High-precision mechanical arm end effector fine adjustment device with error compensation

Abstract

The utility model relates to the field of mechanical arms, in particular to a high-precision mechanical arm end effector fine adjustment device with error compensation, which comprises a frame, a support arm is connected onto the frame, and an adjuster is arranged on the support arm. The mechanical arm and the adjuster are matched to combine coarse adjustment and fine adjustment, errors generated in the coarse adjustment process of the mechanical arm are effectively compensated, high-precision positioning of the actuator is achieved, the adjusting screw rotates slowly through meshing transmission matching of the driving gear and the driven gear, and the fine adjustment precision is further improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and in particular to a high-precision robotic arm end effector fine-tuning device with error compensation. Background Technology

[0002] Robotic arms are widely used in industrial manufacturing and service robotics. However, in actual operation, whether due to manufacturing process limitations, component installation errors, or structural errors in the robotic arm itself, the end effector of the robotic arm will have a certain positional error when performing tasks. Solving these problems usually requires manual fine-tuning of the robotic arm, but this process is complex, time-consuming, and labor-intensive. Furthermore, adjustments made by the robotic arm typically involve directly driving the arm itself to adjust, indirectly and synchronously adjusting the end effector. This coarse adjustment of the overall position of the robotic arm to adapt to different tasks is prone to errors in precise operation scenarios, affecting work efficiency and even leading to operational failures.

[0003] Therefore, based on the above-mentioned viewpoints, there is still room for improvement in existing techniques for fine-tuning and compensating for robotic arm errors. Utility Model Content

[0004] To address the aforementioned problems, this utility model provides a high-precision robotic arm end effector fine-tuning device with error compensation, comprising a frame, a support arm connected to the frame, and an adjuster mounted on the support arm. The adjuster includes:

[0005] The sliding frame is confined to the support arm.

[0006] An adjusting screw is limited and passes through the sliding frame. A driven slider, which is threaded onto the adjusting screw and passes through the sliding frame, is driven by the adjusting screw to drive the robotic arm actuator to perform sliding adjustment.

[0007] At the drive end, the corresponding adjusting screw is positioned on the support arm, so as to drive the adjusting screw to rotate and make fine adjustments to the robotic arm actuator.

[0008] Preferably, the sliding frame is provided with a guide groove corresponding to the driven slider.

[0009] Preferably, the driving end includes a driven gear sleeved on an adjusting screw, and a driving gear meshes with the driven gear. The driving gear is limited to the sliding frame by rotating a wheel rod.

[0010] Preferably, the diameter of the driving gear is smaller than the diameter of the driven gear.

[0011] Preferably, the support arm has a drive rod positioned on one side corresponding to the driven gear. The drive rod is limited on the support arm by the support side plate, and the drive rod and the rotating wheel are connected by bevel gear meshing.

[0012] Preferably, the sliding frame is threaded with a driven screw that is connected to the support arm.

[0013] Preferably, an adjusting sleeve is fitted on the outer side of the drive rod via a spline connection. The adjusting sleeve is limited and connected to the support arm. An adjusting gear and a transmission gear are connected together between the adjusting sleeve and the driven screw for meshing and transmission.

[0014] Preferably, the support arm is also provided with a guide groove corresponding to the sliding frame, so as to cooperate with the driven screw to drive the sliding frame to adjust its sliding position.

[0015] Preferably, the support side plate and the support arm are connected together by a telescopic rod that is connected to the rotation of the adjusting sleeve.

[0016] Preferably, the thickness of the adjusting gear is greater than the thickness of the transmission gear.

[0017] In summary, this application includes at least one of the following beneficial technical effects:

[0018] I. This utility model effectively compensates for the errors generated during the coarse adjustment process of the robotic arm by combining the cooperation of the robotic arm and the adjuster to perform coarse and fine adjustments, thereby achieving high-precision positioning of the actuator. Furthermore, the meshing transmission between the drive gear and the driven gear allows the adjusting screw to rotate slowly, further improving the accuracy of the fine adjustment.

