High-precision position feedback system for a robot arm

Abstract

The utility model discloses a kind of high-precision position feedback systems for mechanical arm, it is related to mechanical arm technical field, including assembly shell, the inner surface of assembly shell is fixedly connected with baffle, the surface front side of baffle is equipped with electrical device, the surface rear side of baffle is evenly distributed and fixedly connected with damping spring rod, the damping spring rod is composed of damper and telescopic spring, the rear end of the damping spring rod is fixedly connected with same piece of buffer plate, the surface rear side of buffer plate is pasted with assembly shell, the left and right sides inner wall of buffer plate is fixedly connected with guide rod. Compared with the high-precision position feedback system for ordinary mechanical arm of existing, the vibration generated by equipment work can be greatly weakened, the situation that electrical device inside feedback device is loose or feedback device and position sensor wiring is loose due to vibration is avoided, so as to greatly improve the stability of device use, ensure the normal output of feedback result.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a high-precision position feedback system for robotic arms. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as work or movement through programming and automatic control. A rotary arm is a common robot structure, composed of rotary joints, capable of rotational movement in the horizontal or vertical direction. Because robot movement is electrically controlled, it is difficult for humans to visually determine the precision of the working position. Therefore, in robot manufacturing, position feedback devices are added to the robot to allow humans to more accurately and intuitively judge whether the robot's position adjustment accuracy meets standards.

[0003] The position feedback system consists of two parts: a position sensor and a display. The position sensor is assembled with the robot, and the display feedback device is fixed to the robot body. The two are connected by a transmission line to form a complete feedback system.

[0004] However, the robotic arm uses a high-precision position feedback system, and the display feedback device is directly fixed to the body with bolts. When the robotic arm is working, it will generate vibration force, which is directly transmitted to the feedback device through the body. This can easily cause the internal electrical components in the feedback device to loosen, or even cause the connecting wires to loosen and fall off, making it difficult to ensure stability.

[0005] Therefore, in view of this, we have studied and improved the existing structure to address its shortcomings, and proposed a high-precision position feedback system for robotic arms. Utility Model Content

[0006] The purpose of this invention is to provide a high-precision position feedback system for robotic arms to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a high-precision position feedback system for a robotic arm, comprising an assembly shell, a partition plate fixedly connected to the inner surface of the assembly shell, an electrical component mounted on the front side of the partition plate, and damping spring rods evenly distributed and fixedly connected to the rear side of the partition plate. Each damping spring rod consists of a damper and a telescopic spring. A buffer plate is fixedly connected to the rear end of each damping spring rod. The rear side of the buffer plate is in contact with the assembly shell. Guide rods are fixedly connected to the inner walls of both the left and right sides of the buffer plate, and sliders are slidably mounted on the upper and lower sides of the guide rods. Thrust springs are fixedly connected to opposite sides of the upper and lower surfaces of the sliders. The end of the thrust spring furthest from the slider is fixedly connected to the inner wall of the buffer plate. Movable rods are rotatably connected to the front side of each slider, and the front ends of corresponding upper and lower movable rods are rotatably connected to the partition plate via the same pivot seat.

[0008] Preferably, a display is fixedly connected to the front side of the outer surface of the assembly shell, and an insertion port is fixedly installed through the upper surface of the assembly shell.

[0009] Preferably, an arc-shaped top groove is provided on the left side of the inner surface of the socket, and a shaft seat is fixedly installed on the upper right side of the inner surface of the socket, corresponding to the front and back.

[0010] Preferably, a movable plate is rotatably connected to the middle of the opposite side of the bearing via a rotating shaft, and the length of the movable plate is less than the opening diameter of the socket.

[0011] Preferably, an anti-slip sleeve is fixedly installed on the surface of the movable plate, and a return spring is fixedly installed on the right side of the surface of the anti-slip sleeve.

