Corrector for manipulator

Abstract

The corrector comprises an outer main body of a cylindrical structure, a bottom end cover is fixedly connected to the outer wall of the bottom of the outer main body, a round opening is formed in the outer wall of the top of the outer main body, a transmission mandrel is arranged in the round opening, and an outer cam is installed on the outer wall of the top of the transmission mandrel; an airtight cavity is formed in the outer wall of the top of the bottom end cover, a piston assembly is slidably installed on the inner wall of the airtight cavity, a groove is formed in the outer wall of the bottom of the outer main body, a limiting linkage block is fixedly installed on the inner wall of the groove, and the transmission mandrel is located above the limiting linkage block. The mechanical arm corrector is installed at the front end of a mechanical arm, when the mechanical arm grabs downwards, due to the fact that the outer cam is movable, grabbing is not affected by errors, after grabbing is completed, an air source is opened, the outer cam automatically returns to the center, the errors are corrected, and the problem that an existing mechanical arm corrector is inconvenient to operate is solved.

Description

Technical Field

[0001] This application relates to the field of robotic arms, and more particularly to a corrector for robotic arms. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or manipulate tools according to a fixed program. Its key feature is that it can be programmed to perform various pre-defined tasks, and its construction and performance combine the advantages of both humans and machines. The robotic arm was the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect human safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] With the development of technology, robotic arms are used in various industries. However, the clamping accuracy of robotic arms will decrease after working for a long time, which requires calibration. Existing calibration devices are complicated and inconvenient to operate, and require professional personnel to operate them. Utility Model Content

[0004] To address the problem of inconvenient operation of existing correctors, this application provides a corrector for a robotic arm.

[0005] The corrector for a robotic arm provided in this application adopts the following technical solution:

[0006] A corrector for a robotic arm includes a cylindrical outer body. A bottom end cap is fixedly connected to the bottom outer wall of the outer body. A circular opening is formed on the top outer wall of the outer body, and a transmission spindle is disposed inside the circular opening. An outer cam is mounted on the top outer wall of the transmission spindle. An airtight cavity is formed on the top outer wall of the bottom end cap, and a piston assembly is slidably mounted on the inner wall of the airtight cavity. A groove is formed on the bottom outer wall of the outer body, and a limit link block is fixedly mounted on the inner wall of the groove. The transmission spindle is located above the limit link block.

[0007] By adopting the above technical solution, the outer body facilitates the installation of the bottom cover, the transmission spindle installed inside the outer body facilitates the installation of the outer cam, the opening of the airtight cavity in the bottom cover facilitates the installation of the auxiliary piston assembly, and the piston assembly facilitates blocking the transmission spindle for locking or unlocking.

[0008] Preferably, the transmission mandrel includes a circular mounting plate, and a shaft is installed through the center of the mounting plate. Two symmetrically arranged limiting pins are fixedly connected to the bottom outer wall of the mounting plate.

[0009] By adopting the above technical solution, the installation of the shaft is facilitated by the installation plate, and the upper limit groove of the installation plate is used to limit the lateral travel of the installation plate.

[0010] Preferably, the inner wall of the groove is fixedly connected to a ring-shaped anti-damage pad, and one outer wall of the anti-damage pad is fixedly connected to two stacked steel ball pads.

[0011] By adopting the above technical solution, the installation of the two auxiliary steel ball gaskets is facilitated by the setting of the anti-damage gasket.

[0012] Preferably, the outer walls of the two steel ball gaskets are provided with a plurality of equally spaced circular holes, and the inner walls of the circular holes are provided with steel balls. The steel balls are in contact with the mounting plate, and the shaft passes through the steel ball gasket and the anti-damage gasket.

[0013] By adopting the above technical solution, the installation of the first steel ball is facilitated by the setting of the first steel ball gasket.

[0014] Preferably, a steel ball gasket is fixedly connected to one side of the outer wall of the limiting link block, and a plurality of round holes are provided on one side of the outer wall of the steel ball gasket. The inner wall of the round holes is provided with steel balls, and the steel balls are in contact with the mounting plate.

