Mechanical arm translation position calibration mechanism and mechanical arm

Abstract

The invention discloses a manipulator translation position calibration mechanism and a manipulator, and the manipulator translation position calibration mechanism comprises a motor, an output shaft and a gear, and further comprises a hydraulic box, a lug box and an air cylinder. After the motor drives the sliding block to move to a certain position, the buffer rod and the hydraulic push rod make contact with each other and extrude each other, the hydraulic push rod enables the spring to be stressed and deformed through the hydraulic push plate, the spring generates counter-acting force, and therefore buffering is conducted; the buffer rod cannot make contact with the hydraulic push rod any more, buffer speed reduction can be conducted when the mechanical arm moves to the designated position and stops moving, excessive movement is avoided, accurate calibration of the translation movement position of the mechanical arm can be achieved, and the problem that the movement position cannot be guaranteed due to excessive movement caused by inertia is solved.

Description

Technical Field

[0001] The invention relates to a translation position calibration mechanism, in particular to a translation position calibration mechanism suitable for calibrating the translation position of a manipulator and a manipulator comprising the translation position calibration mechanism, belonging to the technical field of manipulators. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected operations. The manipulator combines the advantages of both human and mechanical machines in terms of structure and performance. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] Degree of freedom is a key parameter in the design of manipulators. The more degrees of freedom, the greater the flexibility, versatility and structure of the manipulator. Special manipulators generally have 2 to 3 degrees of freedom. For manipulators used for material clamping, the translation movement usually adopts an electric slide rail structure. On the one hand, the electric slide rail has the problem of unstable operating power due to voltage problems. On the other hand, when the manipulator stops moving, it often has the problem of excessive movement due to poor deceleration effect. Especially for heavy manipulators that clamp heavier materials, the excessive movement caused by inertia often makes the moving position unable to be guaranteed, which leads to deviations in the position movement accuracy. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a manipulator translation position calibration mechanism and a manipulator, which can achieve accurate calibration of the translation position of the manipulator and avoid the problem that the movement position cannot be guaranteed due to excessive movement caused by inertia.

[0005] To achieve the above purpose, the manipulator translation position calibration mechanism includes a motor, an output shaft and a gear. The motor is fixedly connected to the slider, one end of the output shaft is coaxially fixedly connected to the power output end of the motor, and the other end of the output shaft is coaxially fixedly connected to the gear. The gear is meshed and connected with a rack fixedly installed on the electric slide rail.

[0006] The manipulator translation position calibration mechanism also includes a fixedly arranged hydraulic box, an ear box and a cylinder;

[0007] A hydraulic push plate is provided in the hydraulic box for sliding cooperation. The hydraulic push plate divides the inner cavity of the hydraulic box into an air cavity and a hydraulic cavity. A hydraulic push rod extending to the outside of the hydraulic box is fixedly provided on one side of the hydraulic push plate corresponding to the air cavity of the hydraulic box, and the axial direction of the hydraulic push rod corresponds to the position of the buffer rod. A spring is provided on the other side of the hydraulic push plate corresponding to the hydraulic cavity of the hydraulic box, and the two ends of the spring respectively abut against the hydraulic push plate and the inner wall of the hydraulic box; a plurality of buffer rods are evenly distributed and fixed on the output shaft along its circumferential direction, and the buffer rods are extended along the radial direction of the output shaft;

[0008] The ear box is arranged outside the hydraulic box on one side away from the output shaft, and a slide plate is slidably provided in the ear box, the slide plate separates the inner cavity of the ear box into an air cavity and a hydraulic cavity, and a through hole is opened in the middle of the slide plate;

[0009] The cylinder is arranged at a position corresponding to the ear box, and a hollow tube is coaxially fixedly connected to the output end of the cylinder. One end of the hollow tube penetrates into the air cavity of the ear box and is coaxially and tightly fixedly connected to the through hole of the slide plate. A through hole is arranged at a position corresponding to the hollow tube on the hydraulic box.