[0012] Preferably, the end of the reset spring away from the movable plate is fixedly connected to the right side of the inner surface of the socket, and the movable plate is obliquely arranged towards the lower side of the socket.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This utility model, through the arrangement of a damping spring rod, a buffer plate, a guide rod, a slider, a thrust spring, and a movable rod, allows the entire feedback device to be mounted on the equipment body via an assembly shell. When the robotic arm is working, the equipment will vibrate. The vibration force is transmitted to the rear buffer plate through the assembly shell. The buffer plate moves under the impact of the vibration, which will compress the damping spring rod to contract. The characteristics of the damper are used to buffer the vibration. At the same time, the buffer plate will also push the slider to move up and down along the guide rod via the movable rod, thereby compressing the thrust spring. The elastic potential energy of the thrust spring itself will be used to buffer the vibration a second time. Through two buffering, the vibration generated by the operation of the equipment can be greatly reduced, avoiding the situation where the internal electrical components of the feedback device become loose or the wiring between the feedback device and the position sensor becomes loose due to vibration. This greatly improves the stability of the device and ensures the normal output of the feedback results.

[0015] 2. This utility model, through the arrangement of a socket, an arc-shaped top groove, a shaft seat, a movable plate, an anti-slip sleeve, and a return spring, allows the sensor transmission line to connect to the entire feedback device via the socket. Inside the socket, one side of the connecting line matches and fits against the arc-shaped top groove, while the right side pushes the movable plate to rotate and tilt towards the lower right side of the socket, squeezing the return spring. Under the return spring's own return force, the movable plate, through the anti-slip sleeve, tightly adheres to the right side of the connecting line surface. When the connecting line is pulled externally, the connecting line utilizes the friction between its own rubber sleeve and the anti-slip sleeve to cause the movable plate to rotate towards the socket opening. Since the diameter of the connecting line occupies space inside the socket, and the movable plate itself is relatively long, the movable plate cannot rotate towards the socket opening. The greater the pulling force, the greater the clamping force of the movable plate on the connecting line as it rotates upward, thus limiting the pulling force on the connecting line. This effectively prevents the connecting line from breaking and detaching from the feedback device connection end under external pulling force, greatly improving the stability of the connection and use of the sensor connecting line and the feedback device, and enhancing the protective effect of the connecting line. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0017] Figure 2 This is a cross-sectional view of the assembly shell structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the buffer plate structure of this utility model;

[0019] Figure 4 This is a cross-sectional view of the socket structure of this utility model.

[0020] In the diagram: 1. Assembly shell; 2. Display; 3. Partition; 4. Damping spring rod; 5. Buffer plate; 6. Guide rod; 7. Slider; 8. Thrust spring; 9. Movable rod; 10. Insert; 11. Arc-shaped top groove; 12. Shaft seat; 13. Movable plate; 14. Anti-slip sleeve; 15. Return spring. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] like Figures 1-4As shown, a high-precision position feedback system for a robotic arm includes an assembly shell 1. A partition 3 is fixedly connected to the inner surface of the assembly shell 1. Electrical components are installed on the front side of the surface of the partition 3. Damping spring rods 4 are uniformly distributed and fixedly connected to the rear side of the surface of the partition 3. The damping spring rods 4 consist of a damper and a telescopic spring. The rear end of the damping spring rods 4 is fixedly connected to the same buffer plate 5. The rear side of the surface of the buffer plate 5 is in contact with the assembly shell 1. Guide rods 6 are fixedly connected to the inner walls of both the left and right sides of the buffer plate 5. Slider 7 is slidably sleeved on the upper and lower sides of the surface of the guide rods 6. Thrust springs 8 are fixedly connected to opposite sides of the upper and lower surfaces of the slider 7. The end of the thrust spring 8 away from the slider 7 is fixedly connected to the inner wall of the buffer plate 5. Movable rods 9 are rotatably connected to the front side of the surface of the slider 7. The front ends of the upper and lower corresponding movable rods 9 are rotatably connected to the partition 3 using the same rotating shaft seat.

