An error correction device

Abstract

The present invention relates to an error correction device, comprising: a mounting seat; a mounting block, which is connected to the mounting seat by rotating around a first axis; a connecting block, which is connected to the mounting block via a connecting structure, the connecting structure comprising: an intermediate block, which is arranged between the connecting block and the mounting block; a first connecting assembly, which connects the intermediate block and the mounting block and enables the intermediate block to move relative to the mounting block along a first direction perpendicular to the first axis; a second connecting assembly, which connects the intermediate block and the connecting block and enables the connecting block to move relative to the intermediate block along a second direction perpendicular to the first axis, and the second direction intersects the first direction. In the present application, through the arrangement of the mounting seat, the mounting block and the connecting block, the connecting block can rotate relative to the mounting seat around the first axis and can move relative to the mounting seat within a plane formed by the first direction and the second direction, thereby realizing an error correction function in multiple directions, thereby ensuring assembly accuracy, and the error correction direction range is wide and the scope of application is wide.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an error correction device. Background Art

[0002] Currently, deviation correction devices are required for assembly and insertion operations such as mold positioning and adjustment, assembly of large-scale integrated circuits and engines, assembly of automatic transmission valves, automated measurement (inspection), and positioning and replacement of instruments. During assembly and insertion operations, when robots and specialized machinery move from their initial assembly position to their operating position, the use of correction devices corrects assembly errors, achieving high-precision positioning, increasing operating speed, and shortening production time.

[0003] In the related art, the conventional deviation correction device is a spring plus a special elastic rubber structure. The spring plus the special elastic rubber structure realizes a flexible connection but has limitations in the adjustment direction, resulting in limitations in the error correction direction. Summary of the Invention

[0004] Based on the above description, the present invention provides an error correction device to solve the problem in the related art that the deviation correction device has a limited adjustment direction, resulting in a limited error correction direction.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] This application provides an error correction device, and the technical solution adopted is as follows:

[0007] An error correction device, comprising:

[0008] Mounting seat;

[0009] A mounting block rotatably connected to the mounting seat about a first axis;

[0010] A connecting block connected to the mounting block via a connecting structure, wherein the connecting structure comprises:

[0011] - an intermediate block provided between the connecting block and the mounting block;

[0012] - a first connecting assembly connecting the intermediate block and the mounting block and enabling the intermediate block to move relative to the mounting block along a first direction perpendicular to the first axis;

[0013] a second connecting assembly connecting the intermediate block and the connecting block, and enabling the connecting block to move relative to the intermediate block along a second direction perpendicular to the first axis, wherein the second direction intersects the first direction.

[0014] On the basis of the above technical solution, the present invention can also be improved as follows.

[0015] Furthermore, the first connection component includes:

[0016] Two first guide shafts are provided on the mounting block, the two first guide shafts are parallel to each other and to the first direction;

[0017] The two first linear bearings are connected to the intermediate block, and the two first linear bearings are respectively arranged on the two first guide shafts.

[0018] Furthermore, the second connection component includes:

[0019] Two second guide shafts are provided on the connecting block, the two second guide shafts are parallel to each other and parallel to the second direction;

[0020] The two second linear bearings are connected to the intermediate block, and the two second linear bearings are respectively arranged on the two second guide shafts.

[0021] Furthermore, the connecting block, the intermediate block and the mounting block are distributed in this order along the first axial direction, a first positioning structure is provided between the connecting block and the intermediate block, the first positioning structure is used to drive the connecting block to move to an initial position relative to the intermediate block along the second direction, and a second positioning structure is provided between the intermediate block and the mounting block, the second positioning structure is used to drive the intermediate block to move to an initial position relative to the mounting block along the first direction.

[0022] Furthermore, the first positioning structure includes:

[0023] a first positioning groove, which is provided on a side surface of the connecting block close to the intermediate block, wherein the diameter of the first positioning groove gradually decreases along a direction parallel to the first axis and away from the intermediate block;

[0024] a first positioning ball, which is provided on the intermediate block and protrudes into the first positioning groove, and the first positioning ball can move along the first axis and can move to a position where there is a gap between the first positioning ball and the side wall of the first positioning groove or the first positioning ball abuts against the side wall of the first positioning groove;

[0025] A first driving member is provided on the intermediate block and is used to drive the first positioning ball to move to abut against the side wall of the first positioning groove, so as to drive the connecting block to move to an initial position relative to the intermediate block through the cooperation between the first positioning ball and the first positioning groove.