[0010] As a further improvement of the present invention, the manipulator translation position calibration mechanism further includes an air box and a chamber fixedly arranged above the hydraulic box;

[0011] An undulating plate is slidably provided on the inner wall of the chamber, and the undulating plate divides the inner cavity of the chamber into an upper cavity and a lower cavity. An undulating rod extending to the outside of the chamber is fixedly provided on one side of the undulating plate corresponding to the lower cavity of the chamber, and the axial direction of the undulating rod corresponds to the position of the buffer rod.

[0012] The air chamber of the air box is connected with the air chamber of the hydraulic box through pipe one, and a one-way valve one is arranged in pipe one. The air chamber of the hydraulic box is also connected with the outside through pipe two, and a one-way valve two is arranged in pipe two. The air box is connected with the upper chamber of the chamber through pipe three, and an electric control valve is arranged in pipe three. The upper chamber of the chamber is also connected with the external control valve pipe.

[0013] As a further improvement of the present invention, a sliding block is provided in the hollow tube for sliding cooperation, and the sliding block divides the inner cavity of the hollow tube into an open cavity and a closed cavity. A connecting rod extending to the outside of the hollow tube is coaxially fixed on one side of the sliding block corresponding to the open cavity of the hollow tube, and a plug that cooperates with the gap of the through hole is fixed at the rod end of the connecting rod. The closed cavity of the hollow tube is connected with the lower cavity of the chamber through pipe four.

[0014] As a further improvement of the present invention, a power identification module is provided inside the motor, a power control module is provided inside the cylinder, the power identification module is electrically connected to the power control module, the power identification module is used to identify the operating power of the motor in real time, and the power control module is used to control the operating power of the cylinder according to the operating power of the motor;

[0015] The power control module operates as follows:

[0016]

[0017] Where: F is the operating power of the cylinder; F max is the maximum operating power of the cylinder; Q is the real-time operating power of the motor; Q max is the maximum operating power of the motor.

[0018] As a further improvement of the present invention, the rod ends of the buffer rod and the hydraulic push rod are both spherical structures.

[0019] As a further improvement of the present invention, the rod end of the heaving rod is a spherical structure.

[0020] As a further improvement of the present invention, a plurality of springs are evenly distributed relative to the hydraulic push plate.

[0021] A manipulator comprises an electric slide rail, a slider, a manipulator arm and a clamp. The slider is slidably mounted on the electric slide rail, the bottom end of the manipulator arm is fixedly mounted on the slider, the clamp is mounted and connected to the top end of the manipulator arm, a hollow structure is provided inside the slider, and a manipulator translation position calibration mechanism is provided in the hollow structure.

[0022] Compared with the prior art, the translation position calibration mechanism of the manipulator can stop in time after the slider moves to the specified position through the operation of the motor and the gear, thereby playing the role of preliminary position calibration, and after the motor drives the slider to move to a certain position, the buffer rod and the hydraulic push rod contact and squeeze each other, and the hydraulic push rod causes the spring to be deformed by the force through the hydraulic push plate, and the spring generates a reaction force, thereby performing buffering. When the motor continues to run, the cylinder resets, thereby resetting the hydraulic push rod, and the buffer rod can no longer contact the hydraulic push rod, and buffering and deceleration can be performed when the mechanical arm stops moving after moving to the specified position to avoid excessive movement, thereby further calibrating the position. The positioning movement accuracy is high; at the same time, when the mechanical arm stops moving, the ups and downs rod moves downward until it contacts the buffer rod and squeezes it through the hydraulic push rod, so as to fully calibrate the position, and the moving position accuracy of the mechanical arm is higher, and when the ups and downs rod squeezes the hydraulic push rod, since the plug is inserted into the through hole, after the hydraulic push rod is forced in the direction away from the output shaft, the liquid cannot flow back and forth quickly through the through hole, thereby providing a certain supporting force, which can prevent the ups and downs rod from pressing the hydraulic push rod, so that the calibration work can be carried out smoothly, and since there is a gap between the plug and the through hole, the hydraulic push rod can also move slightly away from the output shaft after being forced, thereby ensuring the normal operation of the deceleration buffer work. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the manipulator of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the installation of the electric slide rail and the slider of the manipulator of the present invention;

[0025] Figure 3 It is a schematic diagram of the internal three-dimensional structure of the slider of the manipulator of the present invention;

[0026] Figure 4 It is a schematic diagram of the internal structure of the hydraulic box, the ear box and the chamber of the present invention and the pipe connection method between the three;

[0027] Figure 5 It is a structural schematic diagram of the installation position of the buffer rod of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure inside the hollow tube of the present invention.

