Position deviation detection device and method for mechanical operation of mechanical arm

Abstract

The invention relates to the technical field of deviation detection, and discloses a position deviation detection device and method for mechanical operation of a mechanical arm, the position deviation detection device comprises an operation base table and the mechanical arm, a mechanical claw is arranged at the end of the mechanical arm, and gear transmission mechanisms are arranged between the operation base table and the mechanical arm and between the mechanical arm and the mechanical claw. The gear transmission mechanism comprises a transmission box body, and a movable gear and a fixed gear which are meshed with each other are arranged in the transmission box body. According to the device, if intermittent rotation is caused by a wear gap between a fixed gear and a movable gear, a twisting belt is twisted, and the distance between a telescopic ring and a fixed ring is shortened, so that a rectangular sliding frame drives a first boss to transversely slide in a symmetrical groove in an external connecting frame; the movable gear and the fixed gear are driven to be close to each other, and a gap caused by abrasion of the movable gear and the fixed gear is eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of offset detection, and in particular to a position offset detection device and method for mechanical operation of a robot arm. Background Art

[0002] When the robot arm is operating to grab and carry goods, it usually clamps and carries the object from the starting point to the end, and then resets the robot arm to the starting point. During this process, the movement of the robot arm is usually affected by the weight of the goods being carried, resulting in deviations in the robot arm's handling process. That is, it is very easy for the mechanical claw on the robot arm to fail to accurately reach the predetermined position, and fail to accurately grasp the corresponding goods during the next grabbing process. Such problems are usually caused by the following problems that lead to the deviation of the robot arm: The joints of the robotic arm are usually reset by gear meshing transmission or hydraulic transmission during the handling, rotation and resetting process. However, it is easy to cause incomplete resetting during operation, resulting in deviation. For example, two meshing gears will not fit tightly after the robotic arm carries heavy objects, such as wear, which will cause shaking between the two gears due to looseness, wear and other factors, and then there will be deviation problems in the joints of the robotic arm during handling, rotation and resetting. If these shaking gears are not re-engaged tightly, the subsequent grasping operation cannot be accurately performed.

[0003] To this end, we designed a position offset detection device and method for the mechanical operation of a robotic arm. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that two meshing gears may not fit tightly after a robotic arm carries a heavy object, and to propose a position offset detection device and method for the mechanical operation of a robotic arm.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A position offset detection device for the mechanical operation of a robotic arm comprises an operating base and a robotic arm, a robotic claw is provided at the end of the robotic arm, a gear transmission mechanism is provided between the operating base and the robotic arm and between the robotic arm and the robotic claw, the gear transmission mechanism comprises a transmission box body, a movable gear and a fixed gear meshing with each other are provided in the transmission box body, a first arc block and a second arc block that are driven to approach each other are provided between the movable gear and the fixed gear, an external connecting frame is fixedly provided in the transmission box body, and the first arc block and the second arc block slide on the external connecting frame.

[0006] Preferably, a sliding rail is provided on one side of the inner wall of the transmission box body, and a rotating shaft is coaxially sleeved on the movable gear and the fixed gear. The fixed gear is arranged on the inner wall of the transmission box body through the rotating shaft, and the movable gear is slidably positioned on the sliding rail through a pillow block arranged on the rotating shaft.

[0007] Preferably, the surfaces of the movable gear and the fixed gear are coaxially provided with a first annular groove and a second annular groove, respectively, the first arc block and the second arc block are respectively arranged in the first annular groove and the second annular groove, the first arc block and the second arc block are respectively provided with a first boss and a second boss, and the first boss and the second boss are both inserted into the external connecting frame through the slotted hole.

[0008] Preferably, the second boss is limited in the slotted hole by a limiting frame, and the first boss slides in the slotted hole through a rectangular slide and a symmetrical groove, the symmetrical groove is opened in the slotted hole, the rectangular slide is sleeved on the outer side wall of the first boss, and the rectangular slide drives the first boss to move in the symmetrical groove.

[0009] Preferably, the first boss and the second boss are respectively provided with a first friction wheel and a second friction wheel which abut against the first annular groove and the second annular groove, the first friction wheel and the second friction wheel are respectively coaxially provided with a first driving plate and a second driving plate through a connecting rod, a telescopic rod which passes through the first friction wheel and the second friction wheel is fixed between the first driving plate and the second driving plate, and a protective tube coaxial with the telescopic rod is provided between the first boss and the second boss.