[0026] Furthermore, the second positioning structure includes:

[0027] a second positioning groove, which is provided on a side surface of the intermediate block close to the mounting block, wherein the diameter of the second positioning groove gradually decreases along a direction parallel to the first axis and away from the mounting block;

[0028] a second positioning ball, which is provided on the mounting block and protrudes into the second positioning groove, and the second positioning ball can move along the second axis and can move to a gap between the second positioning ball and the side wall of the second positioning groove or to abut against the side wall of the second positioning groove;

[0029] The second driving member is used to drive the second positioning ball to move to abut against the side wall of the second positioning groove, so as to drive the intermediate block to move to an initial position relative to the mounting block through the cooperation between the second positioning ball and the second positioning groove.

[0030] Furthermore, when the second driving member drives the second positioning ball to move, the second positioning ball drives the first positioning ball to move through the second driving member.

[0031] Furthermore, a first mounting hole for accommodating the first positioning ball is provided on a side of the intermediate block close to the connecting block, the axis of the first mounting hole is parallel to the first axis, the diameter of the first positioning ball is the same as the diameter of the first mounting hole, the first mounting hole and the second positioning groove are connected through a connecting hole, the axis of the connecting hole is parallel to the first axis, and the first driving member includes a driving rod arranged in the connecting hole, and both ends of the driving rod are in contact with the first positioning ball and the second positioning ball respectively.

[0032] Furthermore, a third positioning structure is provided between the mounting block and the mounting seat, and the third positioning structure is used to drive the mounting block to rotate to an initial position relative to the mounting seat.

[0033] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0034] 1. The present application provides a mounting seat, a mounting block and a connecting block, wherein the mounting block can rotate relative to the mounting seat around a first axis, and the connecting block is connected to the mounting block through a connecting structure. The first connecting component in the connecting structure enables the intermediate block to move relative to the mounting block along a first direction, and the second connecting component enables the connecting block to move relative to the intermediate block along a second direction. Even if the connecting block can move relative to the mounting block along the first direction and the second direction, the connecting block can move relative to the mounting block within a plane composed of the first direction and the second direction. In actual application, the execution unit connected to the connecting block inserts the component to be assembled along the first axis for assembly. The connecting block can rotate relative to the mounting seat around the first axis to correct the rotation error in the insertion direction, and the connecting block can move relative to the mounting seat within the plane composed of the first direction and the second direction to correct the translation error in the direction perpendicular to the insertion direction, thereby realizing the error correction function in multiple directions, thereby ensuring assembly accuracy, and the error correction direction range is wide and the application range is wide;

[0035] 2. The present application arranges the first positioning structure and the second positioning structure, and can drive the connecting block to move to the initial position relative to the intermediate block along the second direction through the first positioning structure, and drive the intermediate block to move to the initial position relative to the mounting block along the first direction through the second positioning structure. Even if the connecting block moves to the initial position relative to the intermediate block, during actual operation, when the connecting block is in the initial position, the execution unit connected to it connects the component to be assembled. After the current component is assembled, the connecting block is reset to the initial position relative to the mounting block, and then the subsequent components are connected through the execution unit, thereby ensuring the connection accuracy of the execution unit and the assembled component, thereby ensuring the assembly accuracy of the component. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the structure of an error correction device provided in an embodiment of the present application;

[0037] Figure 2 A schematic top view of an error correction device provided in an embodiment of the present application;

[0038] Figure 3 for Figure 2 Schematic cross-sectional view along line AA;

[0039] Figure 4 for Figure 2 Schematic cross-sectional view along line BB;

[0040] Figure 5 This is a schematic cross-sectional view of the error correction device provided in an embodiment of the present application in a ventilated state.

