CN106808483B - The tool means for correcting of mechanical arm - Google Patents
The tool means for correcting of mechanical arm Download PDFInfo
- Publication number
- CN106808483B CN106808483B CN201610124875.1A CN201610124875A CN106808483B CN 106808483 B CN106808483 B CN 106808483B CN 201610124875 A CN201610124875 A CN 201610124875A CN 106808483 B CN106808483 B CN 106808483B
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- tool
- measuring plate
- axis
- sensor
- correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention is a kind of tool means for correcting applied to the mechanical arm with tool, includes: pedestal；X-axis measuring equipment is set to pedestal, and is contained in the first measuring plate of X-axis axial movement and senses the first sensor of the first measuring plate displacement；Y-axis measuring equipment, be set to pedestal and it is adjacent with X-axis measuring equipment set, and be contained in Y-axis axial movement the second measuring plate and sense the second measuring plate displacement the second sensor；Z axis measuring equipment, be set to the recessed portion of pedestal and with X-axis measuring equipment and Y-axis measuring equipment is adjacent sets, and be contained in the third measuring plate of Z axis axial movement and sense the third sensor of third measuring plate displacement；Wherein, sharp correction is made in the mobile displacement obtained that senses of X-axis, Y-axis and Z axis to obtain the central point information of tool according to tool.
Description
Technical field
The present invention relates to a kind of tool means for correcting, the tool means for correcting of espespecially a kind of mechanical arm.
Background technique
With the progress of industrial technology, miscellaneous robot has widely been developed to be applied to life and industry
In.In general, mechanical arm is the critical elements of robot, and mechanical arm can be required to carry out in its end assembly tool
Task.For example, which can be soldering appliance, boring bar tool, grasping tool, milling tool or cutting tool.It is fixed
Tool in the end of mechanical arm need to have an endpoint of a definition, referred to as tool center point (Tool Center Point, with
Lower abbreviation TCP).When tool is set to the end of mechanical arm, the TCP of the tool and the end effect point of mechanical arm
Opposite offset accurately must be obtained and be preset between (End-Effect Point).In other words, in mechanical arm
The size of tool must be first known when assembly tool, in this way, when mechanical arm is when assembly tool operates, robot program
It can be corrected according to the offset of acquirement, the tool is allow to run on correct path and position whereby.
Currently, tool means for correcting can be used to realize in order to facilitate the TCP of aligning tool.Conventional tool means for correcting
Include framework and multiple infrared sensors.When tool is assemblied in the end of mechanical arm, that is, carry out tool correction program.It is first
First, tool is mobile towards tool means for correcting, and carry out the point simulation and introduction program of tool, i.e. mechanical arm band power driven tools
Moved in the space defined in the framework of tool means for correcting, and tool means for correcting according to the movement of the TCP of the tool and
It carries out introduction point program and establishes the sample of this tool.In this way, when replacing the tool of identical kenel, tool correction dress
Departure caused by setting before and after can comparing tool changing, and compensate mechanical arm to tool correctness, make
Completion tool correction program.
However, prices are rather stiff for the conventional tool means for correcting with infrared sensor.In addition, when being assemblied in machinery
When the tool of arm is with the tool changing of identical kenel, although the conventional tool means for correcting of tool infrared sensor can obtain
Opposite offset between the TCP of tool and the end effect point of mechanical arm, however when be assemblied in the tool of mechanical arm with
When the tool changing of different kenels, has the conventional tool means for correcting of infrared sensor and can not correctly obtain tool
Opposite offset between the end effect of TCP and mechanical arm point, therefore tool correction is carried out with conventional tool means for correcting
Correctness reduce.In addition, the dislocation of tool will cause entire producing line to shut down and waste material, time and cost.
Therefore, it is really necessary to develop a kind of tool means for correcting of mechanical arm, is asked with solve that prior art faced
Topic.
Summary of the invention
The purpose of the present invention is to provide a kind of tool means for correcting of mechanical arm, cost is relatively low and can modularization group
Dress.In addition, tool means for correcting of the invention can correctly measure the end effect point with the TCP of the tool of acquirement and mechanical arm
Between opposite offset, mechanical arm can rapidly compensate tool correctness whereby, to ensure the correct of tool
Operating position.Compared to manual synchronizing mode, the operating time may not only be saved using tool means for correcting of the invention, and can
With the high-precision correction of implementation tool.
