A high-precision calibration assembly for a robot pressure debugging standard block

Abstract

The utility model discloses a kind of high-precision calibration components of manipulator pressure debugging standard block, belong to manipulator technical field, to the problem that independent, accurate pressure calibration cannot be carried out to each bar plate, leading to the clamping force control failure of entire manipulator, including connecting rod, fixed beam, support rod, driving mechanism and pressure debugging mechanism, the connecting rod is fixedly connected to the top of fixed beam symmetrically, the support rod is fixedly connected to the left and right sides of fixed beam symmetrically, the driving mechanism is arranged between support rod, the pressure debugging mechanism is evenly installed below driving mechanism;The utility model can subtly adjust the installation angle of clamping plate by the cooperation of adjusting bolt and fixed bolt, calibrates the precision of pressure sensor, realizes the high-precision calibration to manipulator clamping force, ensures that manipulator can accurately, evenly, stably exert the required pressure in actual work.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a high-precision calibration component for a robotic arm pressure adjustment standard block. Background Technology

[0002] Robotic arms are widely used in various working environments, especially in high-precision assembly and operation, such as assembly, grinding, and inspection. Precise control of the end pressure is required in these scenarios, and the accuracy of the end pressure sensor directly affects product quality and equipment lifespan. Pressure control is a crucial factor.

[0003] In the prior art, a pressure-detecting robotic arm with patent publication number CN220128816U is described. When in use, the drive motor rotates the strip plates to clamp the object. When the strip plates contact the clamped object, the clamping force can be sensed, preventing excessive contact force between the robotic arm and the object. However, in practical use, the following shortcomings exist: From a practical standpoint, the above-mentioned invention clamps the object using individual strip plates, each with a pressure sensor mounted on its surface to detect the contact pressure between the strip plate and the clamped object. This makes it impossible to perform independent and precise pressure calibration on each strip plate. If the pressure sensor of any strip plate deviates, it may cause the entire robotic arm's clamping force control to fail, damaging the clamped object.

[0004] Therefore, a high-precision calibration component for a robot pressure adjustment standard block is needed to solve the problem in the existing technology that the pressure of each strip plate cannot be calibrated independently and accurately, which leads to the failure of the clamping force control of the entire robot. Utility Model Content

[0005] The purpose of this invention is to provide a high-precision calibration component for a robotic arm pressure adjustment standard block, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a high-precision calibration component for a manipulator pressure adjustment standard block, comprising a connecting rod, a fixed beam, a support rod, a drive mechanism, and a pressure adjustment mechanism. The connecting rod is symmetrically fixedly connected to the top of the fixed beam, the support rod is symmetrically fixedly connected to the left and right sides of the fixed beam, the drive mechanism is disposed between the support rods, and the pressure adjustment mechanism is uniformly installed below the drive mechanism.

[0007] It should be noted in the solution that the drive mechanism consists of a motor, a rotating shaft, a gear, a rack, a limit strip, a connecting plate, a connecting block, and rollers. The motor is fixedly connected to the top of the fixed beam, the rotating shaft is fixedly connected to the output end of the motor, a through groove is provided inside the fixed beam, the rotating shaft is rotatably connected to the inside of the through groove, and the gear is fixedly connected to the outside of the rotating shaft.

[0008] It is worth noting that there are two racks, which are symmetrically arranged along the center of the rotation axis, and the racks mesh with the gears.

[0009] Furthermore, it should be noted that the limiting strip is fixedly connected to the side of the rack away from the gear, and the left and right sides of the through groove are symmetrically provided with sliding grooves that are adapted to the limiting strip.

[0010] In a preferred embodiment, the connecting plate is fixedly connected to one end of the rack, the connecting block is symmetrically fixedly connected to the left and right ends of the connecting plate, the roller is fixedly connected to the front and rear sides of the connecting block, and the support rod has symmetrically provided limiting grooves inside for the roller to roll.

