A robot zero-point quick recovery tool

Abstract

The present invention relates to the field of robot zero-point rapid recovery, and specifically to a robot zero-point rapid recovery tooling, wherein the tooling assembly is installed on a robot joint mechanism: the robot joint mechanism comprises an upper connecting rod and a lower connecting rod connected to each other, a first positioning feature for positioning the tooling assembly, a direction mark and a zero position mark are arranged on the upper connecting rod, and a second positioning feature for positioning the tooling assembly is arranged on the lower connecting rod; the tooling assembly comprises a rotating pointer seat installed at the positioning feature of the upper connecting rod by magnetic attraction or screw connection, a fixed ball head seat installed at the positioning feature of the lower connecting rod by magnetic attraction or screw connection, and a double spherical connecting rod connected to the rotating pointer seat and the fixed ball head seat by magnetic attraction, wherein the movement of the lower connecting rod is transmitted to the rotating pointer seat by the double spherical connecting rod, and the movement is amplified by the length of the bending pointer to achieve high-precision zero-point operation.

Description

Technical Field

[0001] The invention relates to the field of robot zero-point rapid recovery, in particular to a robot zero-point rapid recovery tooling. Background Art

[0002] During long-term use, the robot will inevitably encounter collisions, aging and loosening of screws, encoder underpowering, etc., which may cause the robot's zero point to be lost. To restore the normal operation of the robot, zero point calibration is usually required.

[0003] Common zero-point calibration methods include the sharp point calibration method, manual visual zero-point calibration method, automatic zero-point calibration method, etc. The sharp point calibration method requires a tool with a sharp point to be installed at the end of the robot. During operation, the sharp point is taught to be aligned to the sharp point tool installed in a fixed position, and then the above operation is repeated with different postures. This method can calibrate the rod length and the zero point, but the calibrated zero point does not represent the zero point before the zero point is lost, but the zero point based on the kinematic model. In addition, this method is time-consuming and labor-intensive, and the calibration effect also depends on the operator's technical level.

[0004] The manual visual zero mark method refers to installing two alignment blocks on two rods that rotate relative to each other. During operation, each joint is manually taught to align the corresponding blocks to restore the zero point. However, due to the limitations of the robot's structural characteristics and motion space, the zero blocks cannot be very close to each other, making it difficult to align them visually. Therefore, it is difficult to achieve high-precision zero point alignment operations.

[0005] The automatic zero-marking method refers to the installation of zero-point identification features and sensors for detecting the features on the two connecting rods that move relative to the joints of the robot. During operation, the robot will automatically move until the sensor detects the zero-point identification feature to achieve automatic zero-point operation. This method has relatively high zero-point accuracy, but the equipment is relatively expensive, and the sensor also has positioning deviations during disassembly and assembly. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a robot zero-point rapid recovery tooling.

[0007] A robot zero-point quick recovery tooling, the tooling assembly is installed on the robot joint mechanism:

[0008] The robot joint mechanism includes an upper connecting rod and a lower connecting rod connected to each other, a first positioning feature, a direction mark and a zero mark provided on the upper connecting rod for positioning the tooling component, and a second positioning feature provided on the lower connecting rod for positioning the tooling component;

[0009] As a further improvement of the present invention, the tooling assembly includes a rotating pointer seat positioned and installed at the positioning feature of the upper connecting rod by magnetic attraction or screw connection, a fixed ball head seat positioned and installed at the positioning feature of the lower connecting rod by magnetic attraction or screw connection, and a double spherical connecting rod connected to the rotating pointer seat and the fixed ball head seat by magnetic attraction.

[0010] As a further improvement of the present invention, the rotating pointer seat includes a shaft seat that is quickly installed at the positioning feature by magnetic attraction, a shaft connected to the shaft seat by a precision bearing, and a bending pointer connected to the shaft by a copper shaft.

[0011] As a further improvement of the present invention, the rotating shaft seat includes a rotating shaft seat base, a precision bearing and a direction mark fixed on the rotating shaft seat base, a bearing end cover fixing the outer ring of the precision bearing to the rotating shaft seat base by three hexagon socket screws, and a strong magnet fixed to the rotating shaft seat base by a countersunk screw.

[0012] As a further improvement of the present invention, the direction identification one is used to be set in the same direction as the direction mark to achieve orientation.

[0013] As a further improvement of the present invention, the rotating shaft includes a rotating shaft body connected to the inner ring of the precision bearing through a corrugated gasket and a shaft retaining ring, a copper rotating shaft installed on a positioning hole on the rotating shaft body, a rubber pad arranged on the copper rotating shaft, a locking screw installed on the rotating shaft body through the rubber pad, a limiting hexagon socket screw for limiting the rotation angle range of the rotating shaft relative to the rotating shaft seat, and a ball head 2128 connected to the rotating shaft body through a thread.

