Floating mechanism installed between six-axis mechanical arm and electric clamping jaw and used for compensating in X-axis direction and Y-axis direction
By installing a floating mechanism between the six-axis robotic arm and the electric gripper, and using sliding components and spring studs for real-time compensation, the problem of insufficient correction accuracy of the robotic arm in the prior art is solved, achieving high-precision stability and low-cost production assurance.
Patent Information
- Application Number
- CN202423272270.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-12-09
- Estimated Expiration
- 2034-12-30
AI Technical Summary
The existing six-axis robotic arm's correction method, which relies on end-effector force sensors, suffers from limited accuracy, susceptibility to environmental interference, high maintenance costs, and susceptibility to damage.
Design a floating mechanism installed between a six-axis robotic arm and an electric gripper. Employ sliding components and spring studs to adjust the XY axis movement compensation in real time. Utilize common spring steel and engineering plastic materials to simplify the structure and reduce costs.
It achieves precise correction during the movement of the robotic arm along the X and Y axes, improving the stability and reliability of the system, reducing raw material costs, and extending service life.
Smart Images
Figure CN223643736U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotic arm technology, and more particularly to a floating mechanism for XY axis direction compensation installed between a six-axis robotic arm and an electric gripper. Background Technology
[0002] In actual operation of loading and unloading materials, six-axis robotic arms often produce certain errors due to various factors. For example, in high-precision manufacturing environments, the motion accuracy requirements of six-axis robotic arms are extremely high. Even a small error may have an adverse effect on product quality and production efficiency.
[0003] Existing correction methods rely on force sensors at the end of the robotic arm to adjust its movements in real time based on the torque feedback transmitted from the end. However, this correction method has limitations in accuracy, is susceptible to environmental interference, and its own accuracy is difficult to guarantee. Furthermore, because it is fixed to the end of the robotic arm, it is prone to damage, has high maintenance costs, and suffers from data processing delays. Utility Model Content
[0004] To address the shortcomings of existing technologies, this application provides a floating mechanism for XY axis compensation installed between a six-axis robotic arm and an electric gripper. This mechanism overcomes the deficiencies of existing technologies and aims to solve the problem that existing correction methods rely on force sensors at the end of the robotic arm to adjust the arm's movements in real time based on the torque feedback transmitted from the end. However, this correction method has limited accuracy, is susceptible to environmental interference, and its own accuracy is difficult to guarantee. Furthermore, because it is fixed to the end of the robotic arm, it is prone to damage, has high maintenance costs, and suffers from data processing delays.
[0005] To achieve the above objectives, this application provides the following technical solution: a floating mechanism for XY axis direction compensation installed between a six-axis robotic arm and an electric gripper, comprising two sets of sliding components. Each set of sliding components includes a slide table one and a slide table two. The two sets of sliding components are fixedly installed vertically and are arranged vertically between each other. Slide table one is slidably connected above slide table two, and adjacent slide tables one and two are fixedly connected. Two sets of sliders are provided at the bottom of slide table one, and a sliding groove is provided at the top of slide table two. The sliders are all slidably connected inside the slide grooves. Each of the two sets of sliding components has a fixing member on one side. Both sets of fixing members are fixedly connected to one side of the first slide. Each of the two sets of fixing members has a mounting groove at its bottom. A top block is installed inside the mounting groove. The top block is fixedly connected to the second slide. Each of the two sets of fixing members has two sets of mounting holes on both sides of its bottom. Spring studs are fixedly installed inside the two sets of mounting holes. Each of the two sets of top blocks has a contact groove on both sides. One end of each set of spring studs abuts against the contact groove.
[0006] By adopting the above technical solution and setting up sliding components, the device can perform real-time movement compensation when the system is in operation. This compensation function is extremely important, as it ensures timely correction of any deviations that may occur during the movement of the robotic arm along the X and Y axes. Whether the movement error is caused by minor external environmental disturbances or unavoidable internal factors, the mechanism can react quickly. At the instant the robotic arm begins to move along the X and Y axes, the two sets of sliding components slide smoothly along a preset trajectory. Simultaneously, the two sets of spring studs adjust their elastic deformation in real time according to the movement of the slide and the various forces acting on it. This dynamic adjustment process allows the mechanism to always maintain its optimal working state, achieving precise correction during X and Y axis movement, thereby ensuring the stability and reliability of the entire system and providing strong support for various high-precision production and operational tasks.
