CN202952272U - Zero point calibrating device for welding robot - Google Patents
Zero point calibrating device for welding robot Download PDFInfo
- Publication number
- CN202952272U CN202952272U CN 201220609107 CN201220609107U CN202952272U CN 202952272 U CN202952272 U CN 202952272U CN 201220609107 CN201220609107 CN 201220609107 CN 201220609107 U CN201220609107 U CN 201220609107U CN 202952272 U CN202952272 U CN 202952272U
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- arm
- support
- welding robot
- zero
- dial gauge
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Abstract
The utility model discloses a zero point calibrating device for a welding robot. The zero point calibrating device for the welding robot comprises a first arm (1) and a second arm (2) which are capable of mutually rotating. A V-shaped groove (11) is formed in the first arm (1). When the first arm (1) and the second arm (2) are in an initial state, namely the first arm (1) and the second arm (2) are in a zero point, the groove bottom of the V-shaped groove (11) and a zero point center line (22) of the second arm (2) are collinear. A detecting device (3) used for detecting the minimum point of the V-shaped groove (11) is arranged on the second arm (2). The first arm (1) is slowly moved. The minimum point of the V-shaped groove (11) is found. The position of the minimum point is indicated on a dial indicator (31) arranged on the zero point calibrating and detecting device. The position of the minimum point is a zero point position of a joint. The zero point calibrating device for the welding robot is simple in operation and high in accuracy of calibration.
Description
Technical field
The utility model belongs to the industrial robot field, relates in particular to a kind of Zero calibration device of welding robot.
Background technology
Industrial robot all needs to carry out Zero calibration, and Zero calibration is the necessary condition that guarantees the industrial robot normal operation.Usually industrial robot also has the record at zero point on automatically controlled, programming software, but need electric energy to keep, in case outage or stand-by electric energy consumption and when disappearing, will lose the zero point on automatically controlled, software, finally can cause robot normally not move, even danger can occur.
Conventional method is generally with labelling or adopting the mode of latch to carry out the demarcation of mechanical zero, label and have human factor, simultaneously in use in case come off and again to paste, at this moment also existence and impossible duplicate error for the first time except human factor, the mode that adopts latch is in use dangerous and the operating process difficulty is larger, will be when bolt axle connects mobile robot's joint shaft slowly, only having bolt axle to insert just calculation demarcation fully completes, so difficulty is very large, inconvenient operation.
The utility model content
Reach greatly the large defective of operation easier for conventional machines people Zero calibration device error, technical problem to be solved in the utility model is to provide a kind of Zero calibration device of simple to operate, welding robot that accuracy is high.
In order to solve the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of Zero calibration device of welding robot, comprise the first arm and second arm that can mutually rotate, described the first arm is provided with the V-type groove, be in original state at the first arm and the second arm, when namely the first arm and the second arm are in zero-bit, the center zero line conllinear on the bottom land of described V-type groove and the second arm, described the second arm is provided with the checkout gear for detection of V-type groove minimum point.
Described checkout gear comprises support and dial gauge, and described dial gauge is packed in support, and the gauge outfit of dial gauge can be slided in the through hole of support, and described support is contained on the second arm, the center zero line conllinear on the end points of the gauge outfit of described dial gauge and described the second arm.
The gauge outfit of described dial gauge is connected with support by nut, be provided with the gage outfit that can slide in described support in the through hole of support, the first end of described measurement stretches out support, and the other end is connected with the gauge outfit of dial gauge, the center zero line conllinear on the end points of described gage outfit and described the second arm.
Described the second arm is provided with the mount pad for installation detecting device, the installing hole center of described mount pad and the center zero line conllinear on the second arm.
The utility model has the advantage of, adopt the structure of V-type groove, do not need as bolt axle require bolt axle and pin-and-hole the same as pin-and-hole fully adaptive during zero point in calibration, only need to find the minimum point of V-type groove to get final product, V-type groove and gage outfit are not needed suitable required precision fully, processing and simple to operate, the accuracy of demarcation is high.
Description of drawings
Fig. 1 is the structural representation of the Zero calibration device of a kind of welding robot of the utility model;
Fig. 2 is the structural representation of the second arm of the Zero calibration device of Fig. 1 welding robot;
Fig. 3 is the structural representation of the first arm of the Zero calibration device of Fig. 1 welding robot;
Fig. 4 is the right view of the Zero calibration device of Fig. 1 welding robot;
Fig. 5 is the structural representation of checkout gear of the Zero calibration device of Fig. 1 welding robot;
Fig. 6 is the working state schematic representation of checkout gear of the Zero calibration device of Fig. 1 welding robot;
Fig. 7 is the working state schematic representation of checkout gear of the Zero calibration device of Fig. 1 welding robot;
Mark in above-mentioned figure is: 1, the first arm, 11, the V-type groove, the 2, second arm, 21, mount pad, 22, the center zero line, 3, checkout gear, 31, dial gauge, 32, nut, 33, support, 34, gage outfit.