[0041] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0042] 1. Mounting seat; 11. Main body; 111. Mounting cavity; 12. End cover; 13. Mounting plate; 131. Third mounting hole; 2. Mounting block; 21. Second mounting hole; 3. Connecting block; 4. Connecting structure; 41. Intermediate block; 411. First mounting hole; 412. Connecting hole; 42. First connecting assembly; 421. First guide shaft; 422. First linear bearing; 43. Second connecting assembly; 431. Second guide shaft; 432. Second linear bearing; 5. First intermediate plate; 6. Second intermediate plate; 7. Connecting bearing; 8. First positioning structure; 81. First positioning groove; 82. First positioning ball; 83. Drive rod; 9. Second positioning structure; 91. Second positioning groove; 92. Second positioning ball; 93. First piston; 10. Third positioning structure; 101. Third positioning groove; 102. Third positioning ball; 103. Second piston. DETAILED DESCRIPTION

[0043] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0045] It will be understood that spatial relational terms such as "under," "beneath," "below," "under," "above," "above," etc., may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It will be understood that in addition to the orientations shown in the figures, spatial relational terms also include different orientations of the device in use and operation. For example, if the device in the drawings is turned over, the element or feature described as "under" or "beneath" or "beneath" the other elements will be oriented as "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include alternative orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptors used herein are interpreted accordingly.

[0046] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In the following embodiments, "connection" should be understood as "electrical connection", "communication connection", etc., if the connected circuits, modules, units, etc. can transmit electrical signals or data to each other.

[0047] When used herein, the singular forms "a", "an", and "the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0048] Reference Figure 1-5 As shown, an embodiment of the present application provides an error correction device, which includes a mounting seat 1, a mounting block 2 and a connecting block 3. The mounting block 2 is connected to the mounting seat 1 by rotating around a first axis, and the connecting block 3 is connected to the mounting block 2 through a connecting structure 4.

[0049] Reference Figure 1-4 As shown, the connecting structure 4 includes an intermediate block 41, a first connecting component 42 and a second connecting component 43. The intermediate block 41 is arranged between the connecting block 3 and the mounting block 2. The first connecting component 42 connects the intermediate block 41 and the mounting block 2, and enables the intermediate block 41 to move relative to the mounting block 2 along a first direction perpendicular to the first axis. The second connecting component 43 connects the intermediate block 41 and the connecting block 3, and enables the connecting block 3 to move relative to the intermediate block 41 along a second direction perpendicular to the first axis, and the second direction intersects with the first direction.

[0050] Reference Figure 1-4 As shown, specifically, the first connecting assembly 42 includes two first guide shafts 421 and two first linear bearings 422. The two first guide shafts 421 are provided on the mounting block 2. The two first guide shafts 421 are parallel to each other and to the first direction. The two first linear bearings 422 are connected to the intermediate block 41, and the two first linear bearings 422 are respectively mounted on the two first guide shafts 421. In this embodiment, two first support blocks are provided on the mounting block 2. The first guide shaft 421 is provided between the two first support blocks and fixed to the two first support blocks at both ends. The intermediate block 41 is provided with an assembly hole for mounting the first linear bearings 422. The first linear bearings 422 are mounted in the assembly hole and fixed to the intermediate block 41. The first linear bearings 422 are mounted on the first guide shafts 421 and can move axially along the first guide shafts 421. The sliding assembly of the first linear bearings 422 on the first guide shafts 421 enables the intermediate block 41 to move relative to the mounting block 2.

[0051] Reference Figure 3-4 As shown, the second connecting assembly 43 includes two second guide shafts 431 and two second linear bearings 432. The two second guide shafts 431 are provided on the connecting block 3. The two second guide shafts 431 are parallel to each other and to the second direction. The two second linear bearings 432 are connected to the intermediate block 41 and are respectively mounted on the two second guide shafts 431. In this embodiment, the connecting block 3 is provided with two second support blocks. The second guide shaft 431 is provided between the two second support blocks and fixed to the two second support blocks at both ends. The intermediate block 41 also has an assembly hole for mounting the second linear bearings 432. The second linear bearings 432 are installed in the assembly hole and fixed to the intermediate block 41. The second linear bearings 432 are mounted on the second guide shafts 431 and can move axially along the second guide shafts 431. The sliding assembly of the second linear bearings 432 on the second guide shafts 431 enables the connecting block 3 to move relative to the intermediate block 41. In conjunction with the first connecting assembly 42, the connecting block 3 can move relative to the mounting block 2 in the first and second directions.

[0052] In this embodiment, the first direction and the second direction are perpendicular to each other, and thus the first guide axis 421 and the second guide axis 431 are perpendicular to each other.

