CN220313390U - Correcting device - Google Patents

Abstract

The application relates to the technical field related to chip carrying and provides a correction device which is applied to correction of a mounting position of a fixed block on a manipulator. The correcting device comprises a correcting plate and a standard plate, wherein the correcting plate is detachably arranged on the fixed block, and the standard plate is arranged on the moving path of the correcting plate; the correcting device comprises a correcting device plate, a standard plate, a correcting matching piece, a correcting fixing block and a mechanical arm, wherein the correcting device is arranged on the correcting device plate, the correcting matching piece is arranged on the standard plate, the correcting device can be matched with the correcting matching piece under the driving of the correcting device plate, and the correcting device is used as a judging standard for the installation position of the correcting fixing block on the mechanical arm. The correction tool plate is used for replacing the suction nozzle module to be mounted on the fixed block of the manipulator, and the correction part on the correction tool plate and the correction matching part on the standard plate are used for being matched or not to be used as a judgment standard for correcting the mounting position of the fixed block on the manipulator, so that the correction device can realize judgment on whether the mounting position of the fixed block on the manipulator needs correction or not by using a mechanical structure, and the correction device is simple and convenient to operate and low in cost.

Description

Correcting device

Technical Field

The application relates to the technical field related to chip handling, in particular to a correction device.

Background

When the manipulator drives the suction nozzle module to grasp chips stored in the material taking disc, the suction nozzle on the suction nozzle module is required to correspond to pits for storing the chips on the material taking disc one by one. However, there are structural and assembly errors that are unavoidable when the nozzle module is mounted on the manipulator, which requires that the mounting position of the nozzle module on the manipulator be corrected before the device is operated.

At present, the existing correction method for correcting the installation position of the suction nozzle module on the manipulator specifically performs data acquisition on the directions of the XYZ axes through the laser sensor, and then feeds back the data to the upper computer module to calculate the step distance of the stepping motor. In the process, although the adjustment is performed by the stepping motor, a large number of point laser components are matched for use, so that the correction cost of the whole correction method is high.

Disclosure of Invention

In view of the foregoing, there is a need for an orthotic device that addresses the above-described issues.

The correcting device is applied to correcting the mounting position of the fixed block on the manipulator, wherein the fixed block is used for mounting the suction nozzle module; the correcting device comprises a correcting device plate and a standard plate, the correcting device plate is detachably arranged on the fixed block, and the standard plate is arranged on the moving path of the correcting device plate; the correction device comprises a correction device plate, a standard plate, a correction matching piece and a correction device, wherein the correction device plate is provided with the correction matching piece, the correction device can be matched with the correction matching piece under the drive of the correction device plate, and the correction device plate is used as a judgment standard for correcting the installation position of the mechanical arm by the fixing block.

In this application, replace the suction nozzle module with the correction utensil board and with installing to the fixed block of manipulator to utilize correction on the correction utensil board to cooperate between the correction cooperation piece on the standard board whether, regard as the judgement standard of correction fixed block in manipulator mounted position, can make orthotic devices during operation like this, can utilize mechanical structure to realize the judgement of whether need correcting to the fixed block mounted position on the manipulator, it is easy and simple to handle moreover with low costs.

In one embodiment, the corrective fitting includes a deviation correcting mount that is removably mounted to the standard plate; one of the correcting piece and the deviation correcting seat is provided with an inserting hole, the other is provided with a protruding inserting rod, and the inserting rod can be in inserted fit with the inserting hole and is used as a judging standard for correcting the installation position of the fixing block in the XY axis direction.

It can be understood that the plugging fit between the deviation correcting seat and the correcting piece is used as a judging standard for the installation position of the correcting fixing block in the XY axis direction, so that the structure is simplified, and the matching effect of the correcting piece and the deviation correcting seat is facilitated.

In one embodiment, the standard board is provided with a standard hole, the deviation correcting seat is provided with a plug-in part, the plug-in part is matched with the standard hole, and the plug-in part is plugged into the corresponding standard hole.

