High-precision position corrector

Abstract

The utility model discloses a high-precision position corrector which comprises a cylinder barrel provided with an inner cavity, a piston arranged in the inner cavity of the cylinder barrel, a floating block arranged in the inner cavity of the cylinder barrel and extending to the position above the top of the cylinder barrel, and a plurality of magnetic attraction assemblies arranged between the floating block and the top of the cylinder barrel at intervals. The at least one clamping and positioning assembly is arranged between the piston and the floating block; a ventilation path communicated between the outside and the inner cavity of the cylinder barrel is arranged below the piston; the piston is used for driving the clamping and positioning assembly to ascend so as to position and clamp the floating block; the magnetic attraction assembly is used for enabling the floating block to automatically return to the center position in the horizontal direction. By arranging pure mechanical structures such as the floating block, the magnetic attraction assembly, the piston and the clamping and positioning assembly, automatic deviation correction of the floating block and the tail end of the robot is achieved. Meanwhile, high-precision positioning of the floating block can be achieved by arranging the piston driving clamping and positioning assembly, high clamping holding force is achieved, and it is ensured that the tail end of the robot is always kept at the correct position and posture in the assembling and moving process.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial automation technical field especially relates to a high accuracy position corrector. BACKGROUND

[0002] In the field of industrial automation, the position accuracy and attitude stability of robot end effector are crucial for assembly, machining and other operations. In the prior art, high-precision sensors are usually used to monitor the position and attitude of the robot end effector in real time, and complex algorithms and real-time feedback control systems are combined to make accurate adjustments.

[0003] However, the scheme relying on sensors and complex control systems has some limitations. On the one hand, high-precision sensors are costly and may be disturbed in complex environments or harsh conditions, leading to a decrease in detection accuracy. On the other hand, complex algorithms and control systems require a large amount of computing resources and programming work, increasing the complexity and maintenance difficulty of the system. In addition, when the mechanical structure deforms, the load changes or is affected by environmental factors, the existing technology may not be able to timely and accurately compensate for errors, thereby affecting the positioning accuracy and work efficiency of the robot end effector. SUMMARY

[0004] The utility model aims at providing a kind of high accuracy position corrector, by setting float block, magnetic attraction component, piston and clamping positioning assembly etc. Pure mechanical structure, realize float block and robot end automatic deviation correction. At the same time, by setting piston drives clamping positioning assembly, the high-precision positioning of float block can be realized, and it has higher clamping holding force, to ensure that robot end is always kept in correct position and attitude during assembly and movement.

[0005] To achieve the above-mentioned purpose, the following technical solutions are adopted:

[0006] A high-precision position corrector includes a cylinder with an inner cavity, a piston installed in the inner cavity of the cylinder, a float block installed in the inner cavity of the cylinder and extending above the top of the cylinder, a plurality of magnetic attraction components spaced between the float block and the top of the cylinder, and at least one clamping positioning assembly between the piston and the float block. The lower part of the piston is provided with a ventilation path connected between the outside and the inner cavity of the cylinder. The piston is used to drive the clamping positioning assembly to rise to position and clamp the float block. The magnetic attraction components are used to automatically return the float block to the center position in the horizontal direction.

[0007] Preferably, the inner cavity of the cylinder is also provided with a reset assembly. The reset assembly includes a reset plate above the piston, a plurality of reset springs spaced between the reset plate and the piston, and a plurality of reset guide columns. The upper end of each reset guide column is fixed to the reset plate, and the lower end is sequentially arranged through a reset spring and the piston.

[0008] Preferably, the floating block comprises a main column, and a floating boss and a positioning boss arranged in parallel on the main column; the floating boss is arranged above the top of the cylinder barrel, and the positioning boss is limited in the inner cavity of the cylinder barrel; the top end of the clamping positioning assembly is used for abutting against the bottom of the positioning boss, and the bottom end is mounted on the piston.

[0009] Preferably, the clamping positioning assembly comprises a positioning pin arranged in the vertical direction, and a positioning steel ball movably arranged at the top end of the positioning pin; the bottom of the positioning boss is provided with a first positioning groove corresponding to each positioning steel ball, and the top end of each positioning pin is provided with a second positioning groove; the positioning steel ball is limited between the corresponding first positioning groove and the second positioning groove.

[0010] Preferably, the magnetic attraction assembly comprises a first magnet embedded in the top of the cylinder barrel, and a second magnet embedded in the bottom of the floating boss; the centers of the first magnet and the second magnet are aligned; the top of the cylinder barrel is provided with a first embedding groove corresponding to each first magnet, and the depth of the first embedding groove is greater than the thickness of the first magnet; the bottom of the floating boss is provided with a second embedding groove corresponding to each second magnet, and the depth of the second embedding groove is greater than the thickness of the second magnet.

