CN112247958A - Industrial robot calibration mechanism and calibration method - Google Patents
Industrial robot calibration mechanism and calibration method Download PDFInfo
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- CN112247958A CN112247958A CN202010890007.0A CN202010890007A CN112247958A CN 112247958 A CN112247958 A CN 112247958A CN 202010890007 A CN202010890007 A CN 202010890007A CN 112247958 A CN112247958 A CN 112247958A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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Abstract
The invention discloses a calibration mechanism and a calibration method of an industrial robot, and the calibration mechanism comprises a support mechanism, a portal frame and a moving mechanism, wherein the support mechanism comprises a chassis, a fluted disc and a top disc, a first servo motor is arranged at the center of the bottom end face of the chassis, the first servo motor rotatably penetrates through the chassis through a power shaft and is connected with the center of the bottom end face of the fluted disc, the fluted disc is rotatably arranged on the top end face of the chassis, the top disc is rotatably arranged on the top end face of the fluted disc, tooth blocks rotatably meshed with the fluted disc are arranged at the bottom ends of opposite side walls of the portal frame, a first rack is horizontally arranged on the top end face of the portal frame, the moving mechanism comprises a moving seat, and the moving seat is slidably sleeved at the top end. The robot calibration device is convenient for rapid calibration operation, and in the calibration process, the calibration tool and the calibration workpiece can not generate rigid collision, so that the problems of collision, scratch, workpiece damage, robot service life shortening and the like of the calibration tool can not occur, and the calibration accuracy of the robot is improved.
Description
Technical Field
The invention relates to the technical field related to industrial robot calibration, in particular to a calibration mechanism and a calibration method for an industrial robot.
Background
With the wide application of the robot technology in various industries, the requirements of the industry on the repeated positioning precision and the absolute positioning precision of the industrial robot are higher and higher; the traditional industrial robot needs to calibrate a workpiece coordinate system and a tool coordinate system according to use requirements in the use process; the traditional calibration tool is a rigid tool, a calibration piece is directly installed on an industrial robot, the calibration position of the robot is wrong due to misoperation in the calibration process, the calibration tool collides with a calibration workpiece, the problems of collision and scratch of the calibration tool, damage to the workpiece, shortening of the service life of the robot and the like easily occur, and the calibration accuracy of the robot is directly influenced, so that the calibration mechanism and the calibration method of the industrial robot are designed and produced, and the problems are solved.
Disclosure of Invention
The invention aims to provide a calibration mechanism and a calibration method for an industrial robot, which aim to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an industrial robot calibration mechanism, includes supporting mechanism, portal frame and moving mechanism, supporting mechanism is including chassis, fluted disc and overhead kick, the bottom face central point on chassis puts and is equipped with first servo motor, first servo motor passes through the chassis through the power shaft rotation, and puts with the bottom face central point of fluted disc and be connected, the fluted disc rotates the top face that sets up on the chassis, the overhead kick rotates the top face that sets up at the fluted disc, portal frame relative lateral wall bottom all is equipped with rotates the tooth piece of meshing with the fluted disc, the top face level of portal frame is equipped with first rack, moving mechanism is including removing the seat, remove the seat and offer the through hole that runs through the lateral wall about removing the seat, remove the seat and cup joint the top crossbeam position at the portal frame through the through hole slip.
In a further embodiment, a plurality of supporting feet are vertically arranged at the edge position of the bottom end surface of the chassis and are uniformly distributed in an annular shape at intervals.
In a further embodiment, the diameter of the top disc is the same as the diameter of the bottom disc, and the distance between the two symmetrical crests of the toothed disc is 0.8 times the diameter of the top disc.
In a further embodiment, a second servo motor is arranged at the top end of the front end face of the moving seat, a placing cavity is arranged at the top end of an inner cavity of the moving seat, a communicating hole is formed between the bottom end face of the placing cavity and the inner cavity of the through hole, the second servo motor extends to the placing cavity through rotation of a power shaft, a first transmission toothed column located in the inner cavity of the placing cavity is fixedly sleeved on the second servo motor, and the lowest point of the radial side wall of the first transmission toothed column penetrates through the communicating hole and is in rotating engagement with a first rack on the top end face of the portal frame.