[0019] II. This utility model utilizes the interaction between the driving rotating rod, adjusting sleeve, adjusting screw, and driven screw to drive the driven slider and actuator to make fine adjustments in both the longitudinal and lateral directions, thereby adapting to the error compensation requirements in different directions and improving the fine-tuning accuracy, flexibility, and applicability of the device. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the structure of this utility model.

[0022] Figure 2 This is a schematic diagram of the structure of the regulator of this utility model.

[0023] Figure 3 This is a schematic diagram of the drive end of this utility model.

[0024] Figure 4 This is a schematic diagram of the guide groove structure of this utility model.

[0025] Figure 5 This is a utility model Figure 4 A magnified view of A in the middle.

[0026] Figure 6 This is a schematic diagram of the structure of the adjusting slide sleeve of this utility model.

[0027] Figure 7 This is a utility model Figure 6 A magnified view of B in the middle.

[0028] Figure 8 This is a schematic diagram of the structure of the adjusting gear of this utility model.

[0029] In the diagram, 1 is the frame; 10 is the support arm; 2 is the adjuster; 20 is the sliding frame; 200 is the guide slot; 201 is the guide groove; 21 is the adjusting screw; 22 is the driven slider; 23 is the drive end; 230 is the driven gear; 231 is the drive gear; 232 is the rotating wheel; 233 is the drive rod; 234 is the support side plate; 235 is the driven screw; 24 is the adjusting sleeve; 240 is the adjusting gear; 241 is the transmission gear; and 25 is the telescopic rod. Detailed Implementation

[0030] The following is in conjunction with the appendix Figure 1 To be continued Figure 8 The embodiments of this utility model will be described in detail below.

[0031] This application discloses a high-precision robotic arm end effector fine-tuning device with error compensation. Through the cooperation between the robotic arm and the adjuster, the actuator is coarsely adjusted by the robotic arm, and then finely adjusted by the adjuster after the coarse adjustment. This compensates for the error between the actuator and the object after the coarse adjustment, effectively improving the accuracy of the actuator.

[0032] Reference Figure 1 As shown, a high-precision robotic arm end effector fine-tuning device with error compensation includes a frame 1 connected to the limit position of the robotic arm, a support arm 10 connected to the frame 1, and an adjuster 2 connected to the limit position of the robotic arm actuator on the support arm 10. In use, the frame 1 and support arm 10 are coarsely adjusted as a whole by driving the robotic arm, and then the actuator is finely adjusted by controlling the adjuster 2 to reduce the error in the coarse adjustment process and achieve the effect of secondary error compensation adjustment.

[0033] Reference Figures 2 to 4 As shown, this is the regulator 2 used for compensating and fine-tuning the actuator; specifically, regulator 2 includes:

[0034] The sliding frame 20, in a U-shape, is positioned on the support arm 10.

[0035] The adjusting screw 21 is limited and passes through the sliding frame 20. The driven slider 22, which is threaded through the sliding frame 20, is driven by the adjusting screw 21 to drive the robotic arm actuator to slide and adjust.

[0036] The drive end 23 corresponds to the adjusting screw 21, which is positioned on the support arm 10, so as to drive the adjusting screw 21 to rotate and make fine adjustments to the robotic arm actuator.

[0037] In use, the frame 1, support arm 10, sliding frame 20, adjusting screw 21, driven slider 22, actuator and drive end 23 are coarsely adjusted as a whole to align the actuator with the object to be processed. Then, the driving end 23 drives the adjusting screw 21 to rotate. After the adjusting screw 21 rotates, the driven slider 22 slides longitudinally along the adjusting screw 21 on the sliding frame 20 for fine adjustment, thereby driving the connected actuator to perform synchronous sliding fine adjustment. This achieves error compensation adjustment during the coarse adjustment process and improves the accuracy of the actuator during processing.

[0038] Reference Figure 2 and Figure 3 As shown, a guide groove 200 is provided on the sliding frame 20 corresponding to the driven slider 22. The guide groove 200 is set to the width of the support arm 10 so that when the driven slider 22 and the actuator are driven to slide by the adjusting screw 21, they can slide longitudinally along the guide groove 200. At the same time, the guide groove 200 limits the driven slider 22 to prevent the driven slider 22 from being driven to rotate by the rotating adjusting screw 21, so as to ensure that the driven slider 22 is correctly guided to slide along the guide groove 200 for adjustment.