[0010] Preferably, the telescopic rod includes a first support rod and a second support rod coaxially fixed to the first drive disk and the second drive disk respectively, an insertion rod is coaxially fixed to the end of the first support rod, and the second support rod is coaxially provided with a limiting hole for sliding of the insertion rod.

[0011] Preferably, a fixed ring mounted on the second support rod is fixed on the second driving disk, a telescopic ring is mounted on the first support rod, and the telescopic ring slides along the axis on the first support rod through a sliding groove and a slider, a torsion band and a compression spring are arranged between the fixed ring and the telescopic ring, two ends of the compression spring are slidably connected to the fixed ring and the telescopic ring, and two ends of the torsion band are fixedly connected to the fixed ring and the telescopic ring.

[0012] Preferably, an end box is also provided in the first boss, and a connecting rod passes through the first driving disk, a truncated cone that can be telescopic along the axis is provided in the end box, one end of the connecting rod is fixed to the truncated cone, and the other end is rotatably connected to the telescopic ring, a connecting tube is provided on the side wall of the end box, and a lifting and lowering rod that abuts against the inclined surface of the truncated cone is provided in the connecting tube.

[0013] Preferably, a bottom groove is provided at the bottom of the symmetrical groove, a stop block extending into the bottom groove is provided at the bottom of the rectangular slide, an oil cavity is provided on the side wall of the bottom groove, and a transverse push plate is provided in the oil cavity to abut against the stop block, the connecting pipe and the oil cavity are connected by a rubber hose, and the oil cavity is filled with oil.

[0014] A method for detecting a position deviation of a mechanical operation of a robot arm, the specific operation steps are as follows: S1: First, the swinging of the robot arm on the operating base and the swinging of the mechanical claw on the robot arm are operated by a mutually meshing gear transmission mechanism, wherein there are two mutually meshing mobile gears and a fixed gear, and the mutually meshing mobile gear and fixed gear complete the transmission of the rotational force. It should be noted that during the movement of the robot arm and the mechanical claw, the mobile gear and the fixed gear need to be continuously meshed and transmitted, which will cause the mobile gear and the fixed gear to wear and loosen, thereby failing to ensure that the corresponding mechanical operation reaches the corresponding position. At this time, the first arc block and the second arc block pull the mobile gear close to the fixed gear to complete the filling of the gap originally caused by wear; S2: The fixed gear as the driving wheel is in a state of continuous rotation, while the mobile gear as the driven wheel rotates under the meshing cooperation of the fixed gear. At this time, the fixed gear and the mobile gear are in a state of synchronous rotation. Therefore, if the mobile gear and the fixed gear are worn and a gap appears, the fixed gear will rotate continuously, while the mobile gear will rotate intermittently due to the existence of the gap. Then, the first friction wheel and the second friction wheel, which are originally located in the first arc block and the second arc block and are in friction contact with the first annular groove and the second annular groove, will also achieve the effect of synchronous rotation when the fixed gear and the mobile gear rotate synchronously, that is, the first friction wheel and the second friction wheel are in a relatively static state; when the fixed gear and the mobile gear rotate intermittently, the continuous rotation of the fixed gear will drive the continuous rotation of the second friction wheel; and the intermittent rotation of the mobile gear will cause the internal first friction wheel to rotate intermittently as well, so the first friction wheel will rotate relative to the second friction wheel; S3: Then, the first friction wheel and the second friction wheel that rotate relative to each other will make the first support rod and the second support rod located therebetween rotate. Since the telescopic ring slides along the axis on the first support rod, the originally straight twisted belt is spirally twisted on the outer wall of the telescopic rod, thereby driving the distance between the telescopic ring and the fixed ring, and pressing the compression spring. At the same time, the connecting rod on the telescopic ring will drive the cone to coaxially telescope. S4: When the frustum is coaxially extended and retracted, it will push the lifting rod to extend and retract in the connecting tube, which will squeeze the oil into the oil chamber through the rubber hose and push the horizontal push plate to move against the block, and finally drive the first boss in the rectangular slide to move together, and finally let the first boss push the moving gear close to the fixed gear through the first arc block, and finally close the gap between the moving gear and the fixed gear. The movement of the moving gear is also detected and judged by the position movement of the pillow block sliding on the sliding rail.