[0029] In the figure: 1. electric slide rail; 2. slider; 21. motor; 22. output shaft; 221. buffer rod; 23. gear; 24. hydraulic box; 241. hydraulic push plate; 242. hydraulic push rod; 25. ear box; 251. slide plate; 26. cylinder; 261. hollow tube; 262. sliding block; 263. connecting rod; 264. plug; 27. air box; 28. chamber; 281. ups and downs plate; 282. ups and downs rod; 29. ​​through hole; 3. mechanical arm; 4. fixture. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] like Figure 1 As shown, the manipulator includes an electric slide rail 1, a slider 2, a robot arm 3 and a clamp 4. The slider 2 is slidably mounted on the electric slide rail 1, the bottom end of the robot arm 3 is fixedly mounted on the slider 2, the clamp 4 is installed and connected to the top end of the robot arm 3, and a hollow structure is provided inside the slider 2, and a translation position calibration mechanism is provided in the hollow structure.

[0032] like Figure 2 , Figure 3 As shown, the translation position calibration mechanism includes a motor 21, an output shaft 22 and a gear 23. The motor 21 is fixedly connected to the slider 2. One end of the output shaft 22 is coaxially fixedly connected to the power output end of the motor 21. The other end of the output shaft 22 extends to the outside of the slider 2 and is coaxially fixedly connected to the gear 23. The gear 23 is meshed and connected with a rack fixedly installed on the electric slide 1. During the translation of the manipulator, the motor 21 runs, and the output shaft 22 drives the gear 23 to rotate. The gear 23 meshes with the rack on the electric slide 1, so that the slider 2 moves. Through the operation of the motor 21 and the gear 23, the slider 2 can stop in time after moving to the specified position, thereby playing a role in preliminary position calibration.

[0033] like Figure 3 , Figure 4 As shown, the translation position calibration mechanism also includes a hydraulic box 24 fixedly arranged in the hollow structure of the slider 2 and a plurality of buffer rods 221 evenly distributed and fixedly arranged on the output shaft 22 along the circumferential direction of the output shaft 22; a hydraulic push plate 241 is slidably provided in the hydraulic box 24, and the hydraulic push plate 241 divides the inner cavity of the hydraulic box 24 into an air cavity and a hydraulic cavity, and a hydraulic push rod 242 extending to the outside of the hydraulic box 24 is fixedly provided on one side of the hydraulic push plate 241 corresponding to the air cavity of the hydraulic box 24, and the axial direction of the hydraulic push rod 242 corresponds to the position setting of the buffer rod 221, and a spring is provided on the other side of the hydraulic push plate 241 corresponding to the hydraulic cavity of the hydraulic box 24, and the two ends of the spring are respectively pressed against the hydraulic push plate 241 and the inner wall of the hydraulic box 24, in order to avoid the hydraulic push plate 241 from being overloaded, the spring can be evenly arranged in plurality relative to the hydraulic push plate 241; as shown Figure 5 As shown, the buffer rod 221 is extended in the radial direction of the output shaft 22. After the output shaft 22 rotates, the buffer rod 221 and the hydraulic push rod 242 contact each other, and the rod ends of the buffer rod 221 and the hydraulic push rod 242 can both be spherical structures.