The specific embodiment
Fig. 1 and Fig. 4 are the structural representation of the Zero calibration device of a kind of welding robot of the utility model, comprise the first arm 1 and second arm 2 that can mutually rotate, the first arm 1 is provided with V-type groove 11, be in original state at the first arm 1 and the second arm 2, when namely the first arm 1 and the second arm 2 are in zero-bit, center zero line 22 conllinear on the bottom land of V-type groove 11 and the second arm 2, the second arm 2 is provided with the checkout gear 3 for detection of V-type groove 11 minimum points.Center zero line 22 is the straight lines on the second arm 2, be in original state at the first arm 1 and the second arm 2, when namely the first arm 1 and the second arm 2 are in zero-bit, by the center of rotation of the first arm 1 and the second arm 2 and the straight line that connects and composes zero point, this center zero line 22 and the first arm 1 and the second arm 2 intersect.
Fig. 2 is the structural representation of the second arm 2 of the Zero calibration device of welding robot, and the second arm 2 is provided with the mount pad 21 for installation detecting device 3, center zero line 22 conllinear on the installing hole center of mount pad 21 and the second arm 2.
Fig. 3 is the structural representation of the first arm 1 of the Zero calibration device of welding robot, the first arm 1 is provided with V-type groove 11, be in original state at the first arm 1 and the second arm 2, when namely the first arm 1 and the second arm 2 are in zero-bit, center zero line 22 conllinear on the bottom land of V-type groove 11 and the second arm 2.Be same axis the zero point the when bottom land of V-type groove 11 and Element Design, utilizes to add to guarantee precision man-hour, to avoid occurring human factor.
Fig. 5 is the structural representation of checkout gear 3 of the Zero calibration device of welding robot, checkout gear 3 comprises support 33 and dial gauge 31, dial gauge 31 is packed in support 33, the gauge outfit of dial gauge 31 can be slided in the through hole of support 33, support 33 is contained on the second arm 2, center zero line 22 conllinear on the end points of the gauge outfit of dial gauge 31 and the second arm 2.The gauge outfit of dial gauge 31 is connected with support 33 by nut 32, be provided with the gage outfit 34 that can slide in support 33 in the through hole of support 33, gage outfit 34 1 ends stretch out support 33, and the other end is connected with the gauge outfit of dial gauge 31, center zero line 22 conllinear on the end points of gage outfit 34 and the second arm 2.Gage outfit 34 is contained in support 33, dial gauge 31 use nuts 32 are tightened in support 33, the gauge outfit of dial gauge 31 contacts with gage outfit 34, utilize the function of dial gauge 31 inside to make gage outfit 34 be in all the time elongation state, be that gage outfit 34 is exactly the lengthening effect of dial gauge 31 gauge outfits, gage outfit 34 can be free to slide in support 33 simultaneously.
Fig. 6 and Fig. 7 are the working state schematic representation of checkout gear of the Zero calibration device of welding robot, more than the Zero calibration measurement mechanism that assembles is fixed on the part of relative motion, pass through electric-control system, slowly rotate relative motion the first arm 1, with the V-type groove 11 on gage outfit 34 aligning first arms 1 of Zero calibration measurement mechanism, again by the slow motion of electric-control system the first arm 1, by first arm 1 that repeatedly moves around, find the minimum point of V-type groove 11, measuring at Zero calibration the position that dial gauge 31 on assembling device indicates minimum point is exactly the dead-center position in this joint.
After adopting such structure, adopt the structure of V-type groove 11, do not need as bolt axle require bolt axle and pin-and-hole the same as pin-and-hole fully adaptive during zero point in calibration, only need to find the minimum point of V-type groove 11 to get final product, V-type groove 11 and gage outfit 34 are not needed suitable required precision fully, processing and simple to operate, the accuracy of demarcation is high.
The above is exemplarily described the utility model by reference to the accompanying drawings; obviously the utility model specific implementation is not subject to the restrictions described above; as long as adopted the improvement of the various unsubstantialities that method of the present utility model design and technical scheme carry out; or without improving, design of the present utility model and technical scheme are directly applied to other occasion, all within protection domain of the present utility model.