In a further embodiment, a placing groove is formed in the center of the bottom end face of the moving seat, a second transmission toothed column is arranged between the side walls of the two sides of the inner cavity of the placing groove in a rotating mode through a pin shaft, the lowest point of the radial side wall of the second transmission toothed column extends to the position below the moving seat, a third servo motor is arranged on the side wall of the moving seat, the third servo motor penetrates through the side wall of the moving seat in a rotating mode through a power shaft and is fixedly connected with the axial side wall of the second transmission toothed column, hinged plates are arranged in the middle sections of the two sides of the bottom end of the moving seat, a large adjusting arm capable of swinging back and forth is hinged between the two hinged plates, the top end of the large adjusting arm is of a spherical structure, and a plurality of matching tooth grooves matched and.
In a further embodiment, the bottom end face of the adjusting large arm is provided with a T-shaped buffer groove in the same body upward, a T-shaped buffer rod is inserted into an inner cavity of the T-shaped buffer groove in a sliding mode, the tip end of the T-shaped buffer rod penetrates through the inner cavity of the T-shaped buffer groove and is connected with a spherical calibration block, and a spring is connected between the T-shaped buffer rod and the inner cavity of the T-shaped buffer groove.
In a further embodiment, the inner chamber of T type dashpot has seted up T type standing groove near the radial lateral wall of open-ended one end, the inner chamber of T type standing groove slides and pegs graft there is T type gag lever post, and the pointed end of T type gag lever post is the taper type structure, the spacing groove has been seted up to the outer wall axial of T type dashpot, and the inner chamber of spacing groove keeps away from open-ended one side lateral wall with the protrusion of body and have the second rack, the pointed end and the second rack matching joint of T type gag lever post, open-ended one side lateral wall is kept away from to the inner chamber of T type standing groove is embedded to have the electro-magnet, the one end that the second rack was kept away from to T type gag lever post is embedded to have the magnet piece, and magnet piece and.
Preferably, the calibration method based on the industrial robot calibration mechanism comprises the following steps:
a1, when in use, the portal frame is rotationally meshed with the fluted disc through the tooth blocks, meanwhile, the tooth blocks on the left side and the right side are rotationally attached between the edge side walls of the chassis and the top disc, the first servo motor is started, and the first servo motor can be used for driving the fluted disc to rotate, so that the portal frame can be driven to rotate around the chassis in a forward or reverse mode;
a2, a moving seat of the moving mechanism is sleeved at the top end beam position of the portal frame in a sliding mode through a through hole, meanwhile, the lowest point of the radial side wall of the first transmission toothed column penetrates through the communicating hole and is meshed with a first rack on the top end face of the portal frame in a rotating mode, the second servo motor is started, and the first transmission toothed column can be driven by the second servo motor to move horizontally in a reciprocating mode along the first rack on the top end face of the portal frame;
a3, by starting a third servo motor, driving the second transmission toothed column to rotate forward and backward by using the third servo motor, namely, the forward and backward rotating second transmission toothed column is in rolling fit with the matching tooth socket of the adjusting large arm, so that forward and backward rotation adjustment of the adjusting large arm around the two hinged plates can be realized;
a4, performing calibration operation on a calibration workpiece on a top disc in an all-dimensional and dead-angle-free manner through forward and reverse rotation of a portal frame, horizontal reciprocating motion adjustment of a moving seat on the top end face of the portal frame and forward and reverse rotation adjustment of an adjusting large arm around two hinged plates;
a5, when the ball-type calibration block contacts the instant of calibrating the work piece, slide along the inner chamber of T type dashpot through T type buffer rod, compress the spring, cushion the impact force of ball-type calibration block contact the instant of calibrating the work piece, make the calibration in-process, calibration tool and calibration work piece can not take place the rigidity collision, then calibration tool collision can not appear, the fish tail, damage the work piece, shorten robot life scheduling problem, later on through the circuit that communicates the electro-magnet, make electro-magnet and magnet piece relative lateral wall magnetic pole the same, and produce the power of repelling each other, can slide T type gag lever post along T type standing groove inner chamber, and with the second rack matching joint of gag lever groove inner chamber, can fix the relative position at T type dashpot inner chamber with T type buffer rod, realize accurate table and decide the operation.