[0053] Reference Figure 3-4 As shown, further, the mounting block 2 is fixedly connected with a first intermediate plate 5 and a second intermediate plate 6 located between the mounting block 2 and the mounting seat 1, the plane of the first intermediate plate 5 and the plane of the second intermediate plate 6 are both perpendicular to the first axis, the second intermediate plate 6 is located between the first intermediate plate 5 and the mounting block 2, and the first intermediate plate 5 and the second intermediate plate 6 are rotatably connected to the mounting seat 1 through a connecting bearing 7.

[0054] Reference Figure 3-4As shown, specifically, the first intermediate plate 5 and the second intermediate plate 6 are both circular and coaxial with the first axis, the first intermediate plate 5 and the second intermediate plate 6 are fixed to the mounting block 2 by bolts, and the connecting bearing 7 is arranged between the first intermediate plate 5 and the second intermediate plate 6; the mounting seat 1 includes a main body 11 and an end cover 12, the end cover 12 is located between the main body 11 and the mounting block 2 and is fixed to the main body 11 by bolts, a through hole is opened on the end cover 12 for the first intermediate plate 5 and the second intermediate plate 6 to pass through, the through hole diameter is consistent with the diameter of the first intermediate plate 5 and the second intermediate plate 6, the first intermediate plate 5 passes through the through hole, the second intermediate plate 6 is located in the through hole and the mounting block 2 is in contact with the end cover 12; a bearing groove is opened on the end cover 12 which is coaxial with the through hole and is located on the side of the through hole away from the mounting block 2, the bearing groove diameter is larger than the through hole diameter, the connecting bearing 7 is arranged in the bearing groove and the outer diameter of the connecting bearing 7 is consistent with the outer diameter of the bearing groove. The connecting bearing 7 is fixed relative to the mounting block 2 in the axial direction by the first intermediate plate 5 and the second intermediate plate 6, and the bearing is installed in the bearing groove by the end cover 12 and the through hole and bearing groove thereon to realize the rotational connection between the mounting block 2 and the mounting seat 1, while limiting the separation of the mounting block 2 from the mounting seat 1.

[0055] Reference Figure 3-5 As shown, further, the connecting block 3, the intermediate block 41, the mounting block 2 and the mounting seat 1 are distributed in this manner along the first axial direction, and a first positioning structure 8 is provided between the connecting block 3 and the intermediate block 41. The first positioning structure 8 is used to drive the connecting block 3 to move to an initial position relative to the intermediate block 41 along the second direction. A second positioning structure 9 is provided between the intermediate block 41 and the mounting block 2. The second positioning structure 9 is used to drive the intermediate block 41 to move to an initial position relative to the mounting block 2 along the first direction; a third positioning structure 10 is provided between the mounting block 2 and the mounting seat 1. The third positioning structure 10 is used to drive the mounting block 2 to rotate to an initial position relative to the mounting seat 1.

[0056] Reference Figure 3-5 As shown, the first positioning structure 8 includes a first positioning groove 81, a first positioning ball 82 and a first driving member. The first positioning groove 81 is provided on a side surface of the connecting block 3 close to the intermediate block 41, and the diameter of the first positioning groove 81 gradually decreases in a direction parallel to the first axis and away from the intermediate block 41; the first positioning ball 82 is provided on the intermediate block 41 and protrudes from the first positioning groove 81. The first positioning ball 82 can move along the first axis direction and can be moved to a gap between the side wall of the first positioning groove 81 or to abut against the side wall of the first positioning groove 81; the first driving member is provided on the intermediate block 41, and is used to drive the first positioning ball 82 to move to abut against the side wall of the first positioning groove 81, so as to drive the connecting block 3 to move to an initial position relative to the intermediate block 41 through the cooperation of the first positioning ball 82 and the first positioning groove 81.

[0057] Reference Figure 3-5As shown, specifically, in this embodiment, the side of the connecting block 3 close to the intermediate block 41 is perpendicular to the first axis, and the first positioning groove 81 is a truncated cone-shaped groove; a first mounting hole 411 for installing the first positioning ball 82 is provided on the intermediate block 41, and the first mounting hole 411 is provided on a side surface of the intermediate block 41 close to the connecting block 3. The axis of the first mounting hole 411 is parallel to the first axis, and the diameter of the first positioning ball 82 is the same as the diameter of the first mounting hole 411. When the connecting block 3 moves to the initial position relative to the intermediate block 41, the first positioning groove 81 is coaxial with the first positioning ball 82, and when the intermediate block 41 moves to the initial position relative to the mounting block 2, the first positioning ball 82 is coaxial with the first axis.