In order to achieve the above object, the present invention provides a kind of tool means for correcting, it is mechanical applied to the mechanical arm with tool
Arm band power driven tools are mobile, and tool means for correcting includes pedestal, X-axis measuring equipment, Y-axis measuring equipment and Z axis measuring equipment.Base
Seat tool has recessed portion.X-axis measuring equipment is set on pedestal, and includes the first measuring plate and the first sensor, wherein the first amount
Drafting board is moved axially in X-axis, and the first sensor senses the first measuring plate when tool drives the first measuring plate mobile and moved
The first displacement.Y-axis measuring equipment be set on pedestal and it is adjacent with the side of X-axis measuring equipment set, and include second
Measuring plate and the second sensor, wherein the second measuring plate is moved axially in Y-axis, and the second sensor drives the second measurement in tool
Plate senses the second displacement amount that the second measuring plate is moved when mobile.Z axis measuring equipment is set to recessed portion and has two adjacent
Side and includes respectively third measuring plate and third sensor with X-axis measuring equipment and Y-axis measuring equipment is adjacent sets, wherein
Three measuring plates are moved axially in Z axis, and third sensor senses third measuring plate institute when tool drives third measuring plate mobile
Mobile third displacement.Wherein, according to tool in mobile the first displacement for sensing acquirement of X-axis, Y-axis and Z axis, second
Shifting amount and third displacement make the school of the tool center point of carry out tool to obtain the information of the tool center point about tool
Just.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Detailed description of the invention
Figure 1A is the structural schematic diagram of the tool means for correcting of first embodiment of the invention.
Figure 1B is the structural side view of tool means for correcting shown in figure 1A.
Fig. 2A is the structural schematic diagram that robotic arm assembly tool is applied to tool means for correcting of the invention.Fig. 2 B is figure
The partial enlarged view of structure shown in 2A.
Fig. 3 is operation workflow figure when robotic arm assembly tool is applied to tool means for correcting.
Fig. 4 A is the structural schematic diagram of the tool means for correcting of second embodiment of the invention.
Fig. 4 B is the structural side view of tool means for correcting shown in Fig. 4 A.
Fig. 5 A is the structural schematic diagram of the tool means for correcting of third embodiment of the invention.
Fig. 5 B is the structural side view of tool means for correcting shown in Fig. 5 A.
Fig. 6 A is the structural schematic diagram of the tool means for correcting of fourth embodiment of the invention.
Fig. 6 B is the structural side view of tool means for correcting shown in Fig. 6 A.
Fig. 7 A is the structural schematic diagram of the tool means for correcting of fifth embodiment of the invention.
Fig. 7 B is the structural side view of tool means for correcting shown in Fig. 7 A.
Wherein, appended drawing reference
1,1a, 1b, 1c, 1d: tool means for correcting
10: pedestal
101: groove portion
101a: top surface
143a, 243a: the first side wall face
102: recessed portion
102a: bottom surface
10a:X axis measuring equipment
11: the first measuring plates
11a: the first sliding part
11b: the first measurement portion
11c: the first side wall
111c: lateral surface
112c, 212c: medial surface
12: the first sensors
12a: the first sensing slot
13: the first linear tracks
13a: the first side
13b: second side
14: the first elastic elements
14a: the first spring
144a: the first side wall face
14b: the first column
10b:Y axis measuring equipment
21: the second measuring plates
21a: the second sliding part
21b: the second measurement portion
21c: second sidewall
22: the second sensors
22a: the second sensing slot
23: the second linear tracks
23a: the first side
23b: second side
24: the second elastic elements
24a: second spring
24b: the second column
10c:Z axis measuring equipment
31: third measuring plate
31a: third sliding part
31b: third measurement portion
31c: third side wall
32: third sensor
32a: third senses slot
33: third linear track
34: third elastic element
34a: third spring
34b: third column
101c: the first side
102c: second side
103c: top surface
103: sensing space
2: mechanical arm
2a: end effect point
3: tool
3a: connecting pin
3b: tool center point
S1-S6: step
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments, to be further understood that
The purpose of the present invention, scheme and effect, but it is not intended as the limitation of scope of the appended claims of the present invention.
