CN218837830U

CN218837830U - Manipulator calibration frock

Info

Publication number: CN218837830U
Application number: CN202223315578.5U
Authority: CN
Inventors: 左洁勇; 安明韬; 崔志文; 任开友; 毛永军; 郭建平
Original assignee: Baotou Shengtai Auto Parts Manufacturing Co ltd
Current assignee: Baotou Shengtai Auto Parts Manufacturing Co ltd
Priority date: 2022-12-09
Filing date: 2022-12-09
Publication date: 2023-04-11
Anticipated expiration: 2032-12-09

Abstract

The utility model provides a manipulator calibration frock belongs to wheel hub and rectifies technical field, and this calibration frock includes fixed baseplate calibration frock structure and triangle horizontal calibration frock structure. The one side of base has the arch, and first centre bore has been seted up to the base, and the one side of footstock is seted up flutedly, and the footstock has been seted up second centre bore, first screw hole and through-hole, and a plurality of first screw holes and a plurality of through-hole all even use the second centre bore to set up in the footstock as centre of a circle circumference, and first apical bottom has been seted up the second screw hole, and the top is the cone angle. The three correction holes are respectively arranged at three top points of the triangular base, the second tops are three, the three second tops are arranged in the three correction holes, the bottom ends of the second tops are provided with third threaded holes, and the top ends are cone angles. Through the setting of this structure, solved current transfer machine manipulator and had not had regular coordinate system calibration frock, can appear the deviation at removal or rotatory in-process, caused the problem that the product lacks.

Description

Manipulator calibration frock

Technical Field

The utility model relates to a wheel hub rectifies technical field, particularly, relates to a manipulator calibration frock.

Background

With the civilization of vehicles, vehicle accessories are also increasingly demanded by the public. In the production process of the wheel, the product quality is required to be met, and the production efficiency is required to be improved. Therefore, with the acceleration of the technological innovation pace, the automation level is continuously mentioned, and the machining automation production in the hub industry becomes the mainstream. The manipulator is adopted for clamping and loading and unloading, particularly in the process of a center machine, after the position of a special valve hole is found through finding a spoke window corresponding to the valve hole of a hub to be machined, the specific position clamping is realized on a machining platform, then the machining platform rotates according to the machine vision requirement, the drilling is completed, so far, the whole process of hub machining is completed, the process has strict requirements on the precision of the manipulator of an automatic line and the accuracy of a coordinate system, therefore, a tool needs to be designed for periodically calibrating the coordinate system of the manipulator, and the phenomenon that deviation occurs in the moving or rotating process and product defects are avoided.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model provides a manipulator calibration frock aims at solving current transfer machine manipulator and does not have regular coordinate system calibration frock, can appear the deviation at removal or rotatory in-process, causes the problem that the product lacks.

The embodiment of the utility model provides a manipulator calibration frock, including fixed baseplate calibration frock structure and triangle horizontal calibration frock structure.

Wherein, the fixed baseplate calibration tool structure includes fixed baseplate and first top, the fixed baseplate divide into base and footstock, the one side of base has the arch, first centre bore has been seted up to the base, the one side of footstock is seted up flutedly, the second centre bore has been seted up to the footstock, first screw hole and through-hole, first screw hole has been seted up a plurality ofly, the through-hole has been seted up a plurality ofly, a plurality of first screw holes and a plurality of through-hole all even use the second centre bore to set up in the footstock as centre of a circle circumference, the second screw hole has been seted up to first top bottom, the top is the cone angle.

The triangular horizontal calibration tool structure comprises a triangular base and a second top, a third threaded hole and a correction hole are formed in the triangular base, the third threaded hole is formed in multiple parts, the correction hole is formed in three parts, the three correction holes are formed in three top points of the triangular base respectively, the second top has three parts, the three second top is arranged in the three correction holes, the fourth threaded hole is formed in the bottom end of the second top, and the top end is a taper angle.

In this embodiment, cooperate fixed baseplate's base and footstock, hug closely fixed baseplate's base on the installation face of appearance wheel, adopt the bolt to run through first screw hole, be fixed in fixed baseplate on the installation face of appearance wheel for fixed baseplate can not appear removing or the phenomenon of rocking, guarantees that the calibration piece is adjusted well with fixed baseplate base's centre bore, sets up first top bottom in second centre bore and first centre bore.