It will be appreciated that the offset correction shoe is inserted into a standard hole in the standard plate, thus specifically achieving the fitting positioning of the offset correction shoe on the standard plate and ensuring the positioning of the fitting position of the offset correction shoe on the standard plate.

In one embodiment, the deviation correcting seat is further formed with a step surface, the step surface is disposed at one axial end of the plugging portion, and the step surface can be abutted against the standard plate, so that the deviation correcting seat is limited on the standard plate.

It will be appreciated that the abutment between the stepped surface on the offset correction seat and the standard plate is used to effect the limit of the fit of the offset correction seat on the standard plate to facilitate the mounting of the offset correction seat to the standard plate.

In one embodiment, the harness plate is provided with at least one pair of the correcting members along a first direction, and two correcting members in the pair are arranged at intervals along a second direction; the first direction, the second direction and the movement direction of the correction tool plate are arranged in a pairwise angle mode.

The setting is in the judgement and correction that satisfies each fixed block relative manipulator mounted position, improves and corrects judgement precision.

In one embodiment, the correction fitting further comprises a standard spacer block detachably mounted to a side of the standard plate facing the correction plate; the correction tool plate can drive the correction part to move towards the direction of the standard cushion block, so that the correction part is abutted with the standard cushion block, and the correction tool plate is used as a judgment standard for correcting the installation position of the fixed block in the Z-axis direction.

It can be understood that the abutting fit between the standard cushion block and the correction piece is used as a judgment standard for the installation position of the correction fixing block in the Z-axis direction, so that the correction piece and the standard cushion block are convenient to fit, and the structure is simplified.

In one embodiment, the standard cushion block is abutted against the standard plate; the standard cushion block is arranged away from one end face of the standard plate and perpendicular to the movement direction of the correcting piece.

It can be understood that the standard cushion block is attached to the standard plate and is in abutting fit with the correction piece by using the end face, perpendicular to the movement direction of the correction piece, of the standard cushion block, so that the standard cushion block is assembled on the standard plate and matched with the correction piece, and the standard cushion block has the advantages of simplifying the structure and being convenient to install on the standard plate.

In one embodiment, the number of the correcting members is plural, and the correcting members are respectively arranged at two sides of the correcting tool plate along the vertical direction of the moving direction of the correcting members, and each correcting member is used for being abutted with the standard cushion block.

It can be understood that the number of the correction pieces is set to be a plurality of, and the correction pieces are distributed on two sides of the correction board along the movement direction of the correction pieces, so that the use requirement of the judgment standard for correcting the Z-axis direction installation position of the fixing block on the manipulator can be met through abutting fit between the correction pieces and the standard cushion block.

In one embodiment, the standard cushion blocks are one in number, and the standard cushion blocks can translate on the standard plate so that the standard cushion blocks can alternatively abut against the correcting piece; or the number of the standard cushion blocks is multiple, the correction pieces are in one-to-one correspondence with the standard cushion blocks, and the correction pieces can be respectively abutted with the corresponding standard cushion blocks.

It can be appreciated that by the different number of standard cushion blocks and the arrangement on the standard plate, different embodiments of correcting the installation position of the fixed block on the manipulator in the Z-axis direction by using the standard cushion blocks are specifically realized.

In one embodiment, the orthotic device further comprises a plurality of shims; the gaskets can be stacked on one side of the correction device plate, which is away from the standard plate, and are pressed between the correction device plate and the fixed block.

It can be appreciated that by arranging the spacer between the jig plate and the fixing block, the levelness of the jig plate can be changed, thereby adjusting the installation height between the fixing block and the suction nozzle module assembly in the vertical direction.

In one embodiment, the correcting element is vertically mounted on the correcting plate, and along the movement direction of the correcting plate, the correcting element can be matched with the corresponding correcting matching element.

It can be understood that the correcting member is vertically installed on the correcting member plate, so that the correcting member and the correcting mating member are opposite to each other, and the use requirement that the correcting member can be mated with the correcting mating member when the correcting member plate moves is met.