[0015] By adopting the above technical solution, the installation of the second steel ball is facilitated by the setting of the second steel ball gasket, and the cooperation between the second steel ball and the first steel ball effectively reduces the wear during the lateral movement of the mounting plate.

[0016] Preferably, the outer wall of one side of the steel ball gasket has two symmetrically arranged limiting grooves, and the inner diameter of the limiting groove is larger than the outer diameter of the limiting pin, and the limiting pin is inserted into the limiting groove.

[0017] By adopting the above technical solution, the movement trajectory of the limit pin is restricted by inserting the limit pin into the limit groove, thereby restricting the movement trajectory of the outer cam.

[0018] Preferably, the piston assembly includes a piston slidably connected in an airtight cavity, and a piston rod is fixedly connected to one side of the outer wall of the piston. A circular groove is opened at one end of the piston rod, and a return spring is sleeved on the outer wall of the piston rod, with one end of the return spring in contact with the limiting link block.

[0019] By adopting the above technical solution, air is injected into the airtight cavity, which directly drives the piston to slide, thereby causing the piston rod and shaft to contact each other, thus locking the outer cam. The return spring drives the piston to return to its original position when the air is released.

[0020] Preferably, the bottom end cover has an air hole on one side of its outer wall, and the air hole is connected to the airtight cavity. The outer wall of the outer cam has four equally spaced circular grooves, and the inner walls of the four circular grooves are fixedly connected to magnets. The top outer wall of the outer body has four magnets of opposite magnetism to magnets. The outer cam is fixedly connected to the shaft.

[0021] By adopting the above technical solution, the air holes facilitate the inflation and deflation of the airtight cavity, thereby driving the piston assembly to move. The cooperation between magnet one and magnet two facilitates the reset of the outer cam.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] 1. This application installs the device at the front end of the robot arm. When the robot arm grasps downwards, the outer cam is movable, so the grasping will not be affected by errors. After the grasping is completed, the air source is turned on, and the outer cam automatically returns to the center and the error is corrected, which solves the problem of the inconvenience of operation of the existing robot arm corrector.

[0024] 2. This application provides a piston assembly in the outer body, which facilitates locking the transmission spindle and prevents the outer cam from wobbling. In addition, multiple steel balls are provided in the outer body to facilitate the lateral movement of the outer cam. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of a corrector for a robotic arm according to an embodiment of this application;

[0026] Figure 2 This is a schematic diagram illustrating the three-dimensional structure of the embodiments of this application;

[0027] Figure 3 This is a schematic diagram illustrating the three-dimensional unfolding structure, which is the main feature of the embodiments of this application.

[0028] Figure 4 This is a schematic diagram illustrating the piston assembly structure, representing a key embodiment of this application.

[0029] Figure 5 This is a schematic diagram illustrating the limiting link block structure, which is the main feature of this application embodiment;

[0030] Reference numerals in the attached drawings: 1. Bottom end cover; 2. Outer body; 3. Outer cam; 4. Air hole; 5. Magnet one; 6. Transmission spindle; 7. Mounting plate; 8. Shaft; 9. Limiting pin; 10. Damage-proof gasket; 11. Steel ball gasket one; 12. Steel ball one; 13. Limiting connecting block; 14. Piston assembly; 15. Piston rod; 16. Piston; 17. Return spring; 18. Circular groove; 19. Steel ball gasket two; 20. Limiting groove; 21. Steel ball two; 22. Magnet two. Detailed Implementation

[0031] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0032] This application discloses a corrector for a robotic arm.

[0033] Reference Figure 1-3 A corrector for a robotic arm includes a cylindrical outer body 2. A bottom end cap 1 is fixedly connected to the bottom outer wall of the outer body 2. A circular opening is provided on the top outer wall of the outer body 2, and a transmission spindle 6 is provided inside the circular opening. An outer cam 3 is installed on the top outer wall of the transmission spindle 6. An airtight cavity is provided on the top outer wall of the bottom end cap 1, and a piston assembly 14 is slidably installed on the inner wall of the airtight cavity. A groove is provided on the bottom outer wall of the outer body 2, and a limit link block 13 is fixedly installed on the inner wall of the groove. The transmission spindle 6 is located above the limit link block 13.