Compared with the prior art, the invention has the beneficial effects that:
1. the robot calibration device is convenient for rapid calibration operation, and in the calibration process, the calibration tool and the calibration workpiece can not generate rigid collision, so that the problems of collision, scratch, workpiece damage, robot service life shortening and the like of the calibration tool can not occur, and the calibration accuracy of the robot is improved.
2. According to the invention, the diameters of the top disc and the bottom disc are set to be the same, and the distance between two symmetrical tooth tops of the fluted disc is set to be 0.8 times of the diameter of the top disc, so that the fluted disc is positioned between the top disc and the bottom disc, and the tooth tops of the fluted disc do not protrude out of the edge side walls of the top disc and the bottom disc, so that the portal frame cannot fall off when the tooth blocks are in rolling engagement with the fluted disc, the portal frame can be rotationally adjusted around the gap between the top disc and the bottom disc, and the adjustment requirement is met.
Drawings
FIG. 1 is an exploded view of the main structure of the present invention;
FIG. 2 is a partial cross-sectional view of the support mechanism of the present invention;
FIG. 3 is an enlarged view of the structure of FIG. 1 at A in accordance with the present invention;
FIG. 4 is a right side view of the moving mechanism of the present invention;
fig. 5 is an enlarged view of the structure at B in fig. 4 according to the present invention.
In the figure: 1. a support mechanism; 11. a chassis; 12. a fluted disc; 13. a top tray; 14. supporting feet; 15. a first servo motor; 2. a gantry; 21. a first rack; 22. a tooth block; 3. a moving mechanism; 31. a movable seat; 32. a second servo motor; 33. a third servo motor; 34. a hinge plate; 35. adjusting the large arm; 36. a T-shaped buffer rod; 37. a limiting groove; 38. a spherical calibration block; 39. placing the cavity; 310. a first drive tooth post; 311. a through hole; 312. a placement groove; 313. a second drive tooth post; 314. matching the tooth grooves; 315. a T-shaped buffer tank; 316. a spring; 317. a second rack; 318. a T-shaped placing groove; 319. an electromagnet; 320. a T-shaped limiting rod; 321. and a magnet block.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
Example one
Referring to fig. 1-5, the present embodiment provides a calibration mechanism and a calibration method for an industrial robot, including a supporting mechanism 1, a gantry 2 and a moving mechanism 3, where the supporting mechanism 1 includes a base plate 11, a fluted disc 12 and a top plate 13, a first servo motor 15 is disposed at a central position of a bottom end surface of the base plate 11, the first servo motor 15 penetrates through the base plate 11 through a power shaft in a rotating manner, the moving mechanism 3 comprises a moving seat 31, the moving seat 31 is provided with a through hole 311 penetrating through the left and right side walls of the moving seat 31, and the moving seat 31 is slidably sleeved at the top end beam position of the portal frame 2 through the through hole 311.
The edge position of the bottom end face of the chassis 11 is vertically provided with a plurality of supporting feet 14 which are uniformly distributed at intervals in a ring shape, and the whole structure is supported by the supporting feet 14.
The top end of the front end face of the movable base 31 is provided with a second servo motor 32, the top end of an inner cavity of the movable base 31 is provided with a placing cavity 39, a communicating hole is formed between the bottom end face of the placing cavity 39 and the inner cavity of the through hole 311, the second servo motor 32 rotates through a power shaft and extends to the placing cavity 39, a first transmission tooth column 310 located in the inner cavity of the placing cavity 39 is fixedly sleeved on the second servo motor, and the lowest point of the radial side wall of the first transmission tooth column 310 penetrates through the communicating hole and is meshed with the first rack 21 on the top end face of the portal frame 2 in a.
The bottom end face center of the moving seat 31 is provided with a placing groove 312, second transmission tooth columns 313 are arranged between the side walls of two sides of an inner cavity of the placing groove 312 in a rotating mode through pin shafts, the lowest points of the radial side walls of the second transmission tooth columns 313 extend to the lower portion of the moving seat 31, the side walls of the moving seat 31 are provided with third servo motors 33, the third servo motors 33 rotate through the side walls of the moving seat 31 through power shafts, and are fixedly connected with the axial side walls of the second transmission tooth columns 313, hinged plates 34 are arranged in the middle positions of two sides of the bottom end of the moving seat 31, a large adjusting arm 35 capable of swinging back and forth is hinged between the two hinged plates 34, the top end of the large adjusting arm 35 is of a spherical structure, and a plurality of matching tooth grooves 314 matched and meshed with the.
