranged on the forearm 6 which can swing up and down, and when the forearm 6 is in a horizontal position, the transversely arranged fifth level meter 61 is also in the horizontal position, so that the zero point position of the forearm 6 is determined; the sixth level meter 71 is vertically arranged on the rotatable operating head 7, and when the operating head 7 drives the sixth level meter 71 to move to the top end, the vertically arranged sixth level meter 71 is in a horizontal position, so that the zero point position of the operating head is determined.
Example two
As shown in fig. 3 to 4, a six-axis robot capable of fast zero calibration includes a base 1, a first driving rotating shaft is disposed in the base 1, and a rotating disc 2 capable of rotating in a horizontal direction is disposed on the first driving rotating shaft; a square groove 25 is arranged on the edge of the turntable 2, and a floating plate 21 in a square structure is hinged in the groove 25; the floating plate 21 is vertically arranged, and the lower end surface of the floating plate is provided with a roller 22; the base 1 is provided with a positioning part for supporting the floating plate 21, and the positioning part is an arc-shaped bulge 12 integrally designed with the base 1; the floating plate 21 is provided with a first level gauge 24, and the first level gauge 24 is vertically arranged and parallel to the floating plate 21; a second driving rotating shaft is arranged on the turntable 2, a lower arm 3 capable of swinging back and forth is arranged on the second driving rotating shaft, and a second level gauge 31 arranged transversely is arranged on the lower arm 3; a third driving rotating shaft is arranged at the end part of the lower arm 3, an upper arm 4 capable of swinging up and down is arranged on the third driving rotating shaft, and a third level gauge 41 which is transversely arranged is arranged on the upper surface of the upper arm 4; a fourth driving rotating shaft is arranged at the end part of the upper arm 4, a rotatable middle arm 5 is arranged on the fourth driving rotating shaft, and a vertically arranged fourth level instrument 51 is arranged on the middle arm 5; a fifth driving rotating shaft is arranged at the end part of the middle arm 5, a front arm 6 capable of swinging up and down is arranged on the fifth driving rotating shaft, and a fifth level gauge 61 horizontally and transversely arranged is arranged on the upper surface of the front arm 6; a sixth driving rotating shaft is arranged at the end part of the front arm 6, a rotatable operating head 7 is arranged on the sixth driving rotating shaft, and a vertically arranged sixth level instrument 71 is arranged on the operating head 7; in this embodiment, the floating plate 21 is embedded in the groove 25 of the turntable 2, and besides the hiding property, the overall appearance is better, more importantly, the floating plate 21 can be better protected, accidents during work are reduced, and the situation of collision to the floating plate 21 is reduced, so that the floating plate 21 is deviated or damaged, and the later equipment maintenance is affected.
EXAMPLE III
As shown in fig. 5 to 6, a six-axis robot capable of fast zero calibration includes a base 1, a first driving rotating shaft is arranged in the base 1, and a rotating disc 2 capable of rotating in a horizontal direction is arranged on the first driving rotating shaft; a square groove 25 is arranged on the edge of the turntable 2, and a floating plate 21 in a square structure is hinged in the groove 25; the floating plate 21 is vertically arranged, and the lower end surface of the floating plate is provided with a roller 22; the base 1 is provided with a positioning part for supporting the floating plate 21, the positioning part is a positioning wheel 14 arranged with the base 1, the positioning wheel 14 is arranged in an installation groove 13 arranged on the base 1, and the rotating axis of the positioning wheel 14 does not exceed the upper edge of the base 1; the floating plate 21 is provided with a first level meter 24, and the first level meter 24 is vertically arranged and parallel to the floating plate 21; a second driving rotating shaft is arranged on the turntable 2, a lower arm 3 capable of swinging back and forth is arranged on the second driving rotating shaft, and a second level gauge 31 arranged transversely is arranged on the lower arm 3; a third driving rotating shaft is arranged at the end part of the lower arm 3, an upper arm 4 capable of swinging up and down is arranged on the third driving rotating shaft, and a third level gauge 41 arranged transversely is arranged on the upper arm 4; a fourth driving rotating shaft is arranged at the end part of the upper arm 4, a rotatable middle arm 5 is arranged on the fourth driving rotating shaft, and a fourth level 51 which is vertically arranged is arranged on the middle arm 5; a fifth driving rotating shaft is arranged at the end part of the middle arm 5, a front arm 6 capable of swinging up and down is arranged on the fifth driving