[0011] In a preferred embodiment, the pressure adjustment mechanism consists of a clamping plate, a contact plate, a pressure sensor, fixing bolts, and adjusting bolts. The contact plate is fixedly connected to one side of the clamping plate, and the pressure sensor is installed on one side of the clamping plate with its detection end facing the fixed beam.

[0012] In a preferred embodiment, the top surface of the clamping plate and the connecting plate are respectively provided with fixed threaded holes adapted to the fixing bolts, and an adjusting threaded hole adapted to the adjusting bolts is provided between the two fixed threaded holes.

[0013] In a preferred embodiment, the top surface of the clamping plate is provided with an adjustment groove, and the adjustment groove is tapered. The position of the adjustment threaded hole is not on the same vertical axis as the adjustment groove.

[0014] Compared with the prior art, the high-precision calibration component of the robotic arm pressure adjustment standard block provided by this utility model has at least the following beneficial effects:

[0015] (1) By using the adjustment bolt and the fixing bolt together, the installation angle of the clamping plate can be finely adjusted, the accuracy of the pressure sensor can be calibrated, and the high-precision calibration of the clamping force of the robot arm can be achieved, ensuring that the robot arm can apply the required pressure accurately, evenly and stably in actual work.

[0016] (2) The drive mechanism is equipped with gear and rack transmission, and the design of rollers and limit grooves ensures the smoothness and stability of the connecting plate movement, thereby ensuring the stability of the pressure adjustment mechanism movement during the calibration process. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0018] Figure 2 This is a top view structural diagram of the present invention;

[0019] Figure 3 This is a schematic diagram of the drive mechanism structure of this utility model;

[0020] Figure 4 This is a schematic diagram of the pressure adjustment mechanism of this utility model.

[0021] In the diagram: 1. Connecting rod; 2. Fixed beam; 3. Support rod; 4. Drive mechanism; 5. Pressure adjustment mechanism; 6. Standard block; 401. Motor; 402. Rotating shaft; 403. Gear; 404. Rack; 405. Limiting strip; 406. Through groove; 407. Connecting plate; 408. Connecting block; 409. Roller; 410. Limiting groove; 501. Clamping plate; 502. Contact plate; 503. Pressure sensor; 504. Fixing bolt; 505. Adjusting bolt; 506. Adjusting groove. Detailed Implementation

[0022] The present invention will be further described below with reference to the embodiments.

[0023] Please see Figure 1-4 This utility model provides a high-precision calibration component for a manipulator pressure adjustment standard block, including a connecting rod 1, a fixed beam 2, a support rod 3, a drive mechanism 4, and a pressure adjustment mechanism 5. The connecting rod 1 is symmetrically fixedly connected to the top of the fixed beam 2, the support rod 3 is symmetrically fixedly connected to the left and right sides of the fixed beam 2, the drive mechanism 4 is disposed between the support rods 3, and the pressure adjustment mechanism 5 is evenly installed below the drive mechanism 4.

[0024] Further as Figure 1 , Figure 2 and Figure 3 As shown, it is worth noting that the drive mechanism 4 consists of a motor 401, a rotating shaft 402, a gear 403, a rack 404, a limiting strip 405, a connecting plate 407, a connecting block 408, and a roller 409. The motor 401 is fixedly connected to the top of the fixed beam 2, the rotating shaft 402 is fixedly connected to the output end of the motor 401, a through groove 406 is provided inside the fixed beam 2, the rotating shaft 402 is rotatably connected to the inside of the through groove 406, and the gear 403 is fixedly connected to the outside of the rotating shaft 402.

[0025] Further as Figure 1 , Figure 2 and Figure 3As shown, it is worth noting that there are two racks 404, which are symmetrically arranged along the center of the rotation axis 402. The racks 404 mesh with the gears 403. The limiting strip 405 is fixedly connected to the side of the rack 404 away from the gears 403. The left and right sides of the through groove 406 are symmetrically provided with sliding grooves that are adapted to the limiting strips 405.