Adjust the bottom end face of big arm 35 and upwards seted up T type dashpot 315 with the body, T type dashpot 315 inner chamber slides and pegs graft and has T type buffer pole 36, and the tip of T type buffer pole 36 runs through the inner chamber of T type dashpot 315, and is connected with ball-type calibration piece 38, is connected with spring 316 between the inner chamber of T type buffer pole 36 and T type dashpot 315.
T type standing groove 318 has been seted up to the radial lateral wall of the inner chamber of T type buffer slot 315 near open-ended one end, T type standing groove 318's inner chamber slides and pegs graft and has T type gag lever post 320, and the pointed end of T type gag lever post 320 is the taper type structure, spacing groove 37 has been seted up to T type buffer rod 36's outer wall axial, and the inner chamber of spacing groove 37 is kept away from open-ended one side lateral wall consubstantial protrusion and is had second rack 317, T type gag lever post 320's most advanced and second rack 317 match joint, open-ended one side lateral wall is kept away from to T type standing groove 318's inner chamber is embedded to have electro-magnet 319, the one end that second rack 317 was kept away from to T type gag lever post 320 is embedded to have magnet piece 321, and.
In this embodiment, when the gantry crane is used, the gantry crane 2 is rotationally engaged with the fluted disc 12 through the tooth blocks 22, meanwhile, the tooth blocks 22 on the left side and the right side are rotationally attached to positions between the edge side walls of the base plate 11 and the top plate 13, the first servo motor 15 is started, and the fluted disc 12 can be driven to rotate by the first servo motor 15, so that the gantry crane 2 can be driven to rotate around the base plate 11 in a forward rotation or a reverse rotation manner; the moving seat 31 of the moving mechanism 3 is slidably sleeved at the top end beam position of the portal frame 2 through the through hole 311, meanwhile, the lowest point of the radial side wall of the first transmission toothed column 310 penetrates through the communicating hole and is rotatably meshed with the first rack 21 on the top end face of the portal frame 2, the second servo motor 32 is started, and the second servo motor 32 can be used for driving the first transmission toothed column 310 to horizontally reciprocate and adjust along the first rack 21 on the top end face of the portal frame 2; by starting the third servo motor 33, the third servo motor 33 is utilized to drive the second transmission toothed column 313 to rotate forward and backward, namely, the forward and backward rotating second transmission toothed column 313 can be utilized to be in rolling fit with the matching toothed groove 314 of the large adjusting arm 35, and forward and backward rotation adjustment of the large adjusting arm 35 around the two hinged plates 34 can be realized; the calibration operation of the calibration workpiece on the top disc 13 is realized in an all-dimensional and dead-angle-free manner through the forward and reverse rotation of the portal frame 2, the horizontal reciprocating movement adjustment of the moving seat 31 on the top end surface of the portal frame 2 and the forward and reverse rotation adjustment of the adjusting large arm 35 between the two hinged plates 34; when the ball-type calibration block 38 contacts the calibrated workpiece, the ball-type calibration block 36 slides along the inner cavity of the T-type buffer groove 315, the spring 316 is compressed, and the impact force of the ball-type calibration block 38 contacting the calibrated workpiece is buffered, so that the calibration tool and the calibrated workpiece do not collide rigidly in the calibration process, and the problems of collision and scratch of the calibration tool, damage to the workpiece, shortening of the service life of the robot and the like do not occur.