[0039] Reference Figures 2 to 4 As shown, the drive end 23 includes a driven gear 230 sleeved on the adjusting screw 21, and a corresponding drive gear 231 meshing with the driven gear 230. The drive gear 231 is limited to the sliding frame 20 by a rotating wheel 232, which is rotatably connected to the sliding frame 20. In use, by driving the rotating screw and the drive gear 231 to rotate, the rotation of the drive gear 231 drives the driven gear 230 to rotate, and the rotation of the driven gear 231 drives the adjusting screw 21 to rotate synchronously, thereby driving the driven slider 22 and the actuator to slide and adjust, achieving the effect of driving the actuator to perform sliding fine adjustment.

[0040] Furthermore, refer to Figure 4 and Figure 5As shown, to improve adjustment accuracy, as an optional implementation, the diameter of the drive gear 231 is smaller than that of the driven gear 230. Due to the difference in diameter between the drive gear 231 and the driven gear 230, during the process of driving the rotating wheel 232, the drive gear 231, the driven gear 230, and the adjusting screw 21 to rotate, the rotation speed of the driven gear 230 will be less than that of the drive gear 231. This results in the adjusting screw 21 rotating slowly, achieving a fine adjustment effect on the driven slider 22 and the actuator.

[0041] Reference Figures 4 to 6 As shown, a drive rod 233 is positioned on one side of the support arm 10 corresponding to the driven gear 230. The drive rod 233 is limited on the support arm 10 by the support side plate 234. The drive rod 233 and the rotating wheel rod 232 are connected by bevel gear meshing. In use, the drive rod 233 is driven to rotate by existing motor drive technology. The rotation of the drive rod 233 drives the rotating wheel rod 232 to rotate synchronously through bevel gear transmission. After the rotating wheel rod 232 rotates, it drives the adjusting screw 21 to rotate through the meshing transmission between the drive gear 231 and the driven gear 230, thereby achieving the effect of driving the driven slider 22 and the actuator to slide and adjust.

[0042] Furthermore, refer to Figures 6 to 8 As shown, during the overall coarse adjustment process using the robotic arm, errors in the distance between the actuator and the object to be processed may occur. Therefore, a driven screw 235 connected to the support arm 10 is threaded through the sliding frame 20. Through the threaded engagement between the driven screw 235 and the sliding frame 20, the sliding frame 20 can be driven to slide along the driven screw 235, thereby driving the drive gear 231, driven gear 230, adjusting screw 21, driven slider 22 and actuator to slide, thus compensating for the distance error between the actuator and the object.

[0043] Reference Figures 6 to 8As shown, in order to synchronously drive the adjusting screw 21 and the driven screw 235 to rotate, so as to adjust the actuator in multiple directions, an adjusting sleeve 24 is sleeved on the outside of the drive rod 233 by means of spline engagement. The bevel gear at the drive rod 233 is limited on the drive rod 233 by the adjusting sleeve 24. The adjusting sleeve 24 is limited and connected to the support arm 10. The adjusting sleeve 24 and the driven screw 235 are connected by an adjusting gear 240 and a transmission gear 241 for meshing and transmission. In use, the drive rod 233 is driven to rotate, which in turn drives the adjusting sleeve 24, the connected bevel gear and the adjusting gear 240 to rotate synchronously. Through gear meshing, the rotating wheel rod 232, the drive gear 231, the driven gear 230 and the adjusting screw 21 are driven to rotate synchronously, so as to drive the actuator to perform longitudinal sliding fine adjustment (that is, to adjust the relative position between the actuator and the object). At the same time, through the meshing between the adjusting gear 240 and the transmission gear 241, the driven screw 235 is driven to rotate, so as to drive the sliding frame 20 to drive the driven slider 22 and the actuator to perform lateral sliding adjustment (that is, to adjust the distance between the actuator and the object).