Placing triangle frock level in horizontal plane department and fixed, pressing from both sides the appearance wheel that has fixed baseplate calibration frock with the manipulator clamp, the manual manipulator that removes makes the top position of two frocks intersect, and 3 repetitions, the different coordinate points of record can be accomplished, remove manipulator to the frock directly over at last, through rotatory manipulator joint, observe about two top whether coincide, the deviation is more accurate more for less.

The utility model discloses an in an embodiment, recess and arch can cooperate the setting.

In this embodiment, recess and arch can cooperate the setting for base and footstock can cooperate, make things convenient for the fixed baseplate to install with appearance wheel.

The utility model discloses an in the embodiment, first centre bore can communicate with each other with the second centre bore.

In this embodiment, the first center hole and the second center hole can be communicated with each other, so that the bottom end of the first center point can penetrate through the first center hole and the second center hole to stabilize the first center point, and the first center point is prevented from shaking.

The utility model discloses an in the embodiment, first top length is higher than the rim degree of depth that uses the appearance wheel, and the top is 53 cone angles.

In this embodiment, the length of the first center is higher than the rim depth of the sample wheel, and the top end is a 53-degree taper angle, so that when the first center is used for calibration, the sample wheel does not touch the top end of the second center, and the sample wheel is prevented from being damaged.

In one embodiment of the present invention, the top end of the second tip is a 53 ° cone angle.

In the embodiment, the top end of the second center has a cone angle of 53 degrees, which is the same as the cone angle of the first center, so that the accuracy in calibration can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is an exploded schematic view of a robot calibration tool according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a robot calibration tool according to an embodiment of the present invention;

fig. 3 is a top view of a robot calibration tool provided by the embodiment of the present invention.

Icon: 10-a manipulator calibration tool; 100-fixing a base calibration tool structure; 110-a stationary base; 111-a base; 1111-bumps; 1113-a first central aperture; 113-a top seat; 1131-grooves; 1133 — second center hole; 1135 — first threaded hole; 1137-through holes; 130-a first point; 131-a second threaded hole; 300-triangular horizontal calibration tooling structure; 310-triangular base; 311-a third threaded hole; 313-a correction hole; 330-second apex; 331-fourth threaded hole.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and for simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

Referring to fig. 1, the present invention provides a robot calibration tool 10, which includes a fixed base calibration tool structure 100 and a triangular horizontal calibration tool structure 300.

Referring to fig. 1 and 2, the fixed base calibration tool structure 100 includes a fixed base 110 and a first tip 130, the fixed base 110 is divided into a base 111 and a top seat 113, one surface of the base 111 has a protrusion 1111, the base 111 has a first center hole 1113, one surface of the top seat 113 has a groove 1131, the top seat 113 has a second center hole 1133, a plurality of first screw holes 1135 and through holes 1137, the first screw holes 1135 have a plurality of through holes 1137, the plurality of first screw holes 1135 and the plurality of through holes 1137 are all uniform and circumferentially opened in the top seat 113 by using the second center hole 1133 as a circle center, the bottom end of the first tip 130 has a second screw hole 131, and the top end is a taper angle.

In this embodiment, a specific implementation manner is to match the base 111 of the fixing base 110 with the top seat 113, tightly attach the base 111 of the fixing base 110 to the installation surface of the sample wheel, use a bolt to penetrate through the first threaded hole 1135, fix the fixing base 110 on the installation surface of the sample wheel, so that the fixing base 110 cannot move or shake, ensure that the calibration piece is aligned with the center hole of the base of the fixing base 110, and set the bottom end of the first top tip 130 in the second center hole 1133 and the first center hole 1113.

Specifically, referring to fig. 1 and fig. 2, the groove 1131 and the protrusion 1111 can be disposed in a matching manner, so that the base 111 and the top base 113 can be matched, and the fixing base 110 and the sample wheel can be conveniently mounted.

Specifically, referring to fig. 1 and 2, the first center hole 1113 and the second center hole 1133 can communicate with each other, so that the bottom end of the first center point 130 can penetrate through the first center hole 1113 and the second center hole 1133, and the first center point 130 is stabilized, so that the first center point 130 does not shake.