[0014] As a further improvement of the present invention, the ball head is connected to the double spherical connecting rod through magnetic attraction.

[0015] As a further improvement of the present invention, the bending pointer includes a bending seat, a quick-change pointer, a plurality of groups of strong magnets glued in the holes on the bending seat, and two sets of screws for fixing the bending seat on the copper shaft.

[0016] As a further improvement of the present invention, the fixed ball head seat includes a ball head seat base, a strong magnet installed on the bottom of the ball head seat base by gluing, and a direction mark set together with the direction mark to achieve the purpose of orientation, and the ball head is connected to the ball head seat base by threads.

[0017] As a further improvement of the present invention, the ball head is used to be connected to the double-spherical connecting rod through magnetic attraction.

[0018] As a further improvement of the present invention, the double spherical connecting rod comprises a connecting rod body for cooperating with the ball head for positioning, and a plurality of groups of strong magnets four cooperating with the connecting rod body by gluing.

[0019] The beneficial effects of the present invention are:

[0020] The present invention transmits the movement of the lower connecting rod to the rotating pointer seat through the double spherical connecting rod, and amplifies the movement through the length of the bending pointer, so as to realize the zero point operation with higher precision; due to the magnetic connection mode, the tooling can be quickly disassembled and assembled, which significantly improves the efficiency; in addition, the double spherical connecting rod of the tooling is a separate connection, and only the appropriate double spherical connecting rod needs to be replaced at the joints with individual structural restrictions to be compatible with various joint structures, which further reduces the use cost; the tooling has no sensor, and only relies on the pure mechanical lever principle to amplify the movement, so the precision is more reliable; the bending pointer of the tooling can be bent up and down to align the zero mark for more convenient observation; in addition, under the premise of ensuring the matching accuracy, to improve the zero point accuracy, only a longer quick-change pointer needs to be replaced, and the quick-change pointer supports quick change, which further reduces the use cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the zero-point rapid recovery tooling system of the present invention;

[0023] Figure 2 A schematic diagram of a robot joint mechanism of the present invention;

[0024] Figure 3 This is a schematic diagram of the zero-point rapid recovery tooling of the present invention;

[0025] Figure 4 It is a schematic diagram of the rotating pointer seat of the present invention;

[0026] Figure 5 It is a schematic diagram of the rotating shaft seat of the present invention;

[0027] Figure 6 It is a schematic diagram of the rotating shaft of the present invention;

[0028] Figure 7 It is a schematic diagram of the bending pointer of the present invention;

[0029] Figure 8 It is a schematic diagram of a fixed ball head seat of the present invention;

[0030] Fig. 9 It is a schematic diagram of a double spherical connecting rod of the present invention. DETAILED DESCRIPTION

[0031] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below.

[0032] like Figure 1 and Figure 2 As shown, a robot zero-point quick recovery tooling, the tooling assembly 2 is installed on the robot joint mechanism 1:

[0033] The robot joint mechanism 1 includes an upper connecting rod 11 and a lower connecting rod 12 connected to each other, a positioning feature 1 111, a direction mark 112 and a zero mark 113 provided on the upper connecting rod 11 for positioning the tooling assembly 2, and a positioning feature 2 121 provided on the lower connecting rod 12 for positioning the tooling assembly 2;

[0034] like Figure 2 and Figure 3 As shown, the tooling assembly 2 includes a rotating pointer seat 21 positioned and installed at the positioning feature 111 of the upper connecting rod 11 by magnetic attraction or screw connection, a fixed ball head seat 22 positioned and installed at the positioning feature 121 of the lower connecting rod 12 by magnetic attraction or screw connection, and a double spherical connecting rod 23 connected to the rotating pointer seat 21 and the fixed ball head seat 22 by magnetic attraction.

[0035] like Figure 4 , Figure 5 and Figure 6 As shown, the rotating pointer seat 21 includes a shaft seat 211 that is quickly installed at the positioning feature 111 by magnetic attraction, a shaft 212 connected to the shaft seat 211 through a precision bearing 2113, and a bending pointer 213 connected to the shaft 212 through a copper shaft 2124.

[0036] like Figure 2 , Figure 4 and Figure 5 As shown, the rotating shaft seat 211 includes a rotating shaft seat base 2111, a precision bearing 2113 and a direction mark 2117 fixed on the rotating shaft seat base 2111, a bearing end cover 2112 fixing the outer ring of the precision bearing 2113 on the rotating shaft seat base 2111 through three hexagon socket screws 2116, and a strong magnet 2114 fixed on the rotating shaft seat base 2111 through a countersunk screw 2115.