[0015] The beneficial effects of the present invention are: 1. In the present invention, if the fixed gear and the movable gear have intermittent rotation caused by wear gap, it will cause the twisting belt to twist and shorten the distance between the telescopic ring and the fixed ring, so that the rectangular slide drives the first boss to slide horizontally in the symmetrical groove on the peripheral connecting frame, that is, drives the movable gear and the fixed gear to approach each other, that is, eliminates the gap caused by wear between the movable gear and the fixed gear.

[0016] 2. In the present invention, oil is squeezed into the oil chamber through a rubber hose, and pushes the horizontal push plate to move against the block, thereby finally driving the first boss in the rectangular slide to move together, and finally allowing the first boss to push the moving gear close to the fixed gear through the first arc block, thereby finally closing the gap between the moving gear and the fixed gear. The movement of the moving gear is also detected and judged by the position movement of the pillow block sliding on the sliding rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a mechanical platform of a mechanical arm proposed by the present invention; Figure 2 An isometric view of a mechanical table of a mechanical arm proposed by the present invention; Figure 3 A schematic diagram of the structure of a transmission box body in a position deviation detection device for mechanical operation of a robot arm proposed by the present invention; Figure 4 A schematic diagram of the meshing teeth state in a position deviation detection device for mechanical operation of a robot arm proposed by the present invention; Figure 5 for Figure 4 A schematic diagram of the structure enlargement at the center A; Figure 6 A schematic diagram of the structure of a boss in a position deviation detection device for mechanical operation of a robot arm proposed by the present invention; Figure 7 A schematic diagram of the structure of a telescopic rod in a position deviation detection device for mechanical operation of a robot arm proposed by the present invention; Figure 8A schematic diagram of the structure of an external device connection frame in a position deviation detection device for mechanical operation of a robot arm proposed by the present invention; Fig. 9 This is a schematic structural diagram of an end box in a position deviation detection device for mechanical operation of a robot arm proposed by the present invention.

[0018] In the figure: 1, operating base; 2, mechanical claw; 3, mechanical arm; 4, transmission box body; 5, sliding rail; 6, shaft platform; 7, rotating shaft; 8, moving gear; 9, fixed gear; 10, first ring groove; 11, second ring groove; 12, peripheral connecting frame; 13, first arc block; 14, second arc block; 15, first boss; 16, second boss; 17, protective tube; 18, slotted hole; 19, rectangular slide; 20, telescopic rod; 201, first support rod; 202, second support rod; 203, insertion rod; 21. First friction wheel; 22. First drive plate; 23. End box; 24. Telescopic ring; 25. Fixed ring; 26. Second drive plate; 27. Slide groove; 28. Twisted belt; 29. ​​Compression spring; 30. Connecting rod; 31. Cone; 32. Lifting and lowering lever; 33. Limiting frame; 34. Symmetrical groove; 35. Retaining block; 36. Bottom groove; 37. Horizontal push plate; 38. Oil chamber; 39. Rubber hose; 40. Connecting pipe. DETAILED DESCRIPTION

[0019] Reference Figure 1-Figure 9 A position offset detection device for the mechanical operation of a robot arm comprises an operating base 1 and a robot arm 3, a robot claw 2 is provided at the end of the robot arm 3, a gear transmission mechanism is provided between the operating base 1 and the robot arm 3 and between the robot arm 3 and the robot claw 2, it should be noted that the gear transmission mechanism can drive the robot arm 3 to move on the operating base 1, and the robot claw 2 to move on the robot arm 3, wherein the operation of the robot claw 2 and driving the robot arm 3 to move on the operating base 1 are both existing technologies and will not be elaborated on herein.

[0020] Reference Figure 3 State, the gear transmission mechanism includes a transmission box body 4, and the transmission box body 4 is provided with a moving gear 8 and a fixed gear 9 that mesh with each other, wherein the fixed gear 9 is an active driving wheel, and the moving gear 8 is a driven driving wheel, and the moving gear 8 and the fixed gear 9 are both coaxially sleeved with a rotating shaft 7. It should be noted that the rotating shaft 7 on the fixed gear 9 is a driving shaft, which drives the fixed gear 9 to rotate, and the moving gear 8 is meshed with the fixed gear 9. Therefore, the rotation of the rotating shaft 7 on the fixed gear 9 will drive the rotating shaft 7 on the moving gear 8 to rotate, and then the rotating shaft 7 on the moving gear 8 will transmit the rotational force, wherein the transmission method is a prior art and will not be elaborated here.