Figure 1A is the structural schematic diagram of the tool means for correcting of first embodiment of the invention, and Figure 1B is tool shown in figure 1A
The structural side view of means for correcting, Fig. 2A are that robotic arm assembly tool shows applied to the structure of tool means for correcting of the invention
Be intended to (robotic arm with selective compliance assembly robot arm (Selective Compliance Assembly Robot Arm,
SCARA for), but not limited to this), Fig. 2 B is the partial enlarged view of structure shown in Fig. 2A.As shown in Figure 1A, 1B, 2A and 2B,
The tool 3 that tool means for correcting 1 of the invention is assembled for the end of correction mechanical arm 2, so that mechanical arm 2 is executing
It may insure that tool 3 operates on correct position when required task.Tool means for correcting 1 include pedestal 10, X-axis measuring equipment 10a,
Y-axis measuring equipment 10b and Z axis measuring equipment 10c, wherein pedestal 10 includes multiple groove portions 101 and a recessed portion 102.X-axis measures
Device 10a and Y-axis measuring equipment 10b are respectively arranged on pedestal 10, and Z axis measuring equipment 10c is then set to the recessed of pedestal 10
Concave portion 102, wherein the side of X-axis measuring equipment 10a is disposed adjacent with the side of Y-axis measuring equipment 10b, and X-axis measuring equipment
10a and Y-axis measuring equipment 10b is adjacent to the first side 101c and second side 102c of Z axis measuring equipment 10c respectively and part is higher by
The top surface 103c of Z axis measuring equipment 10c makes X-axis measuring equipment 10a, Y-axis measuring equipment 10b and Z axis measuring equipment 10c whereby
Definition forms sensing space 103.
X-axis measuring equipment 10a includes the first measuring plate 11, the first sensor 12, the first linear track 13 and the first elasticity
Element 14.In this present embodiment, the first sensor 12 is the first side 13a for being adjacent to the first linear track 13, and the first elasticity
Element 14 is then second side 13b for being adjacent to the first linear track 13.First measuring plate 11 includes the first sliding part 11a, first
Measurement portion 11b and the first side wall 11c, wherein the first measurement portion 11b is correspondingly arranged with the first sensor 12, to sense the first amount
The displacement of survey portion 11b.First sensor 12 includes the first sensing slot 12a, and the first sensing slot 12a and first measuring plate 11
First measurement portion 11b is correspondingly arranged, and move the first measurement portion 11b of the first measuring plate 11 can in the first sensing slot 12a
It is dynamic, in this way, which the displacement of the first measurement portion 11b is measured and is obtained using the first sensor 12.Preferably, the first sensing
Device 12 is position sensor.First linear track 13 is fixed on the top surface of pedestal 10, and the first sliding part of the first measuring plate 11
11a is matched with the first linear track 13, and the first measuring plate 11 is slidably on the first linear track 13 whereby.First elasticity member
Part 14 is set in the corresponding groove portion 101 of pedestal 10, and includes the first spring 14a and the first column 14b, wherein the first spring
14a is sheathed on the first column 14b, and the first spring 14a setting corresponding with the first side wall 11c of the first measuring plate 11, in detail,
One end of first spring 14a is resisted against the lateral surface 111c of the first side wall 11c, and the other end of the first spring 14a is then supported
In the first side wall face 143a of groove portion 101, whereby when the first side wall 11c of the first measuring plate 11 forces in the first spring 14a,
First spring 14a is compressed and is generated elastic restoring force, so that the movement of the first measuring plate 11 returns back to origin-location.