[0058] Reference Figure 3-5 As shown, through the above arrangement, in actual application, when the connecting block 3 is in the initial position, the first positioning groove 81 and the first positioning ball 82 are coaxial, and when a gap is left between the first positioning ball 82 and the side wall of the first positioning groove 81, the connecting block 3 can be moved relative to the intermediate block 41 in the second direction. At this time, the assembly error of the components can be corrected by moving the connecting block 3. The limit distance of the error correction is the width of the gap between the first positioning ball 82 and the side wall of the first positioning groove 81. After the assembly is completed, the first positioning ball 82 is driven by the first driving member to approach the connecting block 3 and toward the first The first positioning groove 81 moves to abut against the side wall of the first positioning groove 81. Due to the diameter change setting of the first positioning groove 81, the side wall of the first positioning groove 81 is an inclined surface. When the first positioning ball 82 abuts against the side wall of the first positioning groove 81 and continues to move into the first positioning groove 81, the first positioning ball 82 causes the connecting block 3 to move until the circumference of the first positioning ball 82 abuts against the circumference of the first positioning groove 81. At this time, the first positioning groove 81 is coaxial with the first positioning ball 82 and the first positioning ball 82 cannot continue to move, and the connecting block 3 moves to the initial position relative to the intermediate block 41.

[0059] Reference Figure 3-5 As shown, the second positioning structure 9 includes a second positioning groove 91, a second positioning ball 92 and a second driving member. The second positioning groove 91 is provided on a side surface of the intermediate block 41 close to the mounting block 2, and the diameter of the second positioning groove 91 gradually decreases in a direction parallel to the first axis and away from the mounting block 2; the second positioning ball 92 is provided on the mounting block 2 and protrudes into the second positioning groove 91, and the second positioning ball 92 can move along the second axis direction, and can be moved to a gap between the second positioning groove 91 and the side wall or to abut against the side wall of the second positioning groove 91; the second driving member is used to drive the second positioning ball 92 to move to abut against the side wall of the second positioning groove 91, so as to drive the intermediate block 41 to move to an initial position relative to the mounting block 2 through the cooperation of the second positioning ball 92 and the second positioning groove 91.

[0060] Reference Figure 3-5As shown, specifically, one side of the intermediate block 41 close to the mounting block 2 is perpendicular to the first axis, and the second positioning groove 91 is a truncated cone-shaped groove; a second mounting hole 21 for installing the second positioning ball 92 is opened on the mounting block 2, and the second mounting hole 21 is coaxial with the first axis, and the diameter of the second mounting hole 21 is the same as the diameter of the second positioning ball 92. When the intermediate block 41 moves to the initial position relative to the mounting block 2, and the connecting block 3 moves to the initial position relative to the intermediate block 41, the first positioning groove 81, the first positioning ball 82, the second positioning groove 91 and the second positioning ball 92 are all coaxial with the first axis.

[0061] Reference Figure 3-5 As shown, through the above arrangement, the second positioning structure 9 has the same principle as the first positioning structure 8, so that the second positioning structure 9 can drive the intermediate block 41 to move to the initial position relative to the mounting block 2, and the first positioning structure 8 and the second positioning structure 9 cooperate to drive the connecting block 3 to move to the initial position relative to the mounting block 2. At this time, the first positioning groove 81, the first positioning ball 82, the second positioning groove 91 and the second positioning ball 92 are all coaxial with the first axis, realizing the function of resetting the connecting block 3 to ensure the connection accuracy of the execution unit connected to the connecting block 3 and the subsequent components.