[0023] By adopting the above technical solution, the entire feedback device will be installed on the equipment body through the assembly shell 1. When the robotic arm is working, it will cause the equipment to vibrate. The vibration force is transmitted to the rear buffer plate 5 through the assembly shell 1. The buffer plate 5 is moved by the vibration impact and will squeeze the damping spring rod 4 to contract. The characteristics of the damper are used to buffer the vibration.

[0024] The buffer plate 5 will also push the slider 7 to move up and down along the guide rod 6 via the movable rod 9, thereby squeezing the thrust spring 8 and using the elastic potential energy of the thrust spring 8 itself to perform secondary buffering of the vibration.

[0025] Furthermore, a display 2 is fixedly connected to the front side of the outer surface of the assembly housing 1, and a socket 10 is fixedly installed through the upper surface of the assembly housing 1; the display 2 is electrically connected to the electrical components.

[0026] By adopting the above technical solution, the display 2 can display the coordinate values ​​fed back by the position sensor;

[0027] The socket 10 provides an opening for the position sensor to be electrically connected to the feedback device via a connecting wire.

[0028] Furthermore, an arc-shaped top groove 11 is provided on the left side of the inner surface of the socket 10, and a shaft seat 12 is fixedly installed on the upper right side of the inner surface of the socket 10, corresponding to the front and rear sides.

[0029] By adopting the above technical solution, the arc-shaped top groove 11 can better match the shape of the connecting wire, so that the socket 10 and the connecting wire can fit together effectively.

[0030] Furthermore, a movable plate 13 is rotatably connected to the middle of the opposite side of the bearing seat 203 via a rotating shaft, and the length of the movable plate 13 is less than the opening diameter of the socket 10.

[0031] An anti-slip sleeve 14 is fixedly installed on the surface of the movable plate 13, and a return spring 15 is fixedly installed on the right side of the surface of the anti-slip sleeve 14; the end of the return spring 15 away from the movable plate 13 is fixedly connected to the right side of the inner surface of the socket 10, and the movable plate 13 is obliquely arranged towards the lower side of the socket 10.

[0032] By adopting the above technical solution, when the connecting wire is inserted, the right side pushes the movable plate 13 to rotate and tilt towards the lower right side of the socket 10, and squeezes the return spring 15. Under the self-resetting pushing force of the return spring 15, the movable plate 13 is pressed tightly against the right side of the surface of the connecting wire through the anti-slip sleeve 14.

[0033] When the connecting wire is pulled, the connecting wire uses the friction of its own rubber sleeve and anti-slip sleeve 14 to make the movable plate 13 rotate toward the opening of the socket 10. Since the diameter of the connecting wire occupies the internal space of the socket 10, and the movable plate 13 itself is relatively long, the movable plate 13 cannot rotate toward the opening of the socket 10. The greater the pulling force, the greater the clamping force of the movable plate 13 on the connecting wire when it rotates upward, so that the pulling force on the connecting wire is limited here, effectively preventing the connecting wire from breaking and falling off from the connection end of the feedback device under the external pulling force.