Due to the application of the technical scheme, compared with the prior art, the application has the following advantages:

the correcting device of the application request protection uses the correcting device plate to replace the suction nozzle module to be installed on the fixed block of the manipulator, and uses the correcting device on the correcting device plate to be matched with the correcting matching piece on the standard plate or not to be used for correcting the fixed block to be at the installation position of the manipulator, so that the correcting device can realize the judgment of whether the installation position of the fixed block on the manipulator needs to be corrected by using a mechanical structure when in operation, and the correcting device is simple and convenient to operate and low in cost.

Drawings

In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings that are required to be used in the description of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is an exploded view of an orthotic device according to one embodiment of the present disclosure when used to correct the position of a fixed block mounted on a robot in the XY axis direction;

figures 2 and 3 are schematic diagrams of the orthotic device of figure 1 in operation;

FIG. 4 is an exploded view of an alignment apparatus according to one embodiment of the present disclosure when the alignment apparatus is in operation, where the mounting position of the fixing block on the manipulator is aligned in the Z-axis direction;

fig. 5 and 6 are schematic diagrams of the orthotic device of fig. 4 in operation.

Reference numeral, 10, a harness plate; 11. a correcting member; 111. a rod; 20. a standard plate; 211. a deviation correcting seat; 2111. a jack; 2112. a plug-in part; 2113. a step surface; 212. standard cushion blocks; 22. a standard hole; 200. a manipulator; 201. and a fixed block.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.

It will be understood that when an element is referred to as being "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The utility model provides a orthotic devices of protection is applied to the correction of fixed block mounting position on the manipulator, and wherein, the fixed block is used for installing the suction nozzle module, so, can satisfy the assembly of the relative manipulator of suction nozzle module. When in actual use, the mechanical arm can drive the suction nozzle module to reciprocate in the Z-axis direction, the Y-axis direction or the X-axis direction, and chips in the material tray are taken and placed through the suction nozzle module, so that the chips are carried. Therefore, the mounting position of the fixing block relative to the manipulator can influence the assembly of the suction nozzle module and the picking and placing operation of the suction nozzle module. Therefore, in the assembling process, the mounting positions of the fixing blocks along all directions of XYZ are required to be corrected, so that the mounting precision of the suction nozzle module is ensured, and the subsequent picking precision is further improved.

As shown in fig. 1 and fig. 4, the correction device provided in an embodiment of the present application includes a correction device board 10 and a standard board 20, where the correction device board 10 is detachably mounted on a fixed block 201, and the standard board 20 is disposed on a movement path of the correction device board; the correction device plate 10 is provided with a correction piece 11, the standard plate 20 is provided with a correction matching piece, and the correction piece 11 can be matched with the correction matching piece under the driving of the correction device plate 10, and is used as a judgment standard for the installation position of the correction fixing block 201 on the manipulator 200.

That is, when the correction device of the present application works, the correction device plate 10 is used to replace the suction nozzle module to be mounted on the fixing block 201 of the manipulator 200, and the manipulator 200 can drive the correction device plate 10 to reciprocate along the Z-axis direction, the Y-axis direction or the X-axis direction, and the correction device 11 on the correction device plate 10 and the correction matching piece on the standard plate 20 are used as the judging standard of the mounting position of the fixing block 201 on the manipulator 200. Therefore, when the correction device works, the correction of the installation position of the fixing block 201 on the manipulator 200 can be realized by utilizing a mechanical structure, and the correction device is simple and convenient to operate and low in cost.

In practical use, the harness plate 10 may be detachably fixed to the fixing block 201 by a locking member such as a bolt, so that the harness plate 10 can be mounted to the fixing block 201 of the manipulator 200 instead of the suction nozzle module. Of course, the number of the straightening plates 10 is the same as the number of the suction nozzle modules, so that each suction nozzle module can be replaced by one straightening plate 10. For example, the number of harness plates 10 may be set to two. It should be noted that the number of the corrector plates 10 is merely exemplary, and is not limited to the number, and the number of the corrector plates 10 may be three or four, so long as each suction nozzle module can be ensured to correspond to one corrector plate 10. In addition, when there are two straightening plates 10, the two straightening plates 10 are assembled with respect to the manipulator 200 in a similar manner to the assembling of the nozzle module. For example, with the width direction of the manipulator 200 as a first direction (i.e., Y-axis direction), the length direction of the manipulator 200 as a second direction (i.e., X-axis direction), and the lifting direction of the manipulator 200 as a third direction (i.e., Z-axis direction), two harness plates 10 are arranged at intervals or adjacently along the X-axis direction, and each harness plate 10 corresponds to a fixed block 201. At this time, each of the fixing blocks 201 corresponds to the correction piece 11 and the correction mating piece to satisfy the installation position correction judgment of the respective fixing blocks 201.