[0011] Preferably, the floating block further comprises a first guide plate and a second guide plate arranged in parallel on the main column; a plurality of lubricating steel balls are movably embedded on the first guide plate and the second guide plate; the first guide plate is in contact with the top of the reset plate through the lubricating steel balls thereon, and the second guide plate is in contact with the bottom of the reset plate through the lubricating steel balls thereon.

[0012] Preferably, the position corrector further comprises a mounting seat arranged at the bottom of the cylinder barrel; the mounting seat and the bottom of the cylinder barrel are sealingly connected through a first sealing ring; the air passage is arranged on the mounting seat; and a second sealing ring is arranged between the outer periphery of the piston and the inner cavity of the cylinder barrel.

[0013] By adopting the above scheme, the position corrector has the following beneficial effects:

[0014] The position corrector comprises a floating block, a magnetic attraction assembly, a piston and a clamping positioning assembly, and the floating block and the end of the robot can be automatically corrected without additional sensors, complex algorithms and control systems, so that errors caused by mechanical structure deformation, load changes, environmental factors and the like can be offset. Meanwhile, the piston drives the clamping positioning assembly to realize high-precision positioning of the floating block, has high clamping holding force, and ensures that the end of the robot is always kept in the correct position and posture during assembly and movement. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1The utility model discloses a perspective view of the utility model;

[0016] Fig. 2 The utility model discloses a sectional view of the utility model;

[0017] Fig. 3 The utility model discloses an explosion view of the utility model;

[0018] Among them, the drawing mark explanation is:

[0019] 1 - cylinder, 2 - piston,

[0020] 3 - floating block, 4 - magnetic attraction subassembly,

[0021] 5 - clamping positioning subassembly, 6 - vent path,

[0022] 7 - reset subassembly, 8 - mounting seat,

[0023] 9 - first sealing ring, 10 - second sealing ring,

[0024] 31 - floating boss, 32 - positioning boss,

[0025] 33 - first guide plate, 34 - second guide plate,

[0026] 71 - reset plate, 72 - reset spring,

[0027] 73 - reset guide column. DETAILED DESCRIPTION

[0028] The utility model will be further explained in detail below in combination with the drawings and examples. It can be understood that the specific examples described here are only used to explain the utility model, and not limit the utility model. In addition, it needs to be explained that in order to facilitate the description, only the part related to the utility model is shown in the drawing, not all structures.

[0029] In the utility model, unless another explicit provision and limitation, the first feature is "on" or "under" the second feature, and can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "on the" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0030] In the description of the present embodiment, the terms "upper", "lower", "left", "right" and the like orientation or position relationship are based on the orientation or position relationship shown in the drawings, only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0031] Referring to Figs. 1 to 3 The utility model provides a high accuracy position corrector, including the cylinder 1 that sets up with inner chamber, the piston 2 that installs in the inner chamber of cylinder 1, install and extend to the floating block 3 of cylinder 1 top above in the inner chamber of cylinder 1, the magnetic attraction subassembly 4 of interval between floating block 3 and cylinder 1 top, and at least one clamping positioning assembly 5 between piston 2 and floating block 3, the lower part of piston 2 is equipped with the ventilation path 6 that communicates between the outside and the inner chamber of cylinder 1, piston 2 is used to drive clamping positioning assembly 5 to ascend, to position and realize clamping holding force for floating block 3, can reliably fix workpiece, to ensure that workpiece does not move in the positioning and correction process. Magnetic attraction subassembly 4 is used for making floating block 3 automatically return to the center position in the horizontal direction.

[0032] Among them, the inner chamber of cylinder 1 is also provided with reset assembly 7;Reset assembly 7 includes reset plate 71 arranged above piston 2, a plurality of reset springs 72 arranged between reset plate 71 and piston 2, and a plurality of reset guide columns 73;The upper end of each reset guide column 73 is fixed with reset plate 71, and the lower end is sequentially arranged through a reset spring 72 and piston 2.

[0033] Floating block 3 includes main column, and floating boss 31 and positioning boss 32 arranged in parallel on main column;Floating boss 31 is arranged above the top of cylinder 1, and positioning boss 32 is limited in the inner chamber of cylinder 1;The top end of clamping positioning assembly 5 is used to abut with the bottom of positioning boss 32, and the bottom end is installed on piston 2.

[0034] In addition, floating block 3 also includes first guide plate 33 and second guide plate 34 arranged in parallel on main column;A plurality of lubricating steel balls are movably embedded on first guide plate 33 and second guide plate 34;First guide plate 33 contacts the top of reset plate 71 through the lubricating steel balls thereon, and second guide plate 34 contacts the bottom of reset plate 71 through the lubricating steel balls thereon. By arranging lubricating steel balls, the friction between reset plate 71 and first guide plate 33 and second guide plate 34 is reduced, so that the movement of floating block 3 is more smooth.