[0007] As a preferred technical solution of this application, the spring stud is made of ordinary spring steel, and the fixing member and the top block are made of engineering plastic.
[0008] By adopting the above technical solution, and by setting the material of the spring stud to ordinary spring steel, and the material of the fixing parts and the top block to engineering plastic, the design of the mechanism is relatively simple, with less need for special and expensive materials. The use of relatively low-cost materials saves a lot of costs in raw material procurement. The overall raw material cost may be reduced by 30% to 50% compared with similar complex mechanisms.
[0009] As a preferred technical solution of this application, the surfaces of the two sets of grooves and the bottoms of the four sets of sliders are all provided with a wear-resistant coating.
[0010] By adopting the above technical solution, the service life during long-term use can be further improved by setting a wear-resistant coating. At the same time, the mutual friction between the coatings during sliding can make the sliding process more linear, further improving the practicality of the mechanism.
[0011] As a preferred technical solution of this application, the top of the first slide at the top is the end-of-arm connection surface of the robot arm, the bottom surface of the second slide at the bottom is the gripper connection surface, the top of the first slide is provided with four sets of fixing pads, and the bottom of the second slide is provided with multiple sets of threaded holes and through holes.
[0012] By adopting the above technical solution and setting threaded holes and through holes, it is more convenient to fix the robotic arm and gripper together, enabling rapid installation and improving practicality.
[0013] As a preferred technical solution of this application, each of the four sets of spring studs is provided with a contact at one end, and the contact is provided with an anti-slip pad on the outside.
[0014] By adopting the above technical solution and setting anti-slip pads, the connection between the contact and the contact groove can be more stable and fit better during use, and it can also further reduce wear.
[0015] As a preferred technical solution of this application, the size and position of the contact head are matched with the size of the contact groove, and the size of the sliding groove is matched with the size of the two sets of sliders.
[0016] By adopting the above technical solution, and by matching the size and position of the contact with the size of the contact groove, the mutual movement of the contact with the contact groove can be made more stable. The size of the sliding groove is matched with the size of the two sets of sliders, which can ensure the stability of the sliding.
[0017] The beneficial effects of this application are:
[0018] 1. By incorporating sliding components, this device enables real-time movement compensation during system operation. This compensation function is crucial, ensuring timely correction of any deviations that may occur during the robot arm's XY-axis movement. Whether the movement error is caused by minor external environmental disturbances or unavoidable internal factors, the mechanism reacts rapidly. The moment the robot arm begins its XY-axis movement, the two sets of sliding components slide smoothly along a preset trajectory. Simultaneously, the two sets of spring studs adjust their elastic deformation in real-time according to the slide's movement and the applied forces. This dynamic adjustment process allows the mechanism to maintain optimal operating conditions, achieving precise correction during XY-axis movement. This ensures the stability and reliability of the entire system, providing strong support for various high-precision production and operational tasks.
[0019] 2. By setting the spring stud to be made of ordinary spring steel and the fasteners and top block to be made of engineering plastics, the design of this mechanism is relatively simple, with less need for special and expensive materials. The use of relatively low-cost materials saves a lot of costs in raw material procurement. The overall raw material cost may be reduced by 30% to 50% compared with similar complex mechanisms. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the overall structure of this application;
[0021] Figure 2 This is a schematic diagram of the top structure of the sliding component in this application;
[0022] Figure 3 This is a schematic diagram of the bottom structure of the sliding component in this application;
[0023] Figure 4 This is a schematic diagram of the fastener structure of this application.