Y-axis measuring equipment 10b includes the second measuring plate 21, the second sensor 22, the second linear track 23 and the second elasticity
Element 24.In this present embodiment, the second sensor 22 is the first side 23a for being adjacent to the second linear track 23, and the second elasticity
Element 24 is then second side 23b for being adjacent to the second linear track 23.Second measuring plate 21 includes the second sliding part 21a, second
Measurement portion 21b and second sidewall 21c, wherein the second measurement portion 21b is correspondingly arranged with the second sensor 22, to sense the second amount
The displacement of survey portion 21b.Second sensor 22 includes the second sensing slot 22a, and the second sensing slot 22a and second measuring plate 21
Second measurement portion 21b is correspondingly arranged, and move the second measurement portion 21b of the second measuring plate 21 can in the second sensing slot 22a
It is dynamic, in this way, which the displacement of the second measurement portion 21b can be measured and be obtained by the second sensor 22.Preferably, the second sensing
Device 22 is position sensor.Second linear track 23 is fixed on the top surface of pedestal 10, and the second sliding part of the second measuring plate 21
21a and the second linear track 23 cooperate, and the second measuring plate 21 is slidably on the second linear track 23 whereby.Second elasticity
Element 24 is set in the corresponding groove portion 101 of pedestal 10, and includes second spring 24a and the second column 24b, wherein second spring
24a is sheathed on the second column 24b, and second spring 24a setting corresponding with the second sidewall 21c of the second measuring plate 21, in detail,
One end of second spring 24a is resisted against the lateral surface (not shown) of second sidewall 21c, and the other end of second spring 24a is then
It is resisted against the first side wall face 243a of groove portion 101, whereby when the second sidewall 21c of the second measuring plate 21 forces in second spring
When 24a, second spring 24a is compressed and is generated elastic restoring force, so that the movement of the second measuring plate 21 returns back to origin-location.
Z axis measuring equipment 10c includes third measuring plate 31, third sensor 32, third linear track 33 and third elasticity
Element 34.Third measuring plate 31 includes third sliding part 31a, third measurement portion 31b and third side wall 31c, and wherein third measures
Portion 31b is correspondingly arranged with third sensor 32, to sense the displacement of third measurement portion 31b.Third sensor 32 is set to
The bottom surface 102a of recessed portion 102, and include third sensing slot 32a, it is corresponding with the third measurement portion 31b of third measuring plate 31 to set
It sets, sense the third measurement portion 31b of third measuring plate 31 can in third in slot 32a and move, in this way, which third measures
The displacement of portion 31b can be measured and be obtained by third sensor 32.Preferably, third sensor 32 is position sensor.The
Three linear tracks 33 are adjacent to the side of recessed portion 102, and the third sliding part 31a of third measuring plate 31 and third linear track
33 cooperate, and third measuring plate 31 is slidably on third linear track 33 whereby.Third elastic element 34 is set to recess
The bottom surface 102a in portion 102, and include third spring 34a and third column 34b, third column 34b is vertically connected at the bottom of recessed portion 102
Face 102a, wherein third spring 34a is sheathed on third column 34b, and the third side wall of third spring 34a and third measuring plate 31
The side of third side wall 31c is supported in the corresponding setting of 31c, in detail, one end of third spring 34a, and third spring 34a's is another
One end is then the bottom surface 102a for being resisted against recessed portion 102, whereby when the third side wall 31c of third measuring plate 31 forces in third bullet
When spring 34a, third spring 34a is compressed and is generated elastic restoring force, so that the movement of third measuring plate 31 returns back to origin-location.
Tool 3 includes connecting pin 3a and tool center point 3b (i.e. distal point), wherein the end of connecting pin 3a and mechanical arm 2
End effect point 2a phase is fixed and connects, and the tool center point 3b of tool 3 is then moved in X-axis measuring equipment 10a, Y-axis measurement
In the formed sensing space 103 of device 10b and Z axis measuring equipment 10c, in other words, mechanical arm 2 can driving instrument 3 make its work
Tool central point 3b is displaced into sensing space 103.
The function mode of tool means for correcting 1 described further below.Firstly, working as manipulator so that X axis senses as an example
When arm 2 is moved axially with power driven tools 3 with X-axis, the tool center point 3b of tool 3 is moved axially in sensing space 103 with X-axis,
And it is mobile from origin-location to the first measuring plate 11.Tool 3 will touch the first measuring plate 11 and push the first measuring plate 11
It is slided along the first linear track 13.At this point, the first side wall 11c of the first measuring plate 11 can be to the first of the first elastic element 14
Spring 14a force, makes the first spring 14a generate elastic restoring force, and the first measurement portion 11b of the first measuring plate 11 can be moved simultaneously
It is placed in the first sensing slot 12a of the first sensor 12, in this way, which the first sensor 12 can be according to the first measurement portion 11b
Displacement obtain tool 3 in the displacement parameter of X-axis axial direction, i.e. the first displacement.Later, mechanical arm 2 will drive 3 edge of tool
X-axis axially moves in opposite directions, and the first measuring plate 11 is moved because of the elastic restoring force of the first spring 14a and is returned back to
Origin-location.