The number of standard boards 20 can be set to be one, and the standard boards 20 can be matched with two correction boards 10 at the same time, so as to ensure that the correction references corresponding to the correction boards 10 are uniform.

In an embodiment, the correcting element 11 is vertically installed on the correcting element board 10, and along the moving direction of the correcting element board 10, the correcting element 11 can be matched with the corresponding correcting matching element, so that the correcting element 11 and the correcting matching element can be arranged right opposite to each other, and the use requirement that the correcting element 11 can be matched with the correcting matching element when the correcting element board 10 moves is met. Illustratively, the orthotic 11 may be specifically configured as a pin, with the structure of the pin being utilized to facilitate vertical mounting of the orthotic 11 to the brace 10. In alternative embodiments, the correcting element 11 may be integrally connected to the correcting element plate 10, or the correcting element 11 may be provided as a bolt screwed to the correcting element plate 10.

As shown in fig. 2 and 3, the correction fitting includes a deviation correcting seat 211, and the deviation correcting seat 211 is detachably mounted to the standard plate 20. Thus, not only the installation position of the deviation correcting base 211 relative to the standard plate 20 can be conveniently adjusted, but also the deviation correcting base 211 or the standard plate 20 can be conveniently replaced, and the matching precision is improved.

One of the correction member 11 and the deviation correction seat 211 is configured with an insertion hole 2111, and the other is configured with a protruding insertion rod 111, and the insertion rod 111 can be in insertion fit with the insertion hole 2111, and is used as a judgment standard for the installation position of the correction fixing block 201 in the XY axis direction. That is, when the correction device works, the insertion fit between the insertion hole 2111 and the insertion rod 111 can be used as a basis for correcting and judging the fixed block 201 on the manipulator 200 in the XY axis direction; when the rod 111 can be inserted into the receptacle 2111, the installation requirement is met, if the rod 111 cannot be inserted into the receptacle 2111, the installation position of the fixing block 201 relative to the manipulator 200 needs to be adjusted until the rod 111 can be inserted into the receptacle 2111.

In an alternative embodiment, the insertion hole 2111 is provided on the deviation correcting seat 211, and correspondingly, the insertion rod 111 is provided on the correcting element 11, so that the correcting element 11 can be inserted into the insertion hole 2111 of the deviation correcting seat 211 under the driving of the correcting element plate 10; also, such an arrangement facilitates viewing of the mating position between the plunger 111 and the receptacle 2111. In an alternative embodiment, the insertion hole may be provided on the correcting member 11, and the insertion rod 111 is provided on the deviation correcting seat 211, which will not be described herein.

As some of these embodiments, the harness plate 10 is fitted with at least one pair of corrective elements 11 in a first direction, with two corrective elements 11 of the pair being spaced apart in a second direction. Wherein the first direction, the second direction and the movement direction of the corrector plate 10 are arranged in pairs at an angle. Taking a pair of correction members 11 as an example, each correction member 11 corresponds to a fixed block 201, so that the judgment and correction of the installation position of each fixed block 201 relative to the manipulator 200 can be satisfied. If two pairs of correction members 11 are provided, each fixing block 201 corresponds to two correction members 11, and the two correction members 11 are arranged at intervals, so that correction judgment accuracy is improved.