Example two
Referring to fig. 1-5, a further improvement is made on the basis of embodiment 1:
the diameter of top dish 13 is the same with chassis 11, and the distance between two addendums of the symmetry of fluted disc 12 is 0.8 times of the diameter of top dish 13, make fluted disc 12 be located between top dish 13 and chassis 11 like this, the addendum of fluted disc 12 does not bulge the marginal lateral wall of top dish 13 and chassis 11 simultaneously, when making portal frame 2 utilize tooth piece 22 and fluted disc 12 roll meshing like this, can not drop, make portal frame 2 can adjust around the clearance rotation between top dish 13 and the chassis 11, satisfy the regulation demand.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an industrial robot calibration mechanism, includes supporting mechanism (1), portal frame (2) and moving mechanism (3), its characterized in that: the supporting mechanism (1) comprises a chassis (11), a fluted disc (12) and a top disc (13), a first servo motor (15) is arranged at the center of the bottom end surface of the chassis (11), the first servo motor (15) rotates through the chassis (11) through a power shaft, and is connected with the central position of the bottom end surface of the fluted disc (12), the fluted disc (12) is rotatably arranged on the top end surface of the chassis (11), the top disc (13) is rotatably arranged on the top end surface of the fluted disc (12), the bottom ends of the opposite side walls of the portal frame (2) are respectively provided with a tooth block (22) which is rotatably meshed with the fluted disc (12), a first rack (21) is horizontally arranged on the top end surface of the portal frame (2), the moving mechanism (3) comprises a moving seat (31), the moving seat (31) is provided with through holes (311) penetrating through the left and right side walls of the moving seat (31), the moving seat (31) is slidably sleeved at the top end beam position of the portal frame (2) through the through hole (311).
2. An industrial robot calibration mechanism according to claim 1, characterized in that: the edge position of the bottom end surface of the chassis (11) is vertically provided with a plurality of supporting feet (14) which are uniformly distributed at intervals in a ring shape.
3. An industrial robot calibration mechanism according to claim 1, characterized in that: the diameters of the top disc (13) and the bottom disc (11) are the same, and the distance between two symmetrical tooth tops of the fluted disc (12) is 0.8 times of the diameter of the top disc (13).
4. An industrial robot calibration mechanism according to claim 1, characterized in that: the front end face top of removing seat (31) is equipped with second servo motor (32), the inner chamber top of removing seat (31) is equipped with places cavity (39), and is equipped with the intercommunicating pore between the bottom face of placing cavity (39) and the inner chamber of through hole (311), second servo motor (32) rotate through the power shaft and extend to and place cavity (39), and fixed the first transmission column gear (310) that is located and places cavity (39) inner chamber that has cup jointed, the intercommunicating pore is run through to the radial lateral wall minimum of first transmission column gear (310), and rotates the meshing with first rack (21) of portal frame (2) top end face.
5. An industrial robot calibration mechanism according to claim 4, characterized in that: a placing groove (312) is formed in the center of the bottom end face of the moving seat (31), a second transmission tooth column (313) is rotatably arranged between the side walls of the two sides of the inner cavity of the placing groove (312) through a pin shaft, and the lowest point of the radial side wall of the second transmission tooth column (313) extends to the lower part of the movable seat (31), a third servo motor (33) is arranged on the side wall of the movable seat (31), the third servo motor (33) penetrates through the side wall of the movable seat (31) through the rotation of a power shaft, and is fixedly connected with the axial side wall of the second transmission gear column (313), hinged plates (34) are respectively arranged at the middle sections of the two sides of the bottom end of the moving seat (31), an adjusting large arm (35) capable of swinging back and forth is hinged between the two hinged plates (34), the top end of the adjusting large arm (35) is of a spherical structure, and a plurality of matching tooth sockets (314) which are matched and meshed with the second transmission tooth column (313) are arranged.
6. An industrial robot calibration mechanism according to claim 4, characterized in that: the adjusting device is characterized in that a T-shaped buffer groove (315) is upwards formed in the same body of the bottom end surface of the adjusting large arm (35), a T-shaped buffer rod (36) is inserted into an inner cavity of the T-shaped buffer groove (315) in a sliding mode, the tip end of the T-shaped buffer rod (36) penetrates through the inner cavity of the T-shaped buffer groove (315) and is connected with a spherical calibration block (38), and a spring (316) is connected between the T-shaped buffer rod (36) and the inner cavity of the T-shaped buffer groove (315).