[0021] The swinging of the robot arm 3 on the operating base 1 and the swinging of the mechanical claw 2 on the robot arm 3 rely on the operation of a mutually meshing gear transmission mechanism, which has two mutually meshing mobile gears 8 and a fixed gear 9, and the mutually meshing mobile gear 8 and fixed gear 9 complete the transmission of rotational force. It should be noted that during the movement of the robot arm 3 and the mechanical claw 2, the mobile gear 8 and the fixed gear 9 need to be continuously meshed and transmitted, which will cause the mobile gear 8 and the fixed gear 9 to wear and loosen, thereby making it impossible to ensure that the corresponding mechanical operation reaches the corresponding position.

[0022] To solve the above problem, do the following: At this time, the first arc block 13 and the second arc block 14 pull the moving gear 8 closer to the fixed gear 9, completing the filling of the gap originally generated by wear.

[0023] Among them, a sliding rail 5 is arranged on one side of the inner wall of the transmission box body 4, a fixed gear 9 is arranged on the inner wall of the transmission box body 4 through a rotating shaft 7, and a moving gear 8 is slid and positioned on the sliding rail 5 through a pillow block 6 arranged on the rotating shaft 7. Therefore, the movement of the moving gear 8 is also detected and judged by the position movement of the pillow block 6 sliding on the sliding rail 5, and the displacement detection device for monitoring the position change of the pillow block 6 sliding on the sliding rail 5 is a prior art and will not be elaborated here. The displacement detection device is used to detect the movement of the pillow block 6, and the movement of the pillow block 6 represents that the position deviation of the mechanical operation of the robot arm is caused by the wear between the moving gear 8 and the fixed gear 9.

[0024] An external connecting frame 12 is fixedly provided in the transmission box body 4, and the first arc block 13 and the second arc block 14 slide on the external connecting frame 12. The surfaces of the mobile gear 8 and the fixed gear 9 are coaxially provided with the first annular groove 10 and the second annular groove 11, respectively. The first arc block 13 and the second arc block 14 that drive the mobile gear 8 and the fixed gear 9 to approach each other are provided between the mobile gear 8 and the fixed gear 9. The first arc block 13 and the second arc block 14 are respectively arranged in the first annular groove 10 and the second annular groove 11, so that when the mobile gear 8 and the fixed gear 9 are rotating, the first arc block 13 and the second arc block 14 will be in the first annular groove 10 and the second annular groove 11, that is, the rotation of the mobile gear 8 and the fixed gear 9 will not affect the first arc block 13 and the second arc block 14.

[0025] Reference Figure 5In this state, the surfaces of the movable gear 8 and the fixed gear 9 are coaxially provided with a first annular groove 10 and a second annular groove 11, respectively, the first arc block 13 and the second arc block 14 are respectively arranged in the first annular groove 10 and the second annular groove 11, the first arc block 13 and the second arc block 14 are respectively provided with a first boss 15 and a second boss 16, and the first boss 15 and the second boss 16 are both inserted into the external connecting frame 12 through the slotted hole 18, the first boss 15 drives the first arc block 13 to slide horizontally on the external connecting frame 12, and the second boss 16 is upper-limited and stationary on the external connecting frame 12.

[0026] Reference Figure 8 State, the second boss 16 is limited in the slotted hole 18 by the limiting frame 33, the first boss 15 slides in the slotted hole 18 through the rectangular slide 19 and the symmetrical groove 34, the symmetrical groove 34 is opened in the slotted hole 18, the rectangular slide 19 is sleeved on the outer side wall of the first boss 15, and the rectangular slide 19 drives the first boss 15 to move in the symmetrical groove 34. It should be noted that such an arrangement can ensure that the second boss 16 is stationary on the external connecting frame 12, and the rectangular slide 19 drives the first boss 15 to slide horizontally in the symmetrical groove 34 on the external connecting frame 12, that is, drives the moving gear 8 and the fixed gear 9 to approach each other.

[0027] The fixed gear 9 serves as a driving wheel and is in a state of continuous rotation, while the mobile gear 8 serves as a driven wheel and rotates under the meshing cooperation of the fixed gear 9. At this time, the fixed gear 9 and the mobile gear 8 are in a state of synchronous rotation. Therefore, if there is a gap due to wear between the mobile gear 8 and the fixed gear 9, the fixed gear 9 will continue to rotate, while the mobile gear 8 will rotate intermittently due to the existence of the gap.