[0044] Reference Figure 2 and Figure 3 As shown, the support arm 10 is also provided with a guide groove 201 corresponding to the sliding frame 20, so as to cooperate with the driven screw 235 to drive the sliding frame 20 to slide and adjust.

[0045] Reference Figures 6 to 8 As shown, a telescopic rod 25, which is rotatably connected to the adjusting sleeve 24, is connected between the supporting side plate 234 and the supporting arm 10. The telescopic section and the fixed section of the telescopic rod 25 are respectively connected to the adjusting sleeve 24 and the supporting side plate 234. The telescopic rod 25 is preferably an electric telescopic rod 25. Of course, as an optional embodiment, the telescopic rod 25 can also be set as other devices that can drive the adjusting sleeve 24 to slide axially along the drive shaft, such as a cylinder.

[0046] In use, the telescopic rod 25 extends and slides, causing the adjusting sleeve 24 to slide along the drive rod 233. The sliding of the adjusting sleeve 24 synchronously drives one of the connected bevel gears and the adjusting gear 240 to slide and adjust synchronously, so that the bevel gear between the adjusting sleeve 24 and the rotating wheel rod 232 disengages. At this time, during the process of driving the drive rod 233 to rotate, since the two bevel gears between the adjusting sleeve 24 and the rotating wheel rod 232 disengage, the drive rod 233 will not drive the rotating wheel rod 232 and the adjusting screw 21 to rotate.

[0047] Furthermore, referring to Figure 8As shown, during use, there may be situations where only one of the two cases—the relative position between the actuator and the object or the distance between the actuator and the object—needs to be fine-tuned. Based on this, as an optional implementation, the thickness of the adjusting gear 240 is set to be greater than the thickness of the transmission gear 241. At this time, the adjusting gear 240 on the adjusting sleeve 24 is initially meshed with the transmission gear 241 and extends a distance towards the sliding frame 20. The two bevel gears between the adjusting sleeve 24 and the rotating wheel rod 232 are initially meshed with each other.

[0048] In use, when only the relative position between the actuator and the object needs to be adjusted (i.e., longitudinal adjustment), simply driving the drive rod 233 to rotate will drive the rotating wheel rod 232, drive gear 231, driven gear 230 and adjusting screw 21 to rotate through the meshing transmission between the two bevel gears. This will drive the driven slider 22 and the actuator to perform longitudinal adjustment, achieving the effect of fine adjustment of the relative position between the actuator and the object. At the same time, through the meshing of the adjusting gear 240 and the transmission gear 241, the driven slider 22 and the actuator will be driven to perform lateral adjustment, achieving the effect of fine adjustment of the distance between the actuator and the object.

[0049] When only the distance between the actuator and the object needs to be adjusted (i.e., lateral adjustment), the telescopic rod 25 extends further away from the sliding frame 20, causing the two bevel gears to disengage, while the adjusting gear 240 moves and engages with the transmission gear 241. At this time, the drive rod 233 is driven to rotate, which causes the adjusting sleeve 24, adjusting gear 240, transmission gear 241 and driven screw 235 to rotate synchronously. This allows the sliding frame 20 to slide and adjust through the thread on the driven screw 235, achieving the effect of fine adjustment of the distance between the actuator and the object.

[0050] Of course, as an optional implementation, the diameter of the adjusting gear 240 can also be set to be smaller than that of the transmission gear 241 to increase the accuracy of adjusting the distance between the actuator and the object. Furthermore, the adjusting sleeve 24 is configured to be sleeved on the drive rod 233 in two separate sections, and the two sections are connected by a return spring (not shown in the figure) sleeved on the outside of the drive rod 233.

[0051] During use, the telescopic rod 25 drives the adjusting sleeve 24 to slide so that the two bevel gears mesh. Then, the telescopic rod 25 slides towards the sliding frame 20, which compresses the return spring in the middle of the adjusting sleeve 24. The section of the adjusting sleeve 24 connected to the adjusting gear 240 can continue to slide towards the sliding frame 20, so that the adjusting gear 240 disengages from the transmission gear 241. At this time, the drive rod 233 is driven to rotate, which drives only the driven screw 235 of the adjusting screw 21 to rotate, that is, drives the driven slider 22 and the actuator to perform longitudinal sliding adjustment.