7. An industrial robot calibration mechanism according to claim 6, characterized in that: t type standing groove (318) have been seted up to the radial lateral wall of the inner chamber of T type buffer slot (315) near open-ended one end, the inner chamber of T type standing groove (318) slides and pegs graft and has T type gag lever post (320), and the pointed end of T type gag lever post (320) is the taper type structure, spacing groove (37) have been seted up to the outer wall axial of T type buffer lever (36), and the inner chamber of spacing groove (37) is kept away from open-ended one side lateral wall consubstantial protrusion and has second rack (317), the pointed end and the second rack (317) of T type gag lever post (320) match the joint, the inner chamber of T type standing groove (318) is kept away from open-ended one side lateral wall and is embedded to have electro-magnet (319), the one end that second rack (317) was kept away from to T type gag lever post (320) is embedded to have magnet piece (321), and magnet piece (321) and electro-magnet.
8. A calibration method using an industrial robot calibration mechanism according to claim 1, characterized by comprising the steps of:
a1, when the gantry crane is used, firstly, the gantry crane (2) is rotatably meshed with a fluted disc (12) through tooth blocks (22), meanwhile, the tooth blocks (22) on the left side and the right side are rotatably attached to positions between the edge side walls of a base plate (11) and a top plate (13), a first servo motor (15) is started, and the first servo motor (15) can be used for driving the fluted disc (12) to rotate, so that the gantry crane (2) can be driven to rotate around the base plate (11) in a forward rotation or a reverse rotation manner;
a2, a moving seat (31) of a moving mechanism (3) is slidably sleeved at the top end beam position of a portal frame (2) through a through hole (311), meanwhile, the lowest point of the radial side wall of a first transmission toothed column (310) penetrates through a communication hole and is rotatably meshed with a first rack (21) on the top end face of the portal frame (2), a second servo motor (32) is started, and the second servo motor (32) can be used for driving the first transmission toothed column (310) to horizontally reciprocate and adjust along the first rack (21) on the top end face of the portal frame (2);
a3, by starting the third servo motor (33), the third servo motor (33) is utilized to drive the second transmission toothed column (313) to rotate forward and backward, namely the forward and backward rotating second transmission toothed column (313) is utilized to be in rolling fit with the matching toothed groove (314) of the adjusting large arm (35), and forward and backward rotation adjustment of the adjusting large arm (35) around the two hinged plates (34) can be realized;
a4, performing calibration operation on a calibration workpiece on the top disc (13) in an all-dimensional and dead-angle-free manner through forward and reverse rotation of the portal frame (2), horizontal reciprocating movement adjustment of the moving seat (31) on the top end face of the portal frame (2) and forward and reverse rotation adjustment of the adjusting large arm (35) around the two hinge plates (34);
a5, when the ball-type calibration block (38) contacts the calibration workpiece, the ball-type calibration block (38) slides along the inner cavity of the T-type buffer groove (315) through the T-type buffer rod (36), the spring (316) is compressed, and the impact force of the ball-type calibration block (38) contacting the calibration workpiece at one moment is buffered, so that the calibration tool and the calibration workpiece do not have rigid impact in the calibration process, the problems of collision and scratch of the calibration tool, damage to the workpiece, shortening of the service life of the robot and the like do not occur, then the electromagnet (319) and the magnet block (321) have the same relative side wall magnetic poles through the circuit communicated with the electromagnet (319), and repulsive force is generated, the T-type limiting rod (320) can slide along the inner cavity of the T-type placing groove (318) and is clamped with the second rack (317) in the inner cavity of the limiting groove (37) in a matching manner, and the T-type buffer rod (36) can be fixed at the relative position of the inner, and realizing accurate surface determination operation.
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| CN202010890007.0A CN112247958A (en) | 2020-08-28 | 2020-08-28 | Industrial robot calibration mechanism and calibration method |
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Cited By (3)
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| CN113414526A (en) * | 2021-05-31 | 2021-09-21 | 姚宇龙 | Welding set for electrical engineering |
| CN115847161A (en) * | 2023-02-23 | 2023-03-28 | 广州市锐美汽车零部件有限公司 | Automatic truss system for spline machining of rotating shaft of driving motor |
| CN117245442A (en) * | 2023-11-15 | 2023-12-19 | 廊坊市伊贝格机械有限公司 | Fluted disc indexing method, indexing device, control system, terminal equipment and medium |
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| CN117245442B (en) * | 2023-11-15 | 2024-03-01 | 廊坊市伊贝格机械有限公司 | Fluted disc indexing method, indexing device, control system, terminal equipment and medium |
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