Then, by taking Y-axis senses as an example, when mechanical arm 2 is moved axially with power driven tools 3 with Y-axis, the tool of tool 3
Central point 3b is moved axially in sensing space 103 with Y-axis, and mobile from origin-location to the second measuring plate 21.Tool 3 will
It touches the second measuring plate 21 and the second measuring plate 21 is pushed to slide along the second linear track 23.At this point, the second measuring plate 21
Second sidewall 21c can exert a force to the second spring 24a of the second elastic element 24, make second spring 24a generate elastic restoring force,
And second measuring plate 21 the second measurement portion 21b can move be placed into the second sensor 22 second sensing slot 22a in, such one
Come, the second sensor 22 can obtain tool 3 in the displacement parameter of Y-axis axial direction, i.e., the according to the displacement of the second measurement portion 21b
Two displacements.Later, it is axial to move towards on the contrary along Y-axis to will drive tool 3 for mechanical arm 2, and makes the second measuring plate 21
It is moved because of the elastic restoring force of second spring 24a and returns back to origin-location.
Come again, by Z axis to for sensing, when mechanical arm 2 is moved axially with power driven tools 3 with Z axis, the tool of tool 3
Central point 3b is moved axially in sensing space 103 with Z axis, and mobile from origin-location to third measuring plate 31.Tool 3 will
It touches third measuring plate 31 and third measuring plate 31 is pushed to slide along third linear track 33.At this point, third measuring plate 31
Third side wall 31c can to third elastic element 34 third spring 34a force, make third spring 34a generate elastic restoring force,
And the third measurement portion 31b of third measuring plate 31 can be moved and is placed into the third sensing slot 32a of third sensor 32, such one
Come, third sensor 32 can obtain tool 3 in the displacement parameter of Z axis axial direction, i.e., the according to the displacement of third measurement portion 31b
Triple motion amount.Later, mechanical arm 2 will drive tool 3 and axially move in opposite directions along Z axis, and make third measuring plate 31
It is moved because of the elastic restoring force of third spring 34a and returns back to origin-location.
After the sensing of X-axis, Y-axis and Z axis three axis axial direction, the tool center point 3b and manipulator of tool 3 can be obtained
Offset between the end effect point 2a of arm 2 relative to the space X-Y-Z, in this way, which mechanical arm 2 can be according to offset
Control tool 3 carries out tool accuracy compensation.
Fig. 3 is operation workflow figure when robotic arm assembly tool is applied to tool means for correcting.Firstly, tool is corrected
Device 1 is set to the underface of mechanical arm 2, and obtains the distance between tool means for correcting 1 and mechanical arm 2 parameter (such as
Step S1).Then, tool 3 is assemblied in the end of mechanical arm 2, mechanical arm 2 is made to be moved to tool correction with power driven tools 3
Device 1, so that the tool center point 3b of tool 3 is located in sensing space 103 (such as step S2).Come again, 2 band of mechanical arm is started building
Tool 3 is moved axially with X-axis, and tool 3 touches and pushes the first measuring plate 11 mobile, makes the mobile merging of the first measurement portion 11b the
In one sensing slot 12a, make 12 acquirement tool 3 of the first sensor in the displacement parameter (i.e. the first displacement) of X axis, and in X-axis
To displacement parameter obtain after, mechanical arm 2 will drive tool 3 and move in opposite directions along X axis, and make the first measuring plate
11 movements return back to origin-location (such as step S3).Come again, mechanical arm 2 is moved axially with power driven tools 3 with Y-axis, and tool 3 touches
It touches and pushes the second measuring plate 21 mobile, make to make the second sensor in mobile the second sensing of the merging slot 22a of the second measurement portion 21b
22 obtain tool 3 in the displacement parameter (i.e. second displacement amount) of Y-axis, and after the acquirement of the displacement parameter of Y-axis, mechanical arm
2 will drive tool 3 moves in opposite directions along Y-axis, and the movement of the second measuring plate 21 is made to return back to origin-location (such as step
S4).Come again, mechanical arm 2 is moved axially with power driven tools 3 with Z axis, and tool 3 touches and pushes third measuring plate 31 mobile, makes
In the mobile merging third sensing slot 32a of third measurement portion 31b, make 32 acquirement tool 3 of third sensor Z axis to displacement parameter
(i.e. third displacement), and in Z axis to displacement parameter obtain after, mechanical arm 2 will drive tool 3 along Z axis Xiang Yixiang negative side
To movement, and the movement of third measuring plate 31 is made to return back to origin-location (such as step S5).Finally, by X-axis, Y-axis and Z axis three
After the sensing of axis axial direction, can obtain between the tool center point 3b of tool 3 and the end effect point 2a of mechanical arm 2 relative to
The offset in the space X-Y-Z makes mechanical arm 2 that can control tool 3 according to offset and carries out tool accuracy compensation (such as step S6).