[0037] The direction mark 2117 is used to set the same direction as the direction mark 112 to achieve orientation.

[0038] like Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the rotating shaft 212 includes a rotating shaft body 2121 connected to the inner ring of the precision bearing 2113 through a corrugated gasket 2122 and a shaft retaining ring 2123, a copper rotating shaft 2124 installed on a positioning hole on the rotating shaft body 2121, a rubber pad 2125 arranged on the copper rotating shaft 2124, a fixing screw 2126 installed on the copper rotating shaft 2124 through the rubber pad 2125, a limiting hexagon socket screw 2127 for limiting the rotation angle range of the rotating shaft 212 relative to the rotating shaft seat 211, and a ball head 2128 connected to the rotating shaft body 2121 through threads.

[0039] Specifically, the rotation damping of the copper shaft 2124 can be adjusted by adjusting the set screw 2126.

[0040] Specifically, the rotating shaft body 2121 is connected to the inner ring of the precision bearing 2113 through a wave washer 2122 and a shaft retaining ring 2123, and is kept axially fixed.

[0041] Specifically, the ball head 2128 is connected to the double spherical connecting rod 23 by magnetic attraction.

[0042] like Figure 4 , Figure 6 and Figure 7 As shown, the bending pointer 213 includes a bending seat 2131, a quick-change pointer 2132, a plurality of groups of strong magnets 2133 glued in the holes on the bending seat 2131, and a set screw 2134 for fixing the bending seat 2131 on the copper shaft 2124.

[0043] Specifically, the strong magnet 2133 is used for magnetically connecting the quick-change pointer 2132.

[0044] Specifically, due to the use of a magnetic connection method, the tooling can be quickly assembled and disassembled, significantly improving efficiency; in addition, the double spherical connecting rod 23 of the tooling is a separate connection, and only the appropriate double spherical connecting rod 23 needs to be replaced at the joints with individual structural restrictions to be compatible with various joint structures, further reducing the cost of use.

[0045] The second set screw 2134 is used to realize the upward and downward bending of the bending pointer 213 relative to the rotating shaft 212 .

[0046] Specifically, the movement of the lower connecting rod 12 is transmitted to the rotating pointer seat 21 through the double spherical connecting rod 23, and the movement is amplified by the length of the bending pointer 213, so that a higher precision zero point operation can be achieved.

[0047] like Figure 2 , Figure 3 and Figure 8As shown, the fixed ball head seat 22 includes a ball head seat base 221, a strong magnet 3 222 installed at the bottom of the ball head seat base 221 by gluing, and a direction mark 223 set in the same direction as the direction mark 112 to achieve the purpose of orientation. The ball head 2128 is connected to the ball head seat base 221 by threads.

[0048] The strong magnet 222 is used to fix the fixed ball head seat 22 at the positioning feature 121 by magnetic attraction.

[0049] Specifically, the ball head 2128 is used to be connected to the double spherical connecting rod 23 through magnetic attraction.

[0050] like Figure 3 , Figure 7 , Figure 8 and Fig. 9 As shown, the double spherical connecting rod 23 includes a connecting rod body 231 for cooperating with the ball head 2128 for positioning, and a plurality of groups of strong magnets 232 cooperating with the connecting rod body 231 by gluing.

[0051] Specifically, two spherical surfaces are provided at both ends of the connecting rod body 231 .

[0052] Specifically, the tooling has no sensors and relies only on the purely mechanical lever principle to amplify the movement, so the accuracy is more reliable; the bending pointer 213 of the tooling can be bent up and down to align the zero mark for more convenient observation; in addition, while ensuring the matching accuracy, to improve the zero point accuracy, it is only necessary to replace a longer quick-change pointer 2132, and the quick-change pointer 2132 supports quick change, which further reduces the cost of use.

[0053] Specifically, the strong magnet 232 is provided in two groups, which are respectively installed on the spherical surfaces at both ends of the connecting rod body 231 by gluing, so as to make the ball head 2128 completely close to the spherical surfaces at both ends of the connecting rod body 231 through magnetic attraction.

[0054] Specifically, the connecting rod body 231 is made of a material with a small friction coefficient and good wear resistance.