[0034] In use, the outer body 2 facilitates the installation of the bottom cover 1, the transmission spindle 6 installed inside the outer body 2 facilitates the installation of the outer cam 3, the opening of the airtight cavity in the bottom cover 1 facilitates the installation of the auxiliary piston assembly 14, and the setting of the piston assembly 14 facilitates blocking the transmission spindle 6 for locking or unlocking.

[0035] Reference Figure 1-3The transmission spindle 6 includes a circular mounting plate 7, with a shaft 8 penetrating through the center of the mounting plate 7. Two symmetrically arranged limiting pins 9 are fixedly connected to the bottom outer wall of the mounting plate 7. A circular anti-damage pad 10 is fixedly connected to the inner wall of the groove, and two stacked steel ball pads 11 are fixedly connected to one side of the outer wall of the anti-damage pad 10. Multiple evenly spaced circular holes 11 are opened on the outer wall of each steel ball pad 11, and steel balls 12 are arranged on the inner wall of each circular hole 11, contacting the mounting plate 7. The shaft 8 passes through the steel ball pads 11 and the anti-damage pad 10. A steel ball pad 19 is fixedly connected to one side of the outer wall of the limiting link block 13, and multiple circular holes 21 are opened on one side of the outer wall of the steel ball pad 19, with steel balls 21 arranged on the inner wall of each circular hole 21. The mounting plate 7 is in contact with the steel ball gasket 19. Two symmetrically arranged limiting grooves 20 are opened on one side of the outer wall of the steel ball gasket 19. The inner diameter of the limiting groove 20 is larger than the outer diameter of the limiting pin 9. The limiting pin 9 is inserted into the limiting groove 20. The mounting plate 7 facilitates the installation of the shaft 8. The setting of the limiting groove 20 on the mounting plate 7 facilitates the limitation of the lateral movement of the mounting plate 7. The setting of the anti-damage gasket 10 facilitates the installation of the two auxiliary steel ball gaskets 11. The setting of the steel ball gasket 11 facilitates the installation of the steel ball 12. The setting of the steel ball gasket 19 facilitates the installation of the steel ball 21. The cooperation between the steel ball 21 and the steel ball 12 effectively reduces the wear of the mounting plate 7 during lateral movement. The limiting pin 9 is inserted into the limiting groove 20, thereby limiting the movement trajectory of the limiting pin 9, and thus limiting the movement trajectory of the outer cam 3.

[0036] Reference Figure 3-5 The piston assembly 14 includes a piston 16 slidably connected in an airtight cavity, and a piston rod 15 is fixedly connected to one side of the outer wall of the piston 16. A circular groove 18 is opened at one end of the piston rod 15, and a return spring 17 is sleeved on the outer wall of the piston rod 15. One end of the return spring 17 is in contact with the limiting link block 13. An air hole 4 is opened on one side of the outer wall of the bottom end cover 1, and the air hole 4 is connected to the airtight cavity. Four equally spaced circular grooves are opened on one side of the outer wall of the outer cam 3, and magnets 2 are fixedly connected to the inner walls of the four circular grooves. 2. Four magnets 5 with opposite magnetic properties to magnet 22 are fixedly connected to the top outer wall of the outer body 2. The outer cam 3 is fixedly connected to the shaft 8. By filling the airtight cavity with air, the piston 16 is directly driven to slide, thereby driving the piston rod 15 to contact the shaft 8, thus locking the outer cam 3. The return spring 17 drives the piston 16 to return to its original position when the air is released. The setting of the air hole 4 facilitates the filling and releasing of air in the airtight cavity, thereby driving the piston assembly 14 to move. The cooperation between magnet 5 and magnet 22 facilitates the return of the outer cam 3.