In the correction operation, the manipulator 200 is moved above the standard board 20, and after the power of the manipulator 200 is turned off, the manipulator 200 can be manually pulled to descend (i.e. move along the Z-axis direction), so as to perform the primary positioning on the position between the correction piece 11 and the correction mating piece. At this time, an initial deviation between the correcting member 11 and the correcting engaging member is obtained, which represents a positional deviation between the correcting member 11 and the correcting engaging member on the basis that the correcting member cannot engage with the correcting engaging member. Then, the position of the fixed block 201 along the X-axis direction is adjusted, and the manipulator 200 is moved to compensate the position of the fixed block 201 along the Y-axis direction; until the correcting member 11 can be matched with the correcting matching member, the position of the fixing block 201 relative to the manipulator 200 along the X-axis direction reaches the installation requirement. After the X-axis direction is positioned, the manipulator 200 is pulled to move upwards.

In effect, the manipulator 200 is urged to have movement in the Y-axis direction by the arrangement of the cross beams. Therefore, when the adjustment is performed, the driving of the manipulator 200 along the Y-axis direction may be powered off, so that the manipulator 200 is manually moved along the Y-axis. After the manipulator 200 is moved each time, the manipulator 200 can be manually pulled to descend, and the matching condition between the correcting piece 11 and the correcting matching piece is observed; until the corrective element 11 engages with the corrective element. At this time, it is necessary to record the moving steps of the robot 200 in the Y-axis direction, and the gap existing between the position where the cooperation is achieved and the origin position of the robot 200. After a number of operations, the average value was calculated. Then, after the manipulator 200 finds the origin position in the actual working condition, the average value during the correction may be used as the material taking position, so as to satisfy the error compensation along the Y-axis direction.

It should be noted that, if the correction element 11 can be engaged with the correction engagement element during the initial positioning, the mounting position of the fixing block 201 may not be adjusted.

Illustratively, the standard plate 20 is provided with a standard hole 22, the deviation correcting seat 211 is provided with a plug portion 2112, the plug portion 2112 is arranged to be matched with the standard hole 22, and the deviation correcting seat 211 can be plugged into the corresponding standard hole 22 through the plug portion 2112. This embodies the fitting positioning of the deviation correcting seat 211 on the standard plate 20, and simplifies the structure and ensures the positioning of the fitting position of the deviation correcting seat 211 on the standard plate 20.

The deviation correcting seat 211 is further formed with a step surface 2113, the step surface 2113 is provided at one axial end of the insertion portion 2112, and the step surface 2113 can be abutted against the standard plate 20 to limit the deviation correcting seat 211 to the standard plate 20. This achieves fitting limitation of the deviation correcting seat 211 on the standard plate 20 by abutment between the stepped surface 2113 on the deviation correcting seat 211 and the standard plate 20, so that the deviation correcting seat 211 is mounted on the standard plate 20.

It should be noted that the installation of the deviation correcting seat 211 on the standard board 20 is not limited to the illustration, and it is obvious to those skilled in the art that the deviation correcting seat 211 may be screwed on the standard board 20 or may be locked by other locking members, which will not be described herein.

As shown in fig. 5 and 6, the orthotic fitting piece further includes a standard spacer block 212, the standard spacer block 212 being removably mounted to the standard plate 20. The corrector plate 10 can drive the corrector 11 to move towards the standard cushion block 212, so that the corrector 11 is abutted against the standard cushion block 212, and the corrector plate is used as a judgment standard for the installation position of the correction fixing block 201 in the Z-axis direction. That is, when the correction device of the present application is in operation, the abutment engagement between the standard pad 212 and the correction material 11 can be used as a criterion for the mounting position of the correction fixing block 201 in the Z-axis direction.

The standard cushion block 212 is abutted against the standard plate 20, and an end face of the standard cushion block 212 facing away from the standard plate 20 is perpendicular to the movement direction of the correcting element 11, so that the standard cushion block 212 is caused to have the same reference as that of the manipulator 200 moving along the Z-axis direction.

It should be noted that the mounting manner of the standard cushion block 212 on the standard board 20 is not limited to the illustration, and it is obvious to those skilled in the art that the standard cushion block 212 may be locked on the standard board 20 by other locking members.