[0028] A protective tube 17 coaxial with the telescopic rod 20 is provided between the first boss 15 and the second boss 16, wherein the first friction wheel 21 and the second friction wheel abutting against the first annular groove 10 and the second annular groove 11 are respectively provided in the first boss 15 and the second boss 16. The first friction wheel 21 and the second friction wheel originally located in the first arc block 13 and the second arc block 14 and frictionally contacting with the first annular groove 10 and the second annular groove 11 also achieve the effect of synchronous rotation when the fixed gear 9 and the moving gear 8 are synchronously rotating, that is, the first friction wheel 21 and the second friction wheel are in a relatively static state; When the fixed gear 9 and the movable gear 8 rotate intermittently, the continuous rotation of the fixed gear 9 will drive the continuous rotation of the second friction wheel; and the intermittent rotation of the movable gear 8 will cause the internal first friction wheel 21 to rotate intermittently as well, so the first friction wheel 21 will rotate relative to the second friction wheel.

[0029] The first friction wheel 21 and the second friction wheel are coaxially provided with a first driving disk 22 and a second driving disk 26 respectively through a connecting rod, so that the rotation of the first friction wheel 21 and the second friction wheel is transmitted to the corresponding first driving disk 22 and the second driving disk 26 .

[0030] A telescopic rod 20 is fixed between the first drive disc 22 and the second drive disc 26, penetrating the first friction wheel 21 and the second friction wheel. Figure 7 In this state, the telescopic rod 20 includes a first support rod 201 and a second support rod 202 coaxially fixed to the first drive disk 22 and the second drive disk 26 respectively, an insertion rod 203 is coaxially fixed to the end of the first support rod 201, and the second support rod 202 is coaxially provided with a limiting hole for the sliding of the insertion rod 203. Therefore, the rotation of the first drive disk 22 drives the first support rod 201 to rotate, and the second drive disk 26 drives the second support rod 202 to rotate, wherein the first friction wheel 21 and the second friction wheel that rotate relative to each other will allow the first support rod 201 and the second support rod 202 located therebetween to rotate.

[0031] As wear gaps appear between the fixed gear 9 and the movable gear 8, and intermittent rotation occurs, the first friction wheel 21 and the second friction wheel are driven to rotate asynchronously, that is, the first drive disk 22 and the second drive disk 26 rotate asynchronously. Since the telescopic ring 24 slides along the axis on the first support rod 201, a fixed ring 25 sleeved on the second support rod 202 is fixed on the second drive disk 26, and the first support rod 201 is sleeved with a telescopic ring 24, and the telescopic ring 24 slides along the axis on the first support rod 201 through a slide groove 27 and a slider, wherein a twisting band 28 and a compression spring 29 are arranged between the fixed ring 25 and the telescopic ring 24. Therefore, when the first drive disk 22 and the second drive disk 26 rotate asynchronously, relative rotation will occur between the telescopic ring 24 and the fixed ring 25, so that the twisting band 28 fixed between the telescopic ring 24 and the fixed ring 25 is twisted.

[0032] The two ends of the compression spring 29 are slidably connected to the fixed ring 25 and the telescopic ring 24, and the two ends of the twisting band 28 are fixedly connected to the fixed ring 25 and the telescopic ring 24. Therefore, the originally straight twisting band 28 is spirally twisted on the outer wall of the telescopic rod 20, thereby driving the distance between the telescopic ring 24 and the fixed ring 25 and pressing the compression spring 29.

[0033] That is, if the fixed gear 9 and the movable gear 8 have intermittent rotation caused by wear clearance, the twisting belt 28 will be twisted and the distance between the telescopic ring 24 and the fixed ring 25 will be shortened.

[0034] An end box 23 is also provided in the first boss 15, and a connecting rod 30 passes through the first driving disk 22. A truncated cone 31 that can be extended and retracted along the axis is provided in the end box 23. Due to the distance between the telescopic ring 24 and the fixed ring 25, and the compression spring 29 is pressed, the connecting rod 30 on the telescopic ring 24 will drive the truncated cone 31 to extend and retract coaxially, thereby driving the truncated cone 31 in the end box 23 to move.