[0035] The clamping positioning assembly 5 comprises positioning pins arranged in the vertical direction and positioning steel balls movably arranged at the top of the positioning pins; the bottom of the positioning boss 32 is provided with a first positioning groove corresponding to each positioning steel ball, and the top of each positioning pin is provided with a second positioning groove; the positioning steel ball is limited between the corresponding first and second positioning grooves. It is worth noting that no matter whether the piston 2 is rising or falling, the positioning steel ball is always limited between the first and second positioning grooves. Only before the floating block 3 is clamped, the positioning steel ball can move between the first and second positioning grooves; after the floating block 3 is clamped, the positioning steel ball is fixed between the first and second positioning grooves.

[0036] Further, the second positioning groove is a conical groove. When the piston 2 moves upward after aeration, the positioning steel ball automatically slides into the bottom of the second positioning groove after the piston 2 pushes the positioning pin upward. Since the bottom of the positioning boss 32 is provided with the first positioning groove, the floating block 3 automatically returns to the center position and is fixed after the positioning pin is pushed upward, at this time, it is rigid and does not have the functions of flexible compensation and position correction (usually when moving, this function is needed to prevent the workpiece from swinging). When the workpiece is moved to the designated position (at this time, only vertical movement is needed), stop aeration, and the reset spring 72 in the reset assembly 7 will press the piston 2 downward, and the floating block 3 is released (at this time, it has the functions of flexible compensation and position correction).

[0037] Further, the first guide plate 33, the reset plate 71 and the second guide plate 34 are designed to have an empty structure, so that the positioning pin and the reset guide column 73 can move through, without affecting the movement of the piston 2 and the floating block 3.

[0038] When the supply gas pressure is not connected through the aeration path and no load is applied to the floating block 3, the floating block 3 moves to the center position in the horizontal direction under the action of the magnetic attraction assembly 4, at this time, the floating block 3 is in a floating state, and can perform position compensation and correction on the robot end. After the supply gas pressure is connected through the aeration path 6, the piston 2 pushes the positioning pin and the positioning steel ball to tightly push the floating block 3 upward, and the positioning boss 32 is tightly pushed to the top of the inner cavity of the cylinder 1, at this time, the floating block 3 is fixed after returning to the center position, and the robot end can move at high speed.

[0039] The magnetic attraction assembly 4 comprises first magnets embedded in the top of the cylinder 1 and second magnets embedded in the bottom of the floating boss 31; the centers of the first magnets and the second magnets are aligned; the top of the cylinder 1 is provided with a first embedding groove corresponding to each first magnet, and the depth of the first embedding groove is greater than the thickness of the first magnet; the bottom of the floating boss 31 is provided with a second embedding groove corresponding to each second magnet, and the depth of the second embedding groove is greater than the thickness of the second magnet.

[0040] When the bottom of the floating boss 31 contacts the top of the cylinder 1, the first magnet and the second magnet do not attract each other due to the depth of the first embedded groove being greater than the thickness of the first magnet and the depth of the second embedded groove being greater than the thickness of the second magnet, thereby avoiding affecting the movement of the floating block 3. By setting the magnetic attraction of the first magnet and the second magnet, the following effects are achieved:

[0041] 1) Eliminate mechanical clearance and inertial deviation: when the position corrector is in a floating state (such as when not supplied with gas), the floating block 3 is easily affected by gravity, vibration or inertia to cause position deviation, and the first magnet and the second magnet automatically pull the floating block 3 back to the center position by the repulsive force or attractive force between the permanent magnets when there is no external force.

[0042] 2) Adapt to dynamic load changes: during the robot carrying or assembly process, size deviation of the workpiece or uneven gripping force can cause the correction module to be eccentric, and the first magnet and the second magnet generate a restoring force proportional to the amount of deviation through the nonlinear magnetic force characteristics when the eccentricity occurs, thereby quickly suppressing vibration.

[0043] The position corrector further comprises a mounting seat 8 arranged at the bottom of the cylinder 1; the mounting seat 8 is sealingly connected with the bottom of the cylinder 1 through a first sealing ring 9; the air passage 6 is arranged on the mounting seat 8; and a second sealing ring 10 is arranged between the outer periphery of the piston 2 and the inner cavity of the cylinder 1. In addition, the lower end of the reset guide column 73 is detachably fixed with the mounting seat 8, and a sealing ring is arranged between the reset guide column 73 and the piston 2. The high-precision position corrector provided by the utility model is mounted at the end of the robot, and the workpiece (located at one end of the floating block 3) is corrected through a mechanical floating structure, and is mainly applied to automatic positioning and correction of the workpiece in the machining process.