[0062] Reference Figure 3-5 As shown, further, when the second driving member drives the second positioning ball 92 to move, the second positioning ball 92 drives the first positioning ball 82 to move through the second driving member. Specifically, the first mounting hole 411 and the second positioning groove 91 are connected through the connecting hole 412, the axis of the connecting hole 412 is parallel to the first axis, and the first driving member includes a driving rod 83 arranged in the connecting hole 412, and the two ends of the driving rod 83 are in contact with the first positioning ball 82 and the second positioning ball 92 respectively. Thus, when the second driving member drives the second positioning ball 92 to move close to the intermediate block 41 and into the second positioning groove 91, the second positioning ball 92 drives the driving rod 83 to move close to the connecting block 3, and the driving rod 83 drives the first positioning ball 82 to move close to the connecting block 3 and into the first positioning groove 81, so as to drive the connecting block 3 to move back to the initial position. In this embodiment, the connecting hole 412 is coaxial with the first mounting hole 411 and the second positioning groove 91, and the diameter of the connecting hole 412 is smaller than the diameter of the first mounting hole 411.

[0063] Reference Figure 3-5As shown, further, since a first intermediate plate 5 and a second intermediate plate 6 are provided between the mounting block 2 and the mounting seat 1, a third positioning structure 10 is provided between the first intermediate plate 5 and the mounting seat 1; the third positioning structure 10 includes a third positioning groove 101, a third positioning ball 102 and a third driving member, the third positioning groove 101 is provided on a side surface of the first intermediate plate 5 close to the mounting seat 1, the third positioning groove 101 and the first axis are spaced apart in a direction perpendicular to the first axis, and the third positioning groove 101 is arranged in a direction perpendicular to the first plane and away from the mounting seat 1 The diameter gradually decreases, and the third positioning ball 102 is arranged on the mounting seat 1 and protrudes into the third positioning groove 101. The third positioning ball 102 can move in a direction perpendicular to the first plane, and can be moved to a gap between it and the side wall of the third positioning groove 101 or to abut against the side wall of the third positioning groove 101. The third driving member is arranged on the mounting seat 1, and is used to drive the third positioning ball 102 to move to abut against the side wall of the third positioning groove 101, so as to drive the mounting block 2 to rotate to the initial position relative to the mounting seat 1 through the cooperation between the third positioning ball 102 and the third positioning groove 101.

[0064] Reference Figure 3-5 As shown, further, a mounting cavity 111 coaxial with the first axis is provided on the main body 11 of the mounting seat 1, and the side of the mounting cavity 111 close to the end cover 12 is set to be open, and the first intermediate plate 5 is located in the mounting cavity 111; and the mounting seat 1 also includes a mounting plate 13 provided in the mounting cavity 111, the mounting plate 13 is perpendicular to the first axis, the mounting plate 13 is fixed to the main body 11 by bolts, and the third positioning ball 102 is installed on the mounting plate 13, and accordingly, a third mounting hole 131 for installing the third positioning ball 102 is provided on the mounting plate 13, the axis of the third mounting hole 131 is parallel to the first axis, and the diameter of the third positioning ball 102 is greater than the thickness of the mounting plate 13.

[0065] Reference Figure 3-5 As shown, further, the second driving member includes a first piston 93, the first piston 93 is arranged in the accommodating cavity and passes through the second intermediate plate 6, the first intermediate plate 5 and the mounting plate 13, the first piston 93 is coaxial with the first axis, and the first piston 93 can move along the first axis, correspondingly, the second intermediate plate 6, the first intermediate plate 5 and the mounting plate 13 are provided with holes for the first piston 93 to move through; the diameter of the second positioning ball 92 is set to be larger than the thickness of the mounting plate 13 along the first axis, and the second mounting hole 21 passes through the mounting block 2, and one end of the first piston 93 is in contact with the second positioning ball 92.

[0066] Reference Figure 3-5As shown, the third driving member includes a second piston 103 arranged in the mounting cavity 111. The second piston 103 is located on the side of the mounting plate 13 away from the first intermediate plate 5. The third mounting hole 131 passes through the mounting plate 13. The second piston 103 contacts the third positioning ball 102 and can move along the first axis direction.

[0067] Reference Figure 3-5 As shown, in order to drive the first piston 93 toward the connecting block 3 and the second piston 103 toward the mounting plate 13, the first piston 93 is connected to the second piston 103, and the second piston 103 is sealed to the side wall of the mounting cavity 111, thereby forming a closed space between the second piston 103 and the bottom wall of the mounting cavity 111 away from the first intermediate plate 5. At the same time, an air hole is provided in the main body 11 of the mounting base 1 to connect to the closed space for connecting to an external ventilation device. The ventilation device is used to ventilate the closed space to drive the second piston 103 and the first piston 93 to move, thereby driving the second positioning ball 92 and the third positioning ball 102 to move, thereby driving the connecting block 3 and the mounting block 2 to return to their initial positions. In this embodiment, the second piston 103 is sealed to the side wall of the mounting cavity 111 by a sealing ring.