[0035] One end of the connecting rod 30 is fixed to the frustum 31, and the other end is rotatably connected to the telescopic ring 24. A connecting tube 40 is provided on the side wall of the end box 23, and a lifting and lowering rod 32 is provided in the connecting tube 40 to abut against the inclined surface of the frustum 31. When the frustum 31 is coaxially extended and retracted, the lifting and lowering rod 32 is pushed to extend and retract in the connecting tube 40.

[0036] Reference Figure 8 State, a bottom groove 36 is opened at the bottom of the symmetrical groove 34, a stop block 35 extending into the bottom groove 36 is opened at the bottom of the rectangular slide 19, an oil chamber 38 is opened on the side wall of the bottom groove 36, and a transverse push plate 37 is arranged in the oil chamber 38 to abut against the stop block 35, the connecting pipe 40 is connected to the oil chamber 38 by a rubber hose 39, and the oil chamber 38 is filled with oil.

[0037] This will squeeze the oil into the oil chamber 38 through the rubber hose 39, and push the horizontal push plate 37 to move against the block 35, ultimately driving the first boss 15 in the rectangular slide 19 to move together, and finally allowing the first boss 15 to push the moving gear 8 close to the fixed gear 9 through the first arc block 13, ultimately achieving the effect of closing the gap between the moving gear 8 and the fixed gear 9, and the movement of the moving gear 8 is also detected and judged by the position movement of the pillow block 6 sliding on the sliding rail 5.

[0038] The working principle of the present invention is as follows: S1: First, the swinging of the robot arm 3 on the operating base 1 and the swinging of the mechanical claw 2 on the robot arm 3 are operated by a mutually meshing gear transmission mechanism, wherein there are two mutually meshing mobile gears 8 and a fixed gear 9, and the mutually meshing mobile gear 8 and the fixed gear 9 complete the transmission of the rotational force. It should be noted that during the movement of the robot arm 3 and the mechanical claw 2, the mobile gear 8 and the fixed gear 9 need to be continuously meshed and transmitted, which will cause the mobile gear 8 and the fixed gear 9 to wear and loosen, thereby failing to ensure that the corresponding mechanical operation reaches the corresponding position. At this time, the first arc block 13 and the second arc block 14 pull the mobile gear 8 close to the fixed gear 9 to complete the filling of the gap originally caused by wear; S2: The fixed gear 9 as the driving wheel is in a state of continuous rotation, while the mobile gear 8 as the driven wheel will rotate under the meshing cooperation of the fixed gear 9. At this time, the fixed gear 9 and the mobile gear 8 are in a state of synchronous rotation. Therefore, if there is a gap between the mobile gear 8 and the fixed gear 9 due to wear, the fixed gear 9 will rotate continuously, while the mobile gear 8 will rotate intermittently due to the existence of the gap. Then, the first friction wheel 21 and the second friction wheel originally located in the first arc block 13 and the second arc block 14 and frictionally connected with the first annular groove 10 and the second annular groove 11 will also achieve the effect of synchronous rotation when the fixed gear 9 and the mobile gear 8 are in synchronous rotation, that is, the first friction wheel 21 and the second friction wheel are in a relatively static state; when the fixed gear 9 and the mobile gear 8 rotate intermittently, the continuous rotation of the fixed gear 9 will drive the continuous rotation of the second friction wheel; and the intermittent rotation of the mobile gear 8 will cause the internal first friction wheel 21 to rotate intermittently as well, so the first friction wheel 21 will rotate relative to the second friction wheel; S3: Then, the first friction wheel 21 and the second friction wheel that rotate relative to each other will make the first support rod 201 and the second support rod 202 located therebetween rotate. Since the telescopic ring 24 slides along the axis on the first support rod 201, the originally straight twisted belt 28 is twisted spirally on the outer wall of the telescopic rod 20, thereby driving the distance between the telescopic ring 24 and the fixed ring 25, and pressing the compression spring 29, and at the same time, the connecting rod 30 on the telescopic ring 24 will drive the truncated cone 31 to coaxially extend and retract. S4: When the frustum 31 is coaxially extended and retracted, the lifting and lowering rod 32 is pushed to extend and retract in the connecting tube 40, which squeezes the oil into the oil chamber 38 through the rubber hose 39 and pushes the transverse push plate 37 to move against the stop block 35, and finally drives the first boss 15 in the rectangular slide 19 to move together, and finally allows the first boss 15 to push the moving gear 8 to approach the fixed gear 9 through the first arc block 13, and finally closes the gap between the moving gear 8 and the fixed gear 9. The movement of the moving gear 8 is also detected and judged by the position movement of the pillow block 6 sliding on the sliding rail 5.