[0034] An ear box 25 is fixedly provided on the outside of the hydraulic box 24 on one side away from the output shaft 22, and a slide plate 251 is slidably provided inside the ear box 25. The slide plate 251 divides the inner cavity of the ear box 25 into an air cavity and a hydraulic cavity, and a through hole is opened in the middle of the slide plate 251. A cylinder 26 is fixedly provided at a position corresponding to the ear box 25 in the hollow structure of the slider 2, and a hollow tube 261 is coaxially fixedly connected to the output end of the cylinder 26. One end of the hollow tube 261 penetrates into the air cavity of the ear box 25 and is coaxially and tightly fixedly connected to the through hole of the slide plate 251. A through hole 29 is provided on the hydraulic box 24 at a position corresponding to the hollow tube 261. After the motor 21 drives the slider 2 to move to a certain position, the cylinder 26 starts to operate, and the cylinder 26 drives the slide plate 251 to slide along the inner wall of the ear box 25 toward the direction close to the hydraulic box 24 through the hollow tube 261, so that the liquid in the hydraulic cavity of the ear box 25 is squeezed into the hydraulic box 24 through the through hole 29, and the hydraulic pressure drives the hydraulic push plate 241 to slide along the inner wall of the hydraulic box 24 toward the direction close to the output shaft 22, thereby driving the hydraulic push rod 242 to move toward the direction close to the output shaft 22. At this time, when the motor 21 stops running, the output shaft 22 continues to drive the slow moving under the action of inertia. The punch rod 221 rotates around its center until the buffer rod 221 and the hydraulic push rod 242 contact and squeeze each other. The hydraulic push rod 242 causes the spring to be deformed by force through the hydraulic push plate 241, and the spring generates a reaction force, thereby performing buffering. When the motor 21 continues to run, the cylinder 26 resets, thereby resetting the hydraulic push rod 242. The buffer rod 221 cannot contact the hydraulic push rod 242. When the robotic arm 3 stops moving after moving to the specified position, buffering and deceleration can be performed to avoid excessive movement, thereby further calibrating the position, and the position movement accuracy is high.

[0035] The translation position calibration mechanism may also include an air box 27 and a chamber 28 fixedly arranged above the hydraulic box 24; an undulating plate 281 is slidably provided on the inner wall of the chamber 28, and the undulating plate 281 divides the inner cavity of the chamber 28 into an upper cavity and a lower cavity, and an undulating rod 282 extending to the outside of the chamber 28 is fixedly provided on one side of the undulating plate 281 corresponding to the lower cavity of the chamber 28, and the axial direction of the undulating rod 282 corresponds to the position of the buffer rod 221, and the rod end of the undulating rod 282 can be a spherical structure, and after extending, it can contact the buffer rod 221 and the rod end of the hydraulic push rod 242; the air box 27 is connected to the air cavity of the hydraulic box 24 through a pipeline 1, and a one-way valve 1 is arranged in the pipeline 1, the air cavity of the hydraulic box 24 is also connected to the outside through a pipeline 2, and a one-way valve 2 is arranged in the pipeline 2, the air box 27 is connected to the upper cavity of the chamber 28 through a pipeline 3, and an electric control valve is arranged in the pipeline 3, and the upper cavity of the chamber 28 is also connected to the external control valve pipeline. The operating power of the motor 21 changes in real time, so the speed of movement changes greatly. At this time, when the hydraulic push rod 242 moves closer to the output shaft 22, the buffer rod 221 squeezes the outer end of the hydraulic push rod 242 until the buffer rod 221 stops rotating. At this time, one of the buffer rods 221 and the outer end of the hydraulic push rod 242 squeeze each other, but cannot press over the hydraulic push rod 242. During the deceleration process, the hydraulic push rod 242 is squeezed, driving the hydraulic plate 242 to slide back and forth along the inner wall of the hydraulic box 24, and the air cavity of the hydraulic box 24 is opened. Gas is continuously drawn from the outside through the one-way valve 2 and injected into the air box 27 through the one-way valve 1. The air pressure in the air box 27 increases. After the buffer rod 221 stops moving sufficiently, the electric control valve opens, and the gas in the air box 27 quickly enters the upper cavity of the chamber 28 through the pipeline. The gas pushes the undulating plate 281 to slide downward along the inner wall of the chamber 28, thereby driving the undulating rod 282 to move downward until it contacts the buffer rod 221 and squeezes it through the hydraulic push rod 242, thereby fully calibrating the position and making the moving position of the robot arm 3 more accurate.