[0068] Reference Figure 3-5 As shown, further, in this embodiment, the first positioning ball 82 and the second positioning ball 92 have the same diameter, the third positioning ball 102 has a smaller diameter than the second positioning ball 92, and multiple third positioning balls 102 are provided, and the multiple third positioning balls 102 are spaced circumferentially along the first axis. Correspondingly, multiple third positioning grooves 101 are provided, and the third positioning grooves 101 correspond one-to-one with the third positioning balls 102. The combination of the multiple third positioning balls 102 and the multiple third positioning grooves 101 ensures uniform and stable force on the mounting block 2, improves the stability of the product, and reduces the clearance in the rotational direction, improves precision, and reduces the effort of rotation.

[0069] Reference Figure 3-5 As shown, further, in order to ensure that the first piston 93 drives the second positioning ball 92 to move a distance sufficient to reset the connecting block 3 to its initial position, the first piston 93 is configured to pass through the second piston 103 and be movable relative to the second piston 103 along the first axis direction, and the first piston 93 and the second piston 103 are sealedly connected; specifically, a through hole is provided on the second piston 103 for the first piston 93 to pass through, and the first piston 93 passes through the through hole and is sealedly connected to the side wall of the through hole by a sealing ring, so that when the second piston 103 drives the second positioning ball 92 to move a maximum distance, the first piston 93 can continue to move to drive the second positioning ball 92 to move to the maximum distance, so that the connecting block 3 is reset to its initial position.

[0070] The implementation principle of this embodiment is as follows: when air is not ventilated into the confined space, a gap is left between the first positioning ball 82 and the side wall of the first positioning groove 81, a gap is left between the second positioning ball 92 and the side wall of the second positioning groove 91, and a gap is left between the third positioning ball 102 and the side wall of the third positioning groove 101. The connecting block 3 can move relative to the mounting block 2 in the plane formed by the first direction and the second direction, and the mounting block 2 can rotate around the first axis relative to the mounting seat 1. At this time, the translation error in the direction perpendicular to the insertion direction can be corrected by translating the connecting block 3 in the first plane, and the rotation error in the insertion direction can be corrected by rotating the connecting block 3 around the first axis, thereby realizing multi-directional error correction and compensation. After completing one assembly, air is ventilated into the confined space between the first piston 93, the second piston 103 and the bottom wall of the mounting cavity 111 through the ventilation device to drive The first piston 93 moves close to the middle block 41, and drives the second piston 103 to move close to the mounting plate 13, so that the second positioning ball 92 moves close to the middle block 41, and the third positioning ball 102 moves close to the mounting plate 13. The second positioning ball 92 drives the first positioning ball 82 to move close to the connecting block 3 through the driving rod 83. The first positioning ball 82 and the side wall inclined surface of the first positioning groove 81 cooperate, and the second positioning ball 92 and the side wall inclined surface of the second positioning groove 91 cooperate to drive the connecting block 3 to translate and reset to the initial position. The third positioning ball 102 and the side wall inclined surface of the third positioning groove 101 cooperate to drive the mounting block 2 to rotate around the first axis to the initial position, even if the connecting block 3 rotates and resets to the initial position, and keeps the connecting block 3 in the initial position to ensure the connection accuracy of the execution unit connected to the connecting block 3 and the subsequent components to be assembled, and achieve high-precision positioning.