[0039] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A position deviation detection device for mechanical operation of a robot arm, comprising an operation base (1) and a robot arm (3), wherein a mechanical claw (2) is provided at the end of the robot arm (3), characterized in that: A gear transmission mechanism is provided between the operating base (1) and the mechanical arm (3) and between the mechanical arm (3) and the mechanical claw (2), the gear transmission mechanism comprising a transmission box body (4), wherein a movable gear (8) and a fixed gear (9) meshing with each other are provided in the transmission box body (4), a first arc block (13) and a second arc block (14) driven to approach each other are provided between the movable gear (8) and the fixed gear (9), an external connecting frame (12) is fixedly provided in the transmission box body (4), and the first arc block (13) and the second arc block (14) slide on the external connecting frame (12).

2. The position deviation detection device for mechanical operation of a robot arm according to claim 1, characterized in that: A sliding rail (5) is provided on one side of the inner wall of the transmission box body (4); a rotating shaft (7) is coaxially sleeved on the movable gear (8) and the fixed gear (9); the fixed gear (9) is arranged on the inner wall of the transmission box body (4) via the rotating shaft (7); and the movable gear (8) is slidably positioned on the sliding rail (5) via a pillow block (6) arranged on the rotating shaft (7).

3. The position deviation detection device for mechanical operation of a robot arm according to claim 2, characterized in that: The surfaces of the movable gear (8) and the fixed gear (9) are coaxially provided with a first annular groove (10) and a second annular groove (11), respectively; the first arc block (13) and the second arc block (14) are respectively arranged in the first annular groove (10) and the second annular groove (11); the first arc block (13) and the second arc block (14) are respectively provided with a first boss (15) and a second boss (16), and the first boss (15) and the second boss (16) are both inserted into the external device connection frame (12) through the slotted hole (18).

4. The position deviation detection device for mechanical operation of a robot arm according to claim 3, characterized in that: The second boss (16) is limited in position in the slotted hole (18) by a limiting frame (33); the first boss (15) slides in the slotted hole (18) through a rectangular slide (19) and a symmetrical groove (34); the symmetrical groove (34) is formed in the slotted hole (18); the rectangular slide (19) is sleeved on an outer side wall of the first boss (15); and the rectangular slide (19) drives the first boss (15) to move in the symmetrical groove (34).

5. The position deviation detection device for mechanical operation of a robot arm according to claim 4, characterized in that: A first friction wheel (21) and a second friction wheel abutting against the first annular groove (10) and the second annular groove (11) are respectively arranged in the first boss (15) and the second boss (16); a first drive disc (22) and a second drive disc (26) are respectively coaxially arranged on the first friction wheel (21) and the second friction wheel via a connecting rod; a telescopic rod (20) penetrating the first friction wheel (21) and the second friction wheel is fixed between the first drive disc (22) and the second drive disc (26); and a protective tube (17) coaxial with the telescopic rod (20) is arranged between the first boss (15) and the second boss (16).

6. The position deviation detection device for mechanical operation of a robot arm according to claim 5, characterized in that: The telescopic rod (20) comprises a first support rod (201) and a second support rod (202) which are coaxially fixed to the first drive disk (22) and the second drive disk (26), respectively; an insertion rod (203) is coaxially fixed to the end of the first support rod (201); and a limiting hole for sliding of the insertion rod (203) is coaxially provided on the second support rod (202).

7. The position deviation detection device for mechanical operation of a robot arm according to claim 6, characterized in that: A fixed ring (25) sleeved on the second support rod (202) is fixed on the second driving disk (26); a telescopic ring (24) is sleeved on the first support rod (201), and the telescopic ring (24) slides along the axis on the first support rod (201) through a sliding groove (27) and a sliding block; a twisting belt (28) and a compression spring (29) are provided between the fixed ring (25) and the telescopic ring (24); two ends of the compression spring (29) are slidably connected to the fixed ring (25) and the telescopic ring (24), and two ends of the twisting belt (28) are fixedly connected to the fixed ring (25) and the telescopic ring (24).