Claims (4)
1. the Zero calibration device of a welding robot, comprise the first arm (1) and second arm (2) that can mutually rotate, it is characterized in that, described the first arm (1) is provided with V-type groove (11), be in original state at the first arm (1) and the second arm (2), namely the first arm (1) and the second arm (2) are when being in zero-bit, center zero line (22) conllinear on the bottom land of described V-type groove (11) and the second arm (2), described the second arm (2) is provided with the checkout gear (3) for detection of V-type groove (11) minimum point.
2. the Zero calibration device of welding robot as claimed in claim 1, it is characterized in that, described checkout gear (3) comprises support (33) and dial gauge (31), described dial gauge (31) is packed in support (33), the gauge outfit of dial gauge (31) can be slided in the through hole of support (33), described support (33) is contained on the second arm (2), center zero line (22) conllinear on the end points of the gauge outfit of described dial gauge (31) and described the second arm (2).
3. the Zero calibration device of welding robot as claimed in claim 2, it is characterized in that, the gauge outfit of described dial gauge (31) is connected with support (33) by nut (32), be provided with the gage outfit (34) that can slide in described support (33) in the through hole of support (33), described gage outfit (34) one ends stretch out support (33), the other end is connected with the gauge outfit of dial gauge (31), center zero line (22) conllinear on the end points of described gage outfit (34) and described the second arm (2).
4. the Zero calibration device of welding robot as claimed in claim 3, it is characterized in that, described the second arm (2) is provided with the mount pad (21) for installation detecting device (3), center zero line (22) conllinear on the installing hole center of described mount pad (21) and the second arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220609107 CN202952272U (en) | 2012-11-19 | 2012-11-19 | Zero point calibrating device for welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220609107 CN202952272U (en) | 2012-11-19 | 2012-11-19 | Zero point calibrating device for welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202952272U true CN202952272U (en) | 2013-05-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220609107 Expired - Lifetime CN202952272U (en) | 2012-11-19 | 2012-11-19 | Zero point calibrating device for welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202952272U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975208A (en) * | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
| CN106017264A (en) * | 2016-08-03 | 2016-10-12 | 安徽巨自动化装备有限公司 | Robot self-calibration method for light car body production line |
| CN107322599A (en) * | 2017-07-24 | 2017-11-07 | 国机智能技术研究院有限公司 | A kind of method, storage device and the control device of robot Zero calibration |
| WO2020024164A1 (en) * | 2018-08-01 | 2020-02-06 | 深圳配天智能技术研究院有限公司 | Calibration piece, calibration assembly and calibration system for automatic welding apparatus |
| CN112296997A (en) * | 2019-07-31 | 2021-02-02 | 上海微电子装备（集团）股份有限公司 | Method, device and equipment for calibrating manipulator handover station and storage medium |
-
2012
- 2012-11-19 CN CN 201220609107 patent/CN202952272U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975208A (en) * | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
| CN106017264A (en) * | 2016-08-03 | 2016-10-12 | 安徽巨自动化装备有限公司 | Robot self-calibration method for light car body production line |
| CN106017264B (en) * | 2016-08-03 | 2018-12-11 | 安徽巨一自动化装备有限公司 | A kind of robot self-calibrating method for lightweight body production-line |
| CN107322599A (en) * | 2017-07-24 | 2017-11-07 | 国机智能技术研究院有限公司 | A kind of method, storage device and the control device of robot Zero calibration |
| WO2020024164A1 (en) * | 2018-08-01 | 2020-02-06 | 深圳配天智能技术研究院有限公司 | Calibration piece, calibration assembly and calibration system for automatic welding apparatus |
| CN111683787A (en) * | 2018-08-01 | 2020-09-18 | 深圳配天智能技术研究院有限公司 | Automatic welding set, calibration subassembly and calibration system of welding set |
| CN112296997A (en) * | 2019-07-31 | 2021-02-02 | 上海微电子装备（集团）股份有限公司 | Method, device and equipment for calibrating manipulator handover station and storage medium |
| CN112296997B (en) * | 2019-07-31 | 2022-01-14 | 上海微电子装备（集团）股份有限公司 | Method, device and equipment for calibrating manipulator handover station and storage medium |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 241008 Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Patentee after: EFORT INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 241008 Anhui city of Wuhu province Jiujiang District Road No. 8 leap Patentee before: EFORT INTELLIGENT EQUIPMENT Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130529 |