[0052] During operation: First, the robotic arm drives the frame 1 and support arm 10 to move as a whole, so that components such as sliding frame 20, adjusting screw 21, driven slider 22, and actuator are initially close to the target position. The sliding frame 20 slides on the support arm 10, and components such as adjusting screw 21, driven slider 22, and actuator move together with the sliding frame 20 to achieve the initial positioning of the actuator.

[0053] Step 2: Drive the drive rod 233 to rotate. The drive rod 233 drives the adjusting screw 21 to rotate through the bevel gear transmission. The driven slider 22 is driven by the thread on the adjusting screw 21 to move the actuator along the guide groove 200, thereby achieving precise adjustment of the relative position of the actuator and the target object.

[0054] Step 3: Drive the driven screw 235 to rotate by the drive rod 233. The sliding frame 20 drives the driven slider 22 and the actuator to slide axially through the thread on the driven screw 235, so as to achieve precise adjustment of the distance between the actuator and the target object.

[0055] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects.

[0056] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A high-precision robotic arm end effector fine-tuning device with error compensation, comprising a frame (1), characterized in that: A support arm (10) is connected to the frame (1), and an adjuster (2) is provided on the support arm (10). The adjuster (2) includes: The sliding frame (20) is confined to the support arm (10); The adjusting screw (21) is limited and passes through the sliding frame (20), and the driven slider (22) is threaded on the sliding frame (20). The driven slider (22) is driven by the adjusting screw (21) to drive the robotic arm actuator to perform sliding adjustment. The drive end (23) corresponds to the adjusting screw (21) which is located on the support arm (10) so as to drive the adjusting screw (21) to rotate and fine adjust the actuator of the robotic arm.

2. The high-precision robotic arm end effector fine-tuning device with error compensation according to claim 1, characterized in that: The sliding frame (20) is provided with a guide groove (200) corresponding to the driven slider (22).

3. The high-precision robotic arm end effector fine-tuning device with error compensation according to claim 1, characterized in that: The drive end (23) includes a driven gear (230) sleeved on the adjusting screw (21), and a drive gear (231) meshes with the driven gear (230). The drive gear (231) is limited to the sliding frame (20) by rotating the wheel rod (232).

4. The high-precision robotic arm end effector fine-tuning device with error compensation according to claim 3, characterized in that: The diameter of the drive gear (231) is smaller than that of the driven gear (230).

5. A high-precision robotic arm end effector fine-tuning device with error compensation according to claim 1, characterized in that: The support arm (10) has a drive rod (233) on one side corresponding to the driven gear (230). The drive rod (233) is limited on the support arm (10) by the support side plate (234). The drive rod (233) and the rotating wheel rod (232) are connected by bevel gear meshing.

6. A high-precision robotic arm end effector fine-tuning device with error compensation according to claim 1, characterized in that: The sliding frame (20) is threaded with a driven screw (235) that is connected to the support arm (10).

7. A high-precision robotic arm end effector fine-tuning device with error compensation according to claim 5, characterized in that: The drive lever (233) is fitted with an adjusting sleeve (24) on its outer side by a spline connection. The adjusting sleeve (24) is limited and connected to the support arm (10). The adjusting sleeve (24) and the driven screw (235) are connected by an adjusting gear (240) and a transmission gear (241) for meshing and transmission.

8. A high-precision robotic arm end effector fine-tuning device with error compensation according to claim 1, characterized in that: The support arm (10) is also provided with a guide groove (201) corresponding to the sliding frame (20) to cooperate with the driven screw (235) to drive the sliding frame (20) to slide and adjust.

9. A high-precision robotic arm end effector fine-tuning device with error compensation according to claim 5, characterized in that: The support side plate (234) and the support arm (10) are connected together by a telescopic rod (25) that is rotatably connected to the adjusting sleeve (24).

10. A high-precision robotic arm end effector fine-tuning device with error compensation according to claim 7, characterized in that: The thickness of the adjusting gear (240) is greater than the thickness of the transmission gear (241).

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