8. The position deviation detection device for mechanical operation of a robot arm according to claim 7, characterized in that: An end box (23) is also provided in the first boss (15), and a connecting rod (30) passes through the first driving disk (22). A truncated cone (31) that is telescopic along the axis is provided in the end box (23), one end of the connecting rod (30) is fixed to the truncated cone (31), and the other end is rotatably connected to the telescopic ring (24). A connecting tube (40) is provided on the side wall of the end box (23), and a lifting and lowering rod (32) that abuts against the inclined surface of the truncated cone (31) is provided in the connecting tube (40).

9. The position deviation detection device for mechanical operation of a robot arm according to claim 8, characterized in that: A bottom groove (36) is formed at the bottom of the symmetrical groove (34); a stopper (35) extending into the bottom groove (36) is formed at the bottom of the rectangular slide (19); an oil chamber (38) is formed on the side wall of the bottom groove (36); a transverse push plate (37) abutting against the stopper (35) is formed in the oil chamber (38); the connecting pipe (40) is connected to the oil chamber (38) via a rubber hose (39); and the oil chamber (38) is filled with oil.

10. A method for detecting a position deviation of a mechanical operation of a robot arm, applied to a position deviation detecting device of a mechanical operation of a robot arm in claim 9, characterized in that: The specific steps are as follows: S1: First, the swinging of the robot arm (3) on the operating base (1) and the swinging of the robot claw (2) on the robot arm (3) are operated by a gear transmission mechanism that meshes with each other, wherein there are two mutually meshing mobile gears (8) and a fixed gear (9), and the mutually meshing mobile gear (8) and the fixed gear (9) complete the transmission of the rotational force. It should be noted that during the movement of the robot arm (3) and the robot claw (2), the mobile gear (8) and the fixed gear (9) need to be continuously meshed and transmitted, which will cause the mobile gear (8) and the fixed gear (9) to wear and loosen, thereby failing to ensure that the corresponding mechanical operation reaches the corresponding position. At this time, the first arc block (13) and the second arc block (14) pull the mobile gear (8) close to the fixed gear (9) to complete the filling of the gap originally caused by wear; S2: The fixed gear (9) as the driving wheel is in a state of continuous rotation, while the mobile gear (8) as the driven wheel rotates in meshing cooperation with the fixed gear (9). At this time, the fixed gear (9) and the mobile gear (8) are in a state of synchronous rotation. Therefore, if the mobile gear (8) and the fixed gear (9) are worn and a gap appears, the fixed gear (9) will continue to rotate, while the mobile gear (8) will rotate intermittently due to the existence of the gap. Then, the first arc block (13) and the second arc block (14) are originally located in the first annular groove (10) and the second annular groove (10). 1) The first friction wheel (21) and the second friction wheel which are frictionally connected to each other also achieve the effect of synchronous rotation when the fixed gear (9) and the movable gear (8) rotate synchronously, that is, the first friction wheel (21) and the second friction wheel are in a relatively static state; when the fixed gear (9) and the movable gear (8) rotate intermittently, that is, the continuous rotation of the fixed gear (9) drives the continuous rotation of the second friction wheel; and the intermittent rotation of the movable gear (8) causes the first friction wheel (21) inside to rotate intermittently as well, so that the first friction wheel (21) and the second friction wheel rotate relative to each other; S3: Then, the first friction wheel (21) and the second friction wheel that rotate relative to each other will cause the first support rod (201) and the second support rod (202) located therebetween to rotate. Since the telescopic ring (24) slides along the axis on the first support rod (201), the originally straight twisted belt (28) is twisted spirally on the outer wall of the telescopic rod (20), thereby driving the distance between the telescopic ring (24) and the fixed ring (25), and pressing the compression spring (29). At the same time, the connecting rod (30) on the telescopic ring (24) will drive the cone (31) to coaxially telescope. S4: When the cone (31) is coaxially extended and retracted, the lifting and lowering rod (32) is pushed to extend and retract in the connecting tube (40), which squeezes the oil into the oil chamber (38) through the rubber hose (39) and pushes the lateral push plate (37) to move against the stop block (35), thereby finally driving the first boss (15) in the rectangular slide (19) to move together, and finally allowing the first boss (15) to push the moving gear (8) to approach the fixed gear (9) through the first arc block (13), thereby finally closing the gap between the moving gear (8) and the fixed gear (9), and the movement of the moving gear (8) is also detected and judged by the position movement of the shaft table (6) sliding on the sliding rail (5).

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