[0024] In the diagram: 1. Sliding assembly; 101. Slide table one; 102. Slide table two; 103. Slide groove; 104. Slider; 105. Fixing pad; 106. Threaded hole; 107. Through hole; 2. Fixing component; 201. Mounting hole; 202. Mounting groove; 3. Spring stud; 301. Contact; 302. Anti-slip pad; 4. Top block; 401. Contact groove. Detailed Implementation
[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0026] Reference Figure 1-4 A floating mechanism for XY axis compensation, installed between a six-axis robotic arm and an electric gripper, includes two sets of sliding components 1. Each set of sliding components 1 includes a first slide 101 and a second slide 102. The two sets of sliding components 1 are fixedly installed vertically and are arranged in a vertical direction. The first slide 101 is slidably connected above the second slide 102, and adjacent first slides 101 and second slides 102 are fixedly connected. Two sets of sliders 104 are provided at the bottom of the first slide 101, and a groove 103 is provided at the top of the second slide 102. Both sets of sliders 104 slide... The sliding components 1 and 2 are connected to the inside of the slide groove 103. Each side of one of the two sets of sliding components 1 is provided with a fixing member 2, which is fixedly connected to one side of the slide table 101. The bottom of each fixing member 2 has a mounting groove 202, and a top block 4 is installed inside the mounting groove 202. The top block 4 is fixedly connected to the slide table 102. Two sets of mounting holes 201 are provided on both sides of the bottom of the fixing member 2, and spring studs 3 are fixedly installed inside each of the mounting holes 201. Contact grooves 401 are provided on both sides of each top block 4, and one end of each spring stud 3 abuts against the contact groove 401. The surfaces of the two sets of slide grooves 103 and the bottoms of the four sets of sliders 104 are all coated with a wear-resistant coating.
[0027] By incorporating sliding components 1, the device can perform real-time movement compensation during system operation. This compensation function is crucial, ensuring timely correction of any deviations that may occur during the XY-axis movement of the robotic arm. Whether the movement error is caused by minor external environmental disturbances or unavoidable internal factors, the mechanism reacts quickly. At the moment the robotic arm begins its XY-axis movement, the two sets of sliding components 1 slide smoothly along a preset trajectory. Simultaneously, the two sets of spring studs 3 adjust their elastic deformation in real-time according to the movement of the slide and the various forces acting on it. This dynamic adjustment process ensures the mechanism remains in optimal working condition, achieving precise correction during XY-axis movement, thus guaranteeing the stability and reliability of the entire system and providing strong support for various high-precision production and operational tasks. The addition of a wear-resistant coating further extends the service life over long-term use. Furthermore, the mutual wear between the coatings during sliding makes the sliding process more linear, further enhancing the mechanism's practicality.
[0028] Reference Figure 1 The spring stud 3 is made of ordinary spring steel, while the fixing part 2 and the top block 4 are made of engineering plastic. The top of the slide table 101 at the top is the end-effector connection surface of the robotic arm, and the bottom of the slide table 102 at the bottom is the gripper connection surface. The top of the slide table 101 has four sets of fixing pads 105, and the bottom of the slide table 102 has multiple sets of threaded holes 106 and through holes 107. The size and position of the contact 301 match the size of the contact groove 401, and the size of the groove 103 matches the size of the two sets of sliders 104. By setting the spring stud 3 to be made of ordinary spring steel and the fixing part 2 and the top block 4 to be made of engineering plastic, this mechanism design... It is relatively simple, requires fewer special and expensive materials, and uses relatively low-cost materials, saving a lot of costs in raw material procurement. The overall raw material cost may be 30% to 50% lower than that of similar complex mechanisms. By setting threaded holes 106 and through holes 107, it is easier to fix with the robotic arm and gripper, enabling quick installation and improving practicality. By matching the size and position of the contact 301 with the size of the contact groove 401, the mutual movement of the contact 301 and the contact groove 401 can be more stable. The size of the slide groove 103 matches the size of the two sets of sliders 104, which can ensure the stability of sliding.
[0029] Reference Figure 1 Each of the four sets of spring studs 3 has a contact 301 at one end, and an anti-slip pad 302 is provided on the outside of the contact 301. By providing the anti-slip pad 302, the connection between the contact 301 and the contact groove 401 can be made more stable and fit better during use, and it can also further reduce wear.