[0044] The high-precision position corrector provided by the utility model can achieve the following effects:

[0045] 1) No additional sensors and complex control systems are needed: a pure mechanical structure design is adopted, and through the pure mechanical structure parts such as the movable floating block 3, the magnetic attraction assembly 4, the piston 2 and the clamping positioning assembly 5, the high-precision sensors and the complex algorithm and control system are not needed, so that the cost and the complexity of the system are greatly reduced.

[0046] 2) High-precision position correction: through the cooperative action of the mechanical structures such as the floating block 3, the clamping positioning assembly 5 and the lubricating steel ball, the position of the end of the robot can be automatically compensated and corrected in the case that errors are caused by mechanical structure deformation, load change, environmental factors and the like, so that the end of the robot can always be kept in the correct position and posture, and the assembly precision and the machining quality are improved.

[0047] 3) Compact structure, space saving: the overall structure is compact, convenient to install in the end of the robot or other limited space, does not occupy too much installation space, strong adaptability, can be widely used in various industrial automation scenes.

[0048] 4) Simple operation, easy maintenance: using pure mechanical structure, simple operation, no need for complex debugging and programming.

[0049] The above is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. Obviously, the above embodiments of the present application are only for clear illustration, and are not the limitation of the embodiments of the present application. For ordinary skilled in the art, various obvious changes, re-adjustment and replacement can be made without departing from the protection scope of the present application. Here, it is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application claims.

Claims

1. A high-precision position corrector, characterized by, The position corrector comprises a cylinder barrel with an inner cavity, a piston installed in the inner cavity of the cylinder barrel, a floating block installed in the inner cavity of the cylinder barrel and extending above the top of the cylinder barrel, a plurality of magnetic attraction assemblies arranged between the floating block and the top of the cylinder barrel, and at least one clamping positioning assembly arranged between the piston and the floating block; the piston is provided below with a ventilation path communicated between the outside and the inner cavity of the cylinder barrel; the piston is used to drive the clamping positioning assembly to ascend so as to position and clamp the floating block; the magnetic attraction assemblies are used to automatically return the floating block to the center position in the horizontal direction.

2. The high precision position corrector according to claim 1, characterized in that, The inner cavity of the cylinder barrel is further provided with a reset assembly; the reset assembly comprises a reset plate arranged above the piston, a plurality of reset springs arranged between the reset plate and the piston, and a plurality of reset guide columns; the upper end of each reset guide column is fixed with the reset plate, and the lower end sequentially penetrates through a reset spring and the piston.

3. The high precision position corrector according to claim 2, characterized in that, The floating block comprises a main column, a floating boss and a positioning boss arranged in parallel on the main column; the floating boss is arranged above the top of the cylinder barrel, and the positioning boss is limited in the inner cavity of the cylinder barrel; the top end of the clamping positioning assembly is used to abut against the bottom of the positioning boss, and the bottom end is installed on the piston.

4. The high precision position corrector according to claim 3, characterized in that, The clamping positioning assembly comprises a positioning pin arranged in the vertical direction, and a positioning steel ball movably arranged at the top end of the positioning pin; the bottom of the positioning boss is provided with a first positioning groove corresponding to each positioning steel ball, and the top end of each positioning pin is provided with a second positioning groove; the positioning steel ball is limited between the corresponding first positioning groove and the second positioning groove.

5. The high precision position corrector according to claim 3, characterized in that, The magnetic attraction assembly comprises a first magnet embedded in the top of the cylinder barrel, and a second magnet embedded in the bottom of the floating boss; the centers of the first magnet and the second magnet are aligned; the top of the cylinder barrel is provided with a first embedding groove corresponding to each first magnet, and the depth of the first embedding groove is greater than the thickness of the first magnet; the bottom of the floating boss is provided with a second embedding groove corresponding to each second magnet, and the depth of the second embedding groove is greater than the thickness of the second magnet.

6. The high precision position corrector of claim 3, wherein The floating block further comprises a first guide plate and a second guide plate arranged in parallel on the main column; a plurality of lubricating steel balls are movably embedded on the first guide plate and the second guide plate; the first guide plate is in contact with the top of the reset plate through the lubricating steel balls thereon, and the second guide plate is in contact with the bottom of the reset plate through the lubricating steel balls thereon.

7. The high precision position corrector of claim 1, wherein The position corrector further comprises a mounting seat arranged at the bottom of the cylinder barrel; the mounting seat is sealingly connected with the bottom of the cylinder barrel through a first sealing ring; the ventilation path is arranged on the mounting seat; a second sealing ring is arranged between the outer periphery of the piston and the inner cavity of the cylinder barrel.

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