[0034] Working Principle: When using this high-precision position feedback system for the robotic arm, firstly, the position sensor is installed on the robotic arm, and the entire feedback device is installed on the machine body through the assembly shell 1. Then, the sensor transmission line is connected to the entire feedback device through the socket 10. Inside the socket 10, one side of the connecting line matches and fits with the arc-shaped top groove 11, and the right side pushes the movable plate 13 to rotate and tilt towards the lower right side of the socket 10, squeezing the return spring 15. Under the self-resetting pushing force of the return spring 15, the movable plate 13 is tightly attached to the right side of the connecting line through the anti-slip sleeve 14. When the connecting line is pulled by the outside, the connecting line uses the friction of its own rubber sleeve and the anti-slip sleeve 14 to make the movable plate 13 rotate towards the opening of the socket 10. Since the diameter of the connecting line occupies the space inside the socket 10, and the length of the movable plate 13 is relatively large, the movable plate 13 cannot rotate towards the opening of the socket 10. The greater the pulling force, the greater the clamping force of the movable plate 13 on the connecting line as it rotates upward, thus increasing the pulling force on the connecting line. The connection is restricted here, effectively preventing the connection between the wire and the feedback device from breaking or falling off under external pulling force. When the robotic arm is working, the movement of the robotic arm returns the coordinate values ​​to the feedback device through the position sensor, and the display 2 shows the position of the robotic arm for manual reference. During the operation of the robotic arm, the equipment will vibrate. The vibration force is transmitted to the rear buffer plate 5 through the assembly shell 1. The buffer plate 5 moves under the impact of vibration, which will squeeze the damping spring rod 4 to contract. The characteristics of the damper are used to buffer the vibration. At the same time, the buffer plate 5 will also push the slider 7 to move up and down along the guide rod 6 through the movable rod 9, which will squeeze the thrust spring 8. The elastic potential energy of the thrust spring 8 itself will be used to buffer the vibration a second time. Through two buffers, the vibration generated by the operation of the equipment can be greatly reduced, avoiding the situation where the vibration causes the internal electrical components of the feedback device to loosen or the wiring between the feedback device and the position sensor to loosen. This is the working principle of the high-precision position feedback system of the robotic arm.

Claims

1. A high-precision position feedback system for a robotic arm, comprising an assembly housing (1), characterized in that, A partition (3) is fixedly connected to the inner surface of the assembly shell (1). Electrical components are installed on the front side of the surface of the partition (3). Damping spring rods (4) are evenly distributed and fixedly connected to the rear side of the surface of the partition (3). The damping spring rods (4) are composed of a damper and a telescopic spring. The rear end of the damping spring rods (4) is fixedly connected to the same buffer plate (5). The rear side of the surface of the buffer plate (5) is in contact with the assembly shell (1). Guide rods (6) are fixedly connected to the inner walls of the left and right sides of the buffer plate (5). Slider (7) is slidably sleeved on the upper and lower sides of the surface of the guide rod (6). Thrust springs (8) are fixedly connected to the opposite sides of the upper and lower surfaces of the slider (7). The end of the thrust spring (8) away from the slider (7) is fixedly connected to the inner wall of the buffer plate (5). Movable rods (9) are rotatably connected to the front side of the surface of the slider (7). The front ends of the upper and lower corresponding movable rods (9) are rotatably connected to the partition (3) using the same rotating shaft seat.

2. The high-precision position feedback system for a robotic arm according to claim 1, characterized in that, The front side of the outer surface of the assembly shell (1) is fixedly connected to a display (2), and the upper surface of the assembly shell (1) is fixedly connected to a socket (10).

3. The high-precision position feedback system for a robotic arm according to claim 2, characterized in that, An arc-shaped top groove (11) is provided on the left side of the inner surface of the socket (10), and a bearing seat (12) is fixedly installed on the upper right side of the inner surface of the socket (10) in front and behind respectively.

4. The high-precision position feedback system for a robotic arm according to claim 3, characterized in that, A movable plate (13) is rotatably connected to the middle of the opposite side of the bearing seat (12) via a rotating shaft, and the length of the movable plate (13) is less than the opening diameter of the socket (10).

5. A high-precision position feedback system for a robotic arm according to claim 4, characterized in that, An anti-slip sleeve (14) is fixedly installed on the surface of the movable plate (13), and a return spring (15) is fixedly installed on the right side of the surface of the anti-slip sleeve (14).

6. A high-precision position feedback system for a robotic arm according to claim 5, characterized in that, The end of the reset spring (15) away from the movable plate (13) is fixedly connected to the right side of the inner surface of the socket (10), and the movable plate (13) is obliquely arranged towards the lower side of the socket (10).

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