[0030] Working principle: By setting up sliding component 1, when the system is in operation, the device can perform real-time movement compensation. This compensation function is extremely important, as it can ensure that any deviations that may occur are corrected in a timely manner during the movement of the robotic arm along the XY axis. Regardless of whether the movement error is caused by minor external environmental disturbances or unavoidable internal factors, this mechanism can react quickly. The moment the robotic arm begins to move along the XY axis, the two sets of sliding components 1 will slide smoothly according to the preset trajectory. At the same time, the two sets of spring studs 3 will adjust their elastic deformation in real time according to the movement state of the slide and the various forces acting on it. This dynamic adjustment process allows the mechanism to always maintain the optimal working state and achieve precise correction during XY axis movement, thereby ensuring the stability and reliability of the entire system and providing strong support for various high-precision production and operation tasks. By setting the material of the spring studs 3 to ordinary spring steel and the materials of the fixing parts 2 and the top block 4 to engineering plastics, the design of this mechanism is relatively simple, with fewer requirements for special and expensive materials. The use of relatively low-cost materials saves a lot of costs in raw material procurement. The overall raw material cost may be reduced by 30% to 50% compared with similar complex mechanisms.
[0031] Among them, the wear-resistant coating can further improve the service life during long-term use. At the same time, the mutual friction between the coatings during sliding can make the sliding process more linear, further improving the practicality of the mechanism. The threaded hole 106 and the through hole 107 make it easier to fix with the robotic arm and gripper, enabling quick installation and improving practicality.
[0032] Meanwhile, by setting the anti-slip pad 302, the connection between the contact 301 and the contact groove 401 can be more stable and fit better during use, and it can also further reduce wear.
[0033] In addition, by matching the size and position of the contact 301 with the size of the contact groove 401, the relative movement of the contact 301 and the contact groove 401 can be made more stable. The size of the slide groove 103 is matched with the size of the two sets of sliders 104, which can ensure the stability of the sliding.
[0034] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A floating mechanism for XY axis compensation, installed between a six-axis robotic arm and an electric gripper, characterized in that, The system includes two sets of sliding components (1), each set of which includes a slide table one (101) and a slide table two (102). The two sets of sliding components (1) are fixedly installed vertically and are arranged in a vertical direction. The slide table one (101) is slidably connected above the slide table two (102), and adjacent slide tables one (101) and slide tables two (102) are fixedly connected. The bottom of the slide table one (101) is provided with two sets of sliders (104), and the top of the slide table two (102) is provided with a groove (103). Both sets of sliders (104) are slidably connected inside the groove (103). One side of component (1) is provided with a fixing component (2), and both sets of fixing components (2) are fixedly connected to one side of the first slide (101). The bottom of both sets of fixing components (2) is provided with an installation groove (202). A top block (4) is installed inside the installation groove (202). The top block (4) is fixedly connected to the second slide (102). Two sets of installation holes (201) are provided on both sides of the bottom of the fixing component (2). Spring studs (3) are fixedly installed inside the two sets of installation holes (201). Touch grooves (401) are provided on both sides of the two sets of top blocks (4). One end of the two sets of spring studs (3) abuts against the touch grooves (401).
2. The floating mechanism for XY axis compensation installed between a six-axis robotic arm and an electric gripper according to claim 1, characterized in that, The spring stud (3) is made of ordinary spring steel, and the fastener (2) and the top block (4) are made of engineering plastic.
3. The floating mechanism for XY axis compensation installed between a six-axis robotic arm and an electric gripper according to claim 1, characterized in that, The surfaces of the two sets of grooves (103) and the bottoms of the four sets of sliders (104) are all provided with a wear-resistant coating.
4. A floating mechanism for XY axis direction compensation installed between a six-axis robotic arm and an electric gripper according to claim 1, characterized in that, The top of the first slide (101) located at the top is the end connection surface of the robotic arm, and the bottom surface of the second slide (102) located at the bottom is the gripper connection surface. The top of the first slide (101) is provided with four sets of fixing pads (105), and the bottom of the second slide (102) is provided with multiple sets of threaded holes (106) and through holes (107).
5. A floating mechanism for XY axis compensation installed between a six-axis robotic arm and an electric gripper according to claim 1, characterized in that, Each of the four sets of spring studs (3) is provided with a contact (301) at one end, and an anti-slip pad (302) is provided on the outside of the contact (301).
6. A floating mechanism for XY axis direction compensation installed between a six-axis robotic arm and an electric gripper according to claim 5, characterized in that, The size and position of the contact (301) are matched with the size of the contact groove (401), and the size of the slide (103) is matched with the size of the two sets of sliders (104).