The number of the correcting elements 11 is plural, and along the direction perpendicular to the moving direction of the correcting elements 11, the correcting elements 11 are separately disposed on two sides of the correcting element board 10, and each correcting element 11 is used for abutting against the standard cushion block 212. In this way, the abutting engagement between the correction material 11 and the standard pad 212 can be satisfied, and the use requirement of the standard can be satisfied as a criterion for correcting the Z-axis direction mounting position of the fixing block 201 on the manipulator 200.

In one embodiment, the number of standard blocks 212 is one, and the standard blocks 212 can translate on the standard plate 20 so that the standard blocks 212 can alternatively abut the correcting element 11.

Specifically, taking the number of the fixing blocks 201 as two as an example, two correction pieces 11 are connected to the correction board 10, and each correction piece 11 corresponds to one fixing block 201. Taking the placement of fig. 5 and 6 as an example, two correcting members 11 are provided separately on the left and right sides of the correcting plate 10. In practical use, the standard cushion block 212 is placed at the bottom of one of the correction pieces 11 in advance, and then the two correction pieces 11 are driven to move downward synchronously under the integrated action of the correction board 10 until the correction piece 11 corresponding to the standard cushion block 212 is urged to abut against the correction piece, and the height base at the moment is a first height (also referred to as standard height). Then the correction device plate 10 drives the two correction pieces 11 to move upwards for return, and the standard cushion block 212 is placed at the bottom of the other correction piece 11; then, the corrector plate 10 drives the two correcting members 11 to move downwards by the first height again, and the state between the other correcting member 11 and the standard cushion block 212 is observed. If the correcting element 11 is in an abutting state with the standard cushion block 212, the installation of the two fixing blocks 201 on the manipulator 200 along the Z axis is proved to be satisfactory; if there is a gap between the correcting element 11 and the standard cushion block 212, the installation of the two fixing blocks 201 on the manipulator 200 along the Z axis proves to be unsatisfactory, i.e. adjustment is required.

The correction device further includes a plurality of shims, where each shim can be stacked on a side of the correction device board 10 facing away from the standard board 20, and pressed between the correction device board 10 and the fixing block 201. That is, when there is a gap between the correction piece 11 and the standard pad 212 after the correction piece 11 is lowered by the standard height, a pad may be stacked on the correction piece 11 on the side corresponding to the correction piece 11 until the correction piece 11 can abut against the standard pad 212. It will be appreciated that the additional spacer at this time is equivalent to increasing the thickness of the fixing block 201 along the Z axis on the manipulator 200, so that the two fixing blocks 201 are in a flush state along the plane of the bottom of the Z axis.

In an alternative embodiment, the number of standard cushion blocks 212 is multiple, the plurality of correcting elements 11 are in one-to-one correspondence with the multiple standard cushion blocks 212, and the correcting elements 11 can respectively abut against the corresponding standard cushion blocks 212. In this embodiment, two correction members 11 are taken as an example, and the correction plate 10 drives the two correction members 11 to move down by a first height until one correction member 11 abuts against the corresponding standard cushion block 212. At this time, the states of the other correcting element 11 and the corresponding standard cushion block 212 are observed. If the joint is not in contact, the joint is adjusted by adding a gasket according to the adjustment mode until the joint is in contact.

In addition, in order to correct the installation position of the fixing block 201 on the manipulator 200 in the XY axis direction, a bolt (not shown) may be specifically used to penetrate the fixing block 201 and fix the fixing block 201 on the manipulator 200, where a hole (not shown) in the fixing block 201 through which the bolt penetrates is larger than an outer diameter of the bolt, so that the fixing block 201 can be adjusted relative to the installation position of the manipulator 200 in the XY axis direction; in order to correct the installation position of the fixing block 201 on the manipulator 200 in the Z-axis direction, the gasket may be specifically increased or decreased between the fixing block 201 and the manipulator 200 or between the fixing block 201 and the corrector plate 10, and the correction of the installation position of the fixing block 201 on the manipulator 200 may be manually performed, which will not be described herein.

To sum up, the correction device claimed in the present application can use a mechanical structure to determine whether the installation position of the fixing block 201 on the manipulator 200 needs correction, which is not only easy to operate, but also has low cost.