[0036] like Figure 6As shown, a sliding block 262 is slidably provided inside the hollow tube 261, and the sliding block 262 divides the inner cavity of the hollow tube 261 into an open cavity and a closed cavity. A connecting rod 263 extending to the outside of the hollow tube 261 is coaxially fixed on one side of the sliding block 262 corresponding to the open cavity of the hollow tube 261, and a plug 264 that fits the clearance of the through hole 29 is fixed to the rod end of the connecting rod 263. The closed cavity of the hollow tube 261 is connected to the lower cavity of the chamber 28 through pipe four. When the undulating plate 281 slides downward along the inner wall of the chamber 28, the gas in the lower cavity of the undulating plate 281 is squeezed and enters the closed cavity of the hollow tube 261 through the pipe 4, and the gas pushes the sliding block 262 to slide along the inner wall of the hollow tube 261 toward the through hole 29, and drives the plug 264 to move toward the through hole 29 through the connecting rod 263 until the plug 264 is inserted into the through hole 29. When the undulating rod 282 squeezes the hydraulic push rod 242, since the plug 264 is inserted into the through hole 29, after the hydraulic push rod 242 is subjected to force in the direction away from the output shaft 22, the liquid cannot flow back and forth quickly through the through hole 29, thereby providing a certain supporting force, which can prevent the undulating rod 282 from pressing over the hydraulic push rod 242, so that the calibration work can be carried out smoothly, and since there is still a gap between the plug 264 and the through hole 29, the hydraulic rod 262 can also move slightly in the direction away from the output shaft 22 after being subjected to force, thereby ensuring the normal operation of the deceleration buffer work.

[0037] A power identification module is provided inside the motor 21, and a power control module is provided inside the cylinder 26. The power identification module is electrically connected to the power control module. The power identification module is used to identify the operating power of the motor 21 in real time, and the power control module is used to control the operating power of the cylinder 26 according to the operating power of the motor 21.

[0038] The power control module operates as follows:

[0039]

[0040] Where: F is the operating power of cylinder 26; F max is the maximum operating power of the cylinder 26; Q is the real-time operating power of the motor 21; Q max is the maximum operating power of the motor 21.

[0041] The greater the operating power of the motor 21, the greater the operating power of the cylinder 26, so that the slide plate 251 moves more toward the hydraulic box 24, and the hydraulic push plate 241 is forced to move the hydraulic push rod 242 more toward the output shaft 22, so that the strength of the mutual squeezing and buffering between the buffer rod 221 and the hydraulic push rod 242 is greater, and the deceleration effect is better. On the other hand, it prevents the output shaft 22 from being stuck and unable to rotate smoothly, thereby preventing the robot arm 3 from being unable to move to the specified position, thereby ensuring the accuracy of position calibration.

[0042] The robot translation position calibration mechanism can realize accurate calibration of the translation position of the robot, thereby avoiding the problem that the movement position cannot be guaranteed due to excessive movement caused by inertia.

Claims

1. A robot translation position calibration mechanism, comprising a motor (21), an output shaft (22) and a gear (23), wherein the motor (21) is fixedly mounted and connected to a slider (2), one end of the output shaft (22) is coaxially fixedly connected to a power output end of the motor (21), the other end of the output shaft (22) is coaxially fixedly connected to the gear (23), and the gear (23) is meshingly connected to a rack fixedly mounted on an electric slide rail (1); characterized in that: The manipulator translation position calibration mechanism also includes a fixedly arranged hydraulic box (24), an ear box (25) and a cylinder (26); A hydraulic push plate (241) is provided in a sliding manner in the hydraulic box (24), and the hydraulic push plate (241) divides the inner cavity of the hydraulic box (24) into an air cavity and a hydraulic cavity. A hydraulic push rod (242) extending out of the hydraulic box (24) is fixedly provided on one side of the hydraulic push plate (241) corresponding to the air cavity of the hydraulic box (24), and the axial direction of the hydraulic push rod (242) is arranged corresponding to the position of the buffer rod (221). A spring is provided on the other side of the hydraulic push plate (241) corresponding to the hydraulic cavity of the hydraulic box (24), and the two ends of the spring respectively press against the inner wall of the hydraulic push plate (241) and the hydraulic box (24); a plurality of buffer rods (221) are evenly distributed and fixedly provided on the output shaft (22) along its circumferential direction, and the buffer rods (221) are arranged to extend out along the radial direction of the output shaft (22); The ear box (25) is arranged outside the hydraulic box (24) on one side away from the output shaft (22), and a slide plate (251) is slidably provided inside the ear box (25), the slide plate (251) divides the inner cavity of the ear box (25) into an air cavity and a hydraulic cavity, and a through hole is opened in the middle of the slide plate (251); The cylinder (26) is arranged at a position corresponding to the ear box (25); the output end of the cylinder (26) is coaxially fixedly connected with a hollow tube (261); one end of the hollow tube (261) penetrates into the air cavity of the ear box (25) and is coaxially sealed and fixedly connected with the through hole of the slide plate (251); and a through hole (29) is arranged on the hydraulic box (24) at a position corresponding to the hollow tube (261).