[0026] The limiting strip 405 slides inside the groove to ensure the stability of the rack 404 when the gear 403 rotates and drives it to move, and to ensure the stability of the linear motion of the rack 404.

[0027] Further as Figure 1 , Figure 2 and Figure 3 As shown, it is worth noting that the connecting plate 407 is fixedly connected to one end of the rack 404, the connecting block 408 is symmetrically fixedly connected to the left and right ends of the connecting plate 407, the roller 409 is fixedly connected to the front and rear sides of the connecting block 408, and the support rod 3 has symmetrically provided limiting grooves 410 for the roller 409 to roll.

[0028] As can be seen from the above working process, by adjusting the bolt 505 and fixing the bolt 504 together, the installation angle of the clamping plate 501 can be finely adjusted, the accuracy of the pressure sensor 503 can be calibrated, and the high-precision calibration of the clamping force of the robot arm can be achieved, ensuring that the robot arm can accurately, evenly and stably apply the required clamping force in actual work.

[0029] Further as Figure 1 , Figure 3 and Figure 4 As shown, it is worth noting that the pressure adjustment mechanism 5 consists of a clamping plate 501, a contact plate 502, a pressure sensor 503, a fixing bolt 504, and an adjusting bolt 505. The contact plate 502 is fixedly connected to one side of the clamping plate 501, and the pressure sensor 503 is installed on one side of the clamping plate 501, with the detection end of the pressure sensor 503 facing the fixed beam 2.

[0030] Further as Figure 1 , Figure 3 and Figure 4 As shown, it is worth noting that the top surface of the clamping plate 501 and the connecting plate 407 are respectively symmetrically provided with fixing threaded holes that are compatible with the fixing bolts 504, and an adjusting threaded hole that is compatible with the adjusting bolts 505 is provided between the two fixing threaded holes.

[0031] Further as Figure 1 , Figure 3 and Figure 4As shown, it is worth noting that the top surface of the clamping plate 501 is provided with an adjustment groove 506, and the adjustment groove 506 is set in a conical shape. The position of the adjustment thread hole and the adjustment groove 506 are not on the same vertical axis.

[0032] The adjusting bolt 505 is used to finely adjust the installation angle of the clamping plate 501 to calibrate the accuracy of the pressure sensor 503; the fixing bolt 504 is used to fix the position of the clamping plate 501 after adjustment to ensure the stability of the calibration results.

[0033] This solution has the following working process: In use, firstly, the connecting rod 1 and the top flange are connected to the end effector of the robot arm, and the wires of the motor 401 and pressure sensor 503 are connected to the robot arm's control system. Under no-load conditions, the initial readings of each pressure sensor 503 are recorded as zero-point calibration references. Then, the standard block 6 is placed between the clamping plates 501. Next, the motor 401 is started, driving the gear 403 and rack 404 to move, causing the connecting plates 407 on both sides to move towards each other. The rollers 409 at the left and right ends of the connecting plates 407 roll within the limiting grooves 410, ensuring the smoothness and stability of the connecting plates 407's movement, thereby driving the clamping plates below. The plate 501 moves, contacting the standard block 6 via the contact plate 502, recording the pressure values ​​of each pressure sensor 503, and comparing these values ​​to analyze whether there are any errors in the accuracy of each pressure sensor 503. Pressure sensors 503 with errors are adjusted. First, the two fixing bolts 504 are loosened, then the adjusting bolt 505 is rotated. The tapered surface of the adjusting bolt 505 aligns with the adjusting groove 506, and as the adjusting bolt 505 moves downwards, it presses against the adjusting groove 506, thus finely adjusting the installation angle of the clamping plate 501. The fixing bolts 504 are then tightened, and the pressure values ​​of the pressure sensors 503 are tested again, thereby reducing errors and improving calibration accuracy. Based on the calibration results, the clamping plate 501 is adjusted to ensure that the robot can accurately, evenly, and stably apply the required clamping force during actual operation.