The technical features of the above embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

It will be appreciated by persons skilled in the art that the above embodiments have been provided for the purpose of illustrating the utility model and are not to be construed as limiting the utility model, and that suitable modifications and variations of the above embodiments are within the scope of the utility model as claimed.

Claims (10)

1. The correction device is applied to correction of the mounting position of a fixed block (201) on a manipulator (200), wherein the fixed block (201) is used for mounting a suction nozzle module; the correcting device is characterized by comprising a correcting device plate (10) and a standard plate (20), wherein the correcting device plate (10) is detachably arranged on the fixed block (201), and the standard plate (20) is arranged on the moving path of the correcting device plate (10);

the correction device comprises a correction device plate (10), a correction fitting piece (11) is arranged on the correction device plate (10), the correction fitting piece is arranged on the standard plate (20), the correction device (11) can be matched with the correction fitting piece under the driving of the correction device plate (10), and the correction device plate is used as a judgment standard for correcting the installation position of the fixed block (201) on the manipulator (200).

2. The orthotic device according to claim 1, wherein the orthotic fitting piece comprises a deviation orthotic seat (211), the deviation orthotic seat (211) being detachably mounted to the standard plate (20);

one of the correcting piece (11) and the deviation correcting seat (211) is provided with an inserting hole (2111), the other is provided with a protruding inserting rod (111), and the inserting rod (111) can be in inserted fit with the inserting hole (2111) and is used as a judging standard for correcting the installation position of the fixing block (201) in the XY axis direction.

3. The correction device according to claim 2, characterized in that the standard plate (20) is provided with standard holes (22), the deviation correction seat (211) is provided with plug-in parts (2112), the plug-in parts (2112) are matched with the standard holes (22), and the plug-in parts (2112) can be plugged into the corresponding standard holes (22).

4. The correction device according to claim 3, characterized in that the deviation correction seat (211) is formed with a step surface (2113), the step surface (2113) is provided at one axial end of the insertion portion (2112), and the step surface (2113) can be abutted against the standard plate (20) to limit the deviation correction seat (211) to the standard plate (20).

5. The orthosis according to one of claims 1 to 4, characterized in that the orthosis plate (10) is fitted with at least one pair of the corrective elements (11) in a first direction, two of the corrective elements (11) of a pair being spaced apart in a second direction; the first direction, the second direction and the movement direction of the correction tool plate (10) are arranged in an angle mode.

6. The orthotic device according to claim 1, wherein the orthotic fitting piece further comprises a standard spacer (212), the standard spacer (212) being detachably mounted to a side of the standard plate (20) facing the brace plate (10);

the correction tool plate (10) can drive the correction piece (11) to move towards the direction of the standard cushion block (212), so that the correction piece (11) is abutted with the standard cushion block (212), and the correction tool plate is used as a judgment standard for correcting the installation position of the fixed block (201) in the Z-axis direction.

7. The correction device according to claim 6, wherein the number of correction pieces (11) is plural, and the correction pieces (11) are separately provided on both sides of the correction board (10) along a direction perpendicular to a movement direction of the correction pieces (11), and each correction piece (11) is configured to abut against the standard pad (212).

8. The orthotic device according to claim 7, wherein the number of standard blocks (212) is one, the standard blocks (212) being translatable on the standard plate (20) to enable the standard blocks (212) to alternatively abut the orthotic device (11);

or, the number of the standard cushion blocks (212) is multiple, the correction pieces (11) are in one-to-one correspondence with the standard cushion blocks (212), and the correction pieces (11) can be respectively abutted with the corresponding standard cushion blocks (212).

9. The orthotic device of claim 6, further comprising a plurality of shims; the gaskets can be stacked on one side of the correction device plate (10) away from the standard plate (20) and are pressed between the correction device plate (10) and the fixing block (201).

10. The orthotic device according to claim 1, wherein the orthotic member (11) is mounted perpendicularly to the harness plate (10), and wherein the orthotic member (11) is engageable with the corresponding orthotic counterpart along the direction of movement of the harness plate (10).