2. The manipulator translation position calibration mechanism according to claim 1, characterized in that: The manipulator translation position calibration mechanism also includes an air box (27) and a chamber (28) fixedly arranged above the hydraulic box (24); An undulating plate (281) is slidably provided on the inner wall of the chamber (28), and the undulating plate (281) divides the inner cavity of the chamber (28) into an upper cavity and a lower cavity. An undulating rod (282) extending to the outside of the chamber (28) is fixedly provided on one side of the undulating plate (281) corresponding to the lower cavity of the chamber (28), and the axial direction of the undulating rod (282) corresponds to the position of the buffer rod (221). The air box (27) is connected to the air cavity of the hydraulic box (24) through a first pipeline, and a first check valve is arranged in the first pipeline. The air cavity of the hydraulic box (24) is also connected to the outside through a second pipeline, and a second check valve is arranged in the second pipeline. The air box (27) is connected to the upper cavity of the chamber (28) through a third pipeline, and an electric control valve is arranged in the third pipeline. The upper cavity of the chamber (28) is also connected to the external control valve pipeline.

3. The robot translation position calibration mechanism according to claim 2, characterized in that: A sliding block (262) is slidably provided inside the hollow tube (261), and the sliding block (262) divides the inner cavity of the hollow tube (261) into an open cavity and a closed cavity. A connecting rod (263) extending to the outside of the hollow tube (261) is coaxially fixed to one side of the sliding block (262) corresponding to the open cavity of the hollow tube (261), and a plug (264) that is gap-matched with the through hole (29) is fixed to the rod end of the connecting rod (263). The closed cavity of the hollow tube (261) is connected to the lower cavity of the chamber (28) through a pipe four.

4. The robot translation position calibration mechanism according to claim 1, characterized in that: A power identification module is provided inside the motor (21), and a power control module is provided inside the cylinder (26). The power identification module is electrically connected to the power control module. The power identification module is used to identify the operating power of the motor (21) in real time, and the power control module is used to control the operating power of the cylinder (26) according to the operating power of the motor (21). The power control module operates in the following ways: Where: F is the operating power of the cylinder (26); F max is the maximum operating power of the cylinder (26); Q is the real-time operating power of the motor (21); Q max is the maximum operating power of the motor (21).

5. The manipulator translation position calibration mechanism according to any one of claims 1 to 4, characterized in that: The rod ends of the buffer rod (221) and the hydraulic push rod (242) are both spherical structures.

6. The robot translation position calibration mechanism according to claim 5, characterized in that: The rod end of the undulating rod (282) is a spherical structure.

7. The manipulator translation position calibration mechanism according to any one of claims 1 to 4, characterized in that: The springs are evenly arranged in plurality relative to the hydraulic push plate (241).

8. A manipulator, comprising an electric slide rail (1), a slider (2), a mechanical arm (3) and a fixture (4), wherein the slider (2) is slidably mounted on the electric slide rail (1), the bottom end of the mechanical arm (3) is fixedly mounted on the slider (2), and the fixture (4) is mounted and connected to the top end of the mechanical arm (3), characterized in that: A hollow structure is provided inside the slider (2), and a manipulator translation position calibration mechanism as claimed in any one of claims 1 to 4 is provided in the hollow structure.

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