[0071] In the present application, the translation position adjustment of the connecting block 3 in the first direction and the second direction is achieved through the cooperation of the linear bearing and the guide shaft. The assembly is simple, which can solve the problem of assembling the linear guide error correction device. The gap between the rolling element and the shaft of the linear bearing is very small, and the radial shaking of the connecting block 3 is very small. The entire device has few parts, a wide range of adjustment, a simple structure, and low cost, and can be widely used in the field of automation industry.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An error correction device, characterized in that: include: Mounting seat (1); A mounting block (2) rotatably connected to the mounting seat (1) about a first axis; A connecting block (3) is connected to the mounting block (2) via a connecting structure (4), wherein the connecting structure (4) comprises: an intermediate block (41) disposed between the connecting block (3) and the mounting block (2); - a first connecting assembly (42) connecting the intermediate block (41) and the mounting block (2) and enabling the intermediate block (41) to move relative to the mounting block (2) along a first direction perpendicular to a first axis; - a second connecting assembly (43) connecting the intermediate block (41) and the connecting block (3) and enabling the connecting block (3) to move relative to the intermediate block (41) along a second direction perpendicular to the first axis, wherein the second direction intersects the first direction; The connecting block (3), the intermediate block (41) and the mounting block (2) are distributed along the first axial direction. A first positioning structure (8) is provided between the connecting block (3) and the intermediate block (41). The first positioning structure (8) is used to drive the connecting block (3) to move to an initial position relative to the intermediate block (41) along a second direction. A second positioning structure (9) is provided between the intermediate block (41) and the mounting block (2). The second positioning structure (9) is used to drive the intermediate block (41) to move to an initial position relative to the mounting block (2) along the first direction. The first positioning structure (8) comprises: a first positioning groove (81) provided on a side surface of the connecting block (3) close to the intermediate block (41); the diameter of the first positioning groove (81) gradually decreases along a direction parallel to the first axis and away from the intermediate block (41); a first positioning ball (82) provided on the intermediate block (41) and protruding from the first positioning groove (81); the first positioning ball (82) can move along the first axis and can move to a position where a gap is left between the first positioning groove (81) and the side wall or the first positioning groove (81) and the side wall are in contact with each other; A first driving member is provided on the intermediate block (41) and is used to drive the first positioning ball (82) to move to abut against the side wall of the first positioning groove (81), so as to drive the connecting block (3) to move to an initial position relative to the intermediate block (41) through the cooperation between the first positioning ball (82) and the first positioning groove (81).

2. The error correction device according to claim 1, wherein: The first connecting assembly (42) comprises: two first guide shafts (421) provided on the mounting block (2), the two first guide shafts (421) being parallel to each other and parallel to the first direction; Two first linear bearings (422) are connected to the intermediate block (41), and the two first linear bearings (422) are respectively arranged on the two first guide shafts (421).

3. The error correction device according to claim 1, wherein: The second connecting component (43) comprises: two second guide shafts (431) provided on the connecting block (3), the two second guide shafts (431) being parallel to each other and parallel to the second direction; Two second linear bearings (432) are connected to the intermediate block (41), and the two second linear bearings (432) are respectively arranged on the two second guide shafts (431).

4. The error correction device according to claim 1, wherein: The second positioning structure (9) comprises: a second positioning groove (91) provided on a side surface of the intermediate block (41) close to the mounting block (2); the diameter of the second positioning groove (91) gradually decreases in a direction parallel to the first axis and away from the mounting block (2); a second positioning ball (92) provided on the mounting block (2) and protruding from the second positioning groove (91); the second positioning ball (92) can move along the second axis and can move to a position where a gap is left between the second positioning groove (91) and the side wall, or to abut against the side wall of the second positioning groove (91); A second driving member is used to drive the second positioning ball (92) to move to abut against the side wall of the second positioning groove (91), so as to drive the intermediate block (41) to move to an initial position relative to the mounting block (2) through the cooperation between the second positioning ball (92) and the second positioning groove (91).

5. The error correction device according to claim 4, wherein: When the second driving member drives the second positioning ball (92) to move, the second positioning ball (92) drives the first positioning ball (82) to move through the second driving member.

6. The error correction device according to claim 5, wherein: The intermediate block (41) is provided with a first mounting hole (411) on a side surface close to the connecting block (3) for accommodating the first positioning ball (82), the axis of the first mounting hole (411) is parallel to the first axis, the diameter of the first positioning ball (82) is the same as the diameter of the first mounting hole (411), the first mounting hole (411) is connected to the second positioning groove (91) through a connecting hole (412), the axis of the connecting hole (412) is parallel to the first axis, and the first driving member includes a driving rod (83) arranged in the connecting hole (412), and the two ends of the driving rod (83) are in contact with the first positioning ball (82) and the second positioning ball (92) respectively.

7. The error correction device according to claim 1, wherein: A third positioning structure (10) is provided between the mounting block (2) and the mounting seat (1), and the third positioning structure (10) is used to drive the mounting block (2) to rotate to an initial position relative to the mounting seat (1).

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