Specifically, referring to fig. 1 and 2, the length of the first tip 130 is greater than the rim depth of the sample wheel, and the top end of the first tip 130 has a cone angle of 53 °, so that the sample wheel does not touch the top end of the second tip 330 during calibration of the first tip 130, thereby preventing damage to the sample wheel.

Referring to fig. 1 and 3, the triangular horizontal calibration tool structure 300 includes a triangular base 310 and a second apex 330, the triangular base 310 has a plurality of third threaded holes 311 and three calibration holes 313, the third threaded holes 311 are provided, the three calibration holes 313 are respectively provided at three vertex positions of the triangular base 310, the second apex 330 has three, the three second apex 330 is provided in the three calibration holes 313, the bottom end of the second apex 330 is provided with a fourth threaded hole 331, and the top end is a taper angle.

In this embodiment, a specific implementation manner is that a triangular tool is horizontally placed at a horizontal plane and fixed, a sample wheel with a fixed base 110 for calibrating the tool is clamped by a manipulator clamp, the manipulator is manually moved to enable the tip positions of two tools to be intersected, the process is repeated for 3 times, recording of different coordinate points can be completed, the manipulator is moved right above the tool, whether the upper tip and the lower tip coincide or not is observed by rotating a manipulator joint, and the smaller the deviation is, the more accurate the deviation is.

Specifically, referring to fig. 1 and 3, the top end of the second tip 330 has a cone angle of 53 °, which is the same as the cone angle of the first tip 130, so that the accuracy of the calibration can be improved.

The embodiment of the utility model provides a pair of manipulator calibration frock 10's theory of operation does: the base 111 of the fixing base 110 is matched with the top seat 113, the base 111 of the fixing base 110 is tightly attached to the installation surface of the sample wheel, a bolt penetrates through the first threaded hole 1135, the fixing base 110 is fixed on the installation surface of the sample wheel, the fixing base 110 cannot move or shake, the center hole of the base of the fixing base 110 is aligned with the calibration piece, and the bottom end of the first top 130 is arranged in the second center hole 1133 and the first center hole 1113.

Placing triangle frock level in horizontal plane department and fixed, pressing from both sides the appearance wheel that has fixed baseplate 110 calibration frock with the manipulator clamp, the manual manipulator that removes makes the top position of two frocks intersect, and 3 repetitions, record different coordinate points and can accomplish, remove the manipulator to the frock directly over at last, through rotatory manipulator joint, observe about two top whether coincide, the deviation is more accurate more. Through the arrangement of the structure, the problem that the existing automatic line manipulator does not have a regular coordinate system calibration tool, and the deviation can occur in the moving or rotating process, so that the product is lack is solved.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator calibration tool is characterized by comprising

The fixed base calibration tool structure comprises a fixed base and a first tip, the fixed base is divided into a base and a top seat, one surface of the base is provided with a bulge, the base is provided with a first central hole, one surface of the top seat is provided with a groove, the top seat is provided with a second central hole, a first threaded hole and a plurality of through holes, the first threaded holes are provided with a plurality of through holes, the first threaded holes and the through holes are uniformly circumferentially arranged on the top seat by taking the second central hole as a circle center, the bottom end of the first tip is provided with a second threaded hole, and the top end of the first tip is a taper angle;

the triangular horizontal calibration tool structure comprises a triangular base and a second tip, wherein the triangular base is provided with a plurality of third threaded holes and correction holes, the correction holes are three, the three correction holes are respectively arranged at three top points of the triangular base, the second tip is three, the second tip is arranged in the three correction holes, the bottom end of the second tip is provided with a fourth threaded hole, and the top end of the second tip is a cone angle.

2. The manipulator calibration tool according to claim 1, wherein the groove and the protrusion can be arranged in a matching manner.

3. The manipulator calibration tool of claim 1, wherein the first central hole and the second central hole are capable of communicating.

4. The manipulator calibration tool of claim 1, wherein the first apex has a length greater than the rim depth of the sample wheel in use and a tip with a 53 ° taper angle.

5. The manipulator calibration tool of claim 1, wherein the top end of the second center has a 53 ° taper angle.