[0034] In summary: By adjusting the bolts 505 and fixing bolts 504, the installation angle of the clamping plate 501 can be finely adjusted, and the accuracy of the pressure sensor 503 can be calibrated. This achieves high-precision calibration of the clamping force of the robot arm, ensuring that the robot arm can accurately, evenly, and stably apply the required clamping force during actual work. The drive mechanism 4, which uses gears 403 and racks 404 for transmission, along with the design of rollers 409 and limiting grooves 410, ensures the smoothness and stability of the movement of the connecting plate 407, thereby guaranteeing the stability of the movement of the pressure adjustment mechanism 5 during the calibration process.

Claims

1. A high-precision calibration component for a manipulator pressure adjustment standard block, comprising a connecting rod (1), a fixed beam (2), a support rod (3), a drive mechanism (4), and a pressure adjustment mechanism (5), characterized in that: The connecting rod (1) is symmetrically fixed above the fixed beam (2), the support rod (3) is symmetrically fixed on the left and right sides of the fixed beam (2), the driving mechanism (4) is arranged between the support rods (3), and the pressure adjustment mechanism (5) is evenly installed below the driving mechanism (4).

2. The high-precision calibration component for a robotic arm pressure adjustment standard block according to claim 1, characterized in that: The drive mechanism (4) consists of a motor (401), a rotating shaft (402), a gear (403), a rack (404), a limiting strip (405), a connecting plate (407), a connecting block (408), and a roller (409). The motor (401) is fixedly connected to the top of the fixed beam (2), and the rotating shaft (402) is fixedly connected to the output end of the motor (401). A through groove (406) is provided inside the fixed beam (2), and the rotating shaft (402) is rotatably connected to the inside of the through groove (406). The gear (403) is fixedly connected to the outside of the rotating shaft (402).

3. The high-precision calibration component for a robotic arm pressure adjustment standard block according to claim 2, characterized in that: There are two racks (404), which are symmetrically arranged along the center of the rotation axis (402), and the racks (404) mesh with the gears (403).

4. The high-precision calibration component for a robotic arm pressure adjustment standard block according to claim 3, characterized in that: The limiting strip (405) is fixedly connected to the side of the rack (404) away from the gear (403), and the left and right sides of the through groove (406) are symmetrically provided with sliding grooves that are adapted to the limiting strip (405).

5. The high-precision calibration component for a robotic arm pressure adjustment standard block according to claim 4, characterized in that: The connecting plate (407) is fixedly connected to one end of the rack (404), the connecting block (408) is symmetrically fixedly connected to the left and right ends of the connecting plate (407), the roller (409) is fixedly connected to the front and rear sides of the connecting block (408), and the support rod (3) is symmetrically provided with limiting grooves (410) for the roller (409) to roll.

6. The high-precision calibration component for a robotic arm pressure adjustment standard block according to claim 5, characterized in that: The pressure adjustment mechanism (5) consists of a clamping plate (501), a contact plate (502), a pressure sensor (503), a fixing bolt (504), and an adjusting bolt (505). The contact plate (502) is fixedly connected to one side of the clamping plate (501), and the pressure sensor (503) is installed on one side of the clamping plate (501), with the detection end of the pressure sensor (503) facing the fixed beam (2).

7. The high-precision calibration component for a robotic arm pressure adjustment standard block according to claim 6, characterized in that: The top surface of the clamping plate (501) and the connecting plate (407) are respectively symmetrically provided with fixing threaded holes adapted to the fixing bolts (504), and an adjusting threaded hole adapted to the adjusting bolts (505) is provided between the two fixing threaded holes.

8. The high-precision calibration component for a robotic arm pressure adjustment standard block according to claim 7, characterized in that: The top surface of the clamping plate (501) is provided with an adjustment groove (506), and the adjustment groove (506) is set in a conical shape. The position of the adjustment threaded hole is not on the same vertical axis as the adjustment groove (506).

Images