[0037] The implementation principle of a corrector for a robotic arm in this embodiment is as follows: When in use, the corrector is first installed at the front end of the robotic arm. At this time, gas is supplied through the air hole 4 to lift the piston 16. At this time, the shaft 8 is inserted into the circular groove 18 and locked, so the outer cam 3 is locked. When the robotic arm is corrected, the robotic arm moves. At this time, the air pressure is released through the air hole 4, and the piston rod 15 returns to its original position under the action of the return spring 17. At this time, the shaft 8 is unlocked and the outer cam 3 can move. When the robotic arm grabs downward, the grab will not be affected by the error because the outer cam 3 can move. After the grab is completed, the air source is turned on, and the outer cam 3 automatically returns to the center under the cooperation of magnet 1 5 and magnet 2 22. The error is corrected. The outer cam 3 can rotate and move laterally. When moving laterally, the stroke is limited by two limit grooves 20.

[0038] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A corrector for a robotic arm, comprising a cylindrical outer body (2), characterized in that: The bottom outer wall of the outer body (2) is fixedly connected to a bottom end cover (1). The top outer wall of the outer body (2) has a round opening, and a transmission spindle (6) is provided inside the round opening. An outer cam (3) is installed on the top outer wall of the transmission spindle (6). An airtight cavity is opened on the top outer wall of the bottom end cover (1), and a piston assembly (14) is slidably installed on the inner wall of the airtight cavity. A groove is opened on the bottom outer wall of the outer body (2), and a limiting link block (13) is fixedly installed on the inner wall of the groove. The transmission spindle (6) is located above the limiting link block (13).

2. The corrector for a robotic arm according to claim 1, characterized in that: The transmission spindle (6) includes a circular mounting plate (7), and a shaft (8) is installed through the center of the mounting plate (7). Two symmetrically arranged limiting pins (9) are fixedly connected to the bottom outer wall of the mounting plate (7).

3. The corrector for a robotic arm according to claim 2, characterized in that: The inner wall of the groove is fixedly connected to a ring-shaped anti-damage pad (10), and two stacked steel ball pads (11) are fixedly connected to one side of the outer wall of the anti-damage pad (10).

4. A corrector for a robotic arm according to claim 3, characterized in that: The outer walls of the two steel ball gaskets (11) are provided with a plurality of equally spaced circular holes, and the inner walls of the circular holes are provided with steel balls (12). The steel balls (12) are in contact with the mounting plate (7), and the shaft (8) passes through the steel ball gasket (11) and the anti-damage gasket (10).

5. A calibrator for a robotic arm according to claim 4, characterized in that: A steel ball gasket (19) is fixedly connected to one side of the outer wall of the limiting link block (13), and a plurality of round holes are provided on one side of the outer wall of the steel ball gasket (19). A steel ball (21) is provided on the inner wall of the round hole (21), and the steel ball (21) is in contact with the mounting plate (7).

6. A calibrator for a robotic arm according to claim 5, characterized in that: Two symmetrically arranged limiting grooves (20) are provided on one side of the outer wall of the steel ball gasket (19), and the inner diameter of the limiting groove (20) is larger than the outer diameter of the limiting pin (9). The limiting pin (9) is inserted into the limiting groove (20).

7. A calibrator for a robotic arm according to claim 6, characterized in that: The piston assembly (14) includes a piston (16) slidably connected in an airtight cavity, and a piston rod (15) is fixedly connected to one side of the outer wall of the piston (16). A circular groove (18) is provided at one end of the piston rod (15), and a return spring (17) is sleeved on the outer wall of the piston rod (15). One end of the return spring (17) is in contact with the limiting link block (13).

8. A calibrator for a robotic arm according to claim 7, characterized in that: The bottom end cap (1) has an air hole (4) on one side of its outer wall, and the air hole (4) is connected to the airtight cavity. The outer cam (3) has four equally spaced circular grooves on one side of its outer wall, and the inner walls of the four circular grooves are all fixedly connected to magnets two (22). The top outer wall of the outer body (2) is fixedly connected to four magnets one (5) with opposite magnetism to magnets two (22). The outer cam (3) is fixedly connected to the shaft (8).

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