rotating shaft, and a fifth level gauge 61 horizontally and transversely arranged is arranged on the front arm 6; a sixth driving rotating shaft is arranged at the end part of the front arm 6, a rotatable operating head 7 is arranged on the sixth driving rotating shaft, and a vertically arranged sixth level instrument 71 is arranged on the operating head 7; location portion adopts the form of rotating the wheel in this embodiment, both can utilize its curved structural feature, its low coefficient of friction's characteristic has been utilized again, can further reduce the wearing and tearing of friction process, more convenient the change in the maintenance in later stage, and mounting groove 13 can hide locating wheel 14 wherein, on the one hand plays the effect of protection to locating wheel 14, on the other hand can reduce the length at border on the 14 protruding bases of locating wheel, make gyro wheel 22 and locating wheel 14 contact, the in-process of removal is more smooth-going, and stable, and then reduce the amplitude of oscillation of floating plate, and stability is improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; these modifications and substitutions do not depart from the essence of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a but six axis robot of quick zero point calibration which characterized in that: the rotary table comprises a base, wherein a first driving rotating shaft is arranged in the base, and a rotary table capable of rotating in the horizontal direction is arranged on the first driving rotating shaft; the base is provided with a positioning part for supporting the floating plate; a first level meter is arranged on the floating plate; a second driving rotating shaft is arranged on the turntable, a lower arm capable of swinging back and forth is arranged on the second driving rotating shaft, and a second level meter which is transversely arranged is arranged on the lower arm; a third driving rotating shaft is arranged at the end part of the lower arm, an upper arm capable of swinging up and down is arranged on the third driving rotating shaft, and a third gradienter which is transversely arranged is arranged on the upper arm; a fourth driving rotating shaft is arranged at the end part of the upper arm, a rotatable middle arm is arranged on the fourth driving rotating shaft, and a vertically arranged fourth level gauge is arranged on the middle arm; a fifth driving rotating shaft is arranged at the end part of the middle arm, a front arm capable of swinging up and down is arranged on the fifth driving rotating shaft, and a fifth level meter horizontally and transversely arranged is arranged on the front arm; the tip of forearm is equipped with sixth drive pivot, be equipped with the operating head that can rotate in the sixth drive pivot, be equipped with vertical arrangement's sixth spirit level on the operating head.
2. The six-axis robot capable of fast zero calibration according to claim 1, wherein: the rotary table is provided with a groove, the floating plate is hinged in the groove, and the upper surface of the first level is lower than that of the rotary table.
3. The six-axis robot capable of fast zero calibration according to claim 1, wherein: and the lower end of the floating plate is provided with a roller.
4. The six-axis robot capable of fast zero calibration according to claim 1, wherein: the positioning part is an arc-shaped bulge arranged at the edge of the base.
5. The six-axis robot capable of fast zero calibration according to claim 1, wherein: the positioning part is a positioning wheel arranged on the base.
6. The six-axis robot capable of fast zero calibration according to claim 1, wherein: the third level gauge is fixed on the upper surface of the upper arm; the fifth level gauge is fixed on the upper surface of the forearm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222743182.4U CN218428356U (en) | 2022-10-14 | 2022-10-14 | Six-axis robot capable of achieving quick zero calibration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222743182.4U CN218428356U (en) | 2022-10-14 | 2022-10-14 | Six-axis robot capable of achieving quick zero calibration |
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| Publication Number | Publication Date |
|---|---|
| CN218428356U true CN218428356U (en) | 2023-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222743182.4U Active CN218428356U (en) | 2022-10-14 | 2022-10-14 | Six-axis robot capable of achieving quick zero calibration |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117283554A (en) * | 2023-10-17 | 2023-12-26 | 芜湖藦卡机器人科技有限公司 | High-precision automatic locating device and robot |
-
2022
- 2022-10-14 CN CN202222743182.4U patent/CN218428356U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117283554A (en) * | 2023-10-17 | 2023-12-26 | 芜湖藦卡机器人科技有限公司 | High-precision automatic locating device and robot |
| CN117283554B (en) * | 2023-10-17 | 2024-05-17 | 芜湖藦卡机器人科技有限公司 | High-precision automatic locating device and robot |
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