[0055] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, when performing zero-point restoration, first move the joint to the vicinity of the zero point, then magnetize the rotating pointer seat 21 to the positioning feature 111 of the upper connecting rod 11, align the direction mark 112 and fit the end face; then magnetize the fixed ball head seat to the positioning feature 121 of the lower connecting rod 12, align the direction mark 112 and fit the end face; then magnetize the two ends of the double-spherical connecting rod to the two ball heads 2128 on the rotating pointer seat 21 and the fixed ball head seat 22 respectively; finally, bend the bending pointer 213 to be close to the upper end face of the upper connecting rod 11, and manually teach to align the tip of the bending pointer 213 with the zero mark 113, thus completing the zero-point restoration of a single joint; similarly, quickly disassemble this tooling and place it in the corresponding position with other joints, and repeat the above operations to perform zero-point restoration on all joints of the entire machine.

[0056] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot zero-point quick recovery tool, characterized in that: As a tooling component (2) installed on the robot joint mechanism (1): The robot joint mechanism (1) comprises an upper connecting rod (11) and a lower connecting rod (12) connected to each other, a first positioning feature (111), a direction mark (112) and a zero mark (113) arranged on the upper connecting rod (11) for positioning the tooling assembly (2), and a second positioning feature (121) arranged on the lower connecting rod (12) for positioning the tooling assembly (2); The tooling assembly (2) comprises a rotating pointer seat (21) which is positioned and installed at the first positioning feature (111) of the upper connecting rod (11) by means of magnetic attraction or screw connection, a fixed ball head seat (22) which is positioned and installed at the second positioning feature (121) of the lower connecting rod (12) by means of magnetic attraction or screw connection, and a double spherical connecting rod (23) which is connected to the rotating pointer seat (21) and the fixed ball head seat (22) by means of magnetic attraction.

2. A robot zero-point rapid recovery tooling according to claim 1, characterized in that: The rotating pointer seat (21) comprises a rotating shaft seat (211) which is quickly installed at the first positioning feature (111) by means of magnetic attraction, a rotating shaft (212) connected to the rotating shaft seat (211) by means of a precision bearing (2113), and a bending pointer (213) connected to the rotating shaft (212) by means of a copper rotating shaft (2124).

3. A robot zero-point rapid recovery tooling according to claim 2, characterized in that: The rotating shaft seat (211) comprises a rotating shaft seat base (2111), a precision bearing (2113) and a direction mark (2117) fixed on the rotating shaft seat base (2111), a bearing end cover (2112) fixing the outer ring of the precision bearing (2113) on the rotating shaft seat base (2111) through three hexagon socket screws (2116), and a strong magnet (2114) fixed on the rotating shaft seat base (2111) through a countersunk screw (2115).

4. The robot zero-point rapid recovery tooling according to claim 3 is characterized in that: The direction mark 1 (2117) is used to set the same direction as the direction mark (112) to achieve orientation.

5. The robot zero-point rapid recovery tooling according to claim 2, characterized in that: The rotating shaft (212) comprises a rotating shaft body (2121) connected to the inner ring of a precision bearing (2113) via a wave washer (2122) and a shaft retaining ring (2123), a copper rotating shaft (2124) mounted on a positioning hole on the rotating shaft body (2121), a rubber pad (2125) arranged on the copper rotating shaft (2124), a set screw (2126) mounted on the copper rotating shaft (2124) via the rubber pad (2125), a limiting hexagon socket screw (2127) for limiting the rotation angle range of the rotating shaft (212) relative to the rotating shaft seat (211), and a ball head (2128) connected to the rotating shaft body (2121) via a thread.

6. The robot zero-point rapid recovery tooling according to claim 5, characterized in that: The ball head (2128) is connected to the double spherical connecting rod (23) by magnetic attraction.

7. The robot zero-point rapid recovery tooling according to claim 2, characterized in that: The bending pointer (213) comprises a bending seat (2131), a quick-change pointer (2132), a plurality of groups of strong magnets (2133) glued in holes on the bending seat (2131), and two sets of screws (2134) for fixing the bending seat (2131) on the copper shaft (2124).

8. The robot zero-point rapid recovery tooling according to claim 5, characterized in that: The fixed ball head seat (22) comprises a ball head seat base (221), a strong magnet (222) mounted on the bottom of the ball head seat base (221) by gluing, and a direction mark (223) arranged in the same direction as the direction mark (112) to achieve the purpose of orientation. The ball head (2128) is connected to the ball head seat base (221) by threading.

9. The robot zero-point rapid recovery tooling according to claim 8, characterized in that: The ball head (2128) is used to be connected to the double spherical connecting rod (23) through magnetic attraction.

10. The robot zero-point rapid recovery tooling according to claim 9, characterized in that: The double spherical connecting rod (23) comprises a connecting rod body (231) for cooperating with the ball head (2128) for positioning, and a plurality of groups of strong magnets (232) cooperating with the connecting rod body (231) by gluing.

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