It should be noted that tool means for correcting 1 is not limited to the above embodiments.Fig. 4 A to 7B shows Figure 1A of the present invention
And the various possible change case of tool means for correcting 1 shown in 1B, and in Fig. 4 A into 7B, it is similar to work shown in Figure 1A and 1B
The structure and element characteristics of tool means for correcting 1 indicate that Yu Houwen is repeated no more with similar elements symbol.
Fig. 4 A is the structural schematic diagram of the tool means for correcting of second embodiment of the invention and Fig. 4 B is shown in Fig. 4 A
The structural side view of tool means for correcting.Compared to tool means for correcting 1 shown in Figure 1A and Figure 1B, the tool school of the present embodiment
The the first spring 14a and second spring 24a of equipment 1a is set to different positions.Slot is fixed in one end of first spring 14a
The first side wall face 144a in portion 101, and the other end of the first spring 14a is then fixed on the medial surface 112c of the first side wall 11c.When
When X-axis moves axially, the first side wall 11c of the first measuring plate 11 is accordingly moved first measuring plate 11, in this way, first
The first side wall 11c of measuring plate 11 will stretch the first spring 14a, and the first spring 14a is made to generate elastic restoring force, and can make the
The movement of one measuring plate 11 returns back to origin-location.In addition, second side wall surface of groove portion 101 is fixed in one end of second spring 24a
(not shown), and the other end of second spring 24a is then fixed on the medial surface 212c of second sidewall 21c.When the second measuring plate 21
When Y-axis axial movement, the second sidewall 21c of the second measuring plate 21 is accordingly moved, in this way, the of the second measuring plate 21
Two side wall 21c will stretch second spring 24a, and second spring 24a is made to generate elastic restoring force, and the second measuring plate 21 can be made to move
It is dynamic to return back to origin-location.
Fig. 5 A is the structural schematic diagram of the tool means for correcting of third embodiment of the invention and Fig. 5 B is shown in Fig. 5 A
The structural side view of tool means for correcting.Compared to tool means for correcting 1 shown in Figure 1A and Figure 1B, the tool school of the present embodiment
The pedestal 10 of equipment 1b does not simultaneously have corresponding groove portion 101, and the first elastic element 14 and the second elastic element 24 are set respectively
It is placed on the top surface 101a of pedestal 10.
Fig. 6 A is the structural schematic diagram of the tool means for correcting of fourth embodiment of the invention and Fig. 6 B is shown in Fig. 6 A
The structural side view of tool means for correcting.Compared to tool means for correcting 1 shown in Figure 1A and Figure 1B, the tool school of the present embodiment
The pedestal 10 of equipment 1c does not have corresponding groove portion 101 equally, and the first elastic element 14 and the second elastic element 24 are same
And it is respectively arranged on the top surface 101a of pedestal 10.In addition, the first sensor 12 is be set to the first linear track 13
Two side 13b, and the first elastic element 14 is then the first side 13a for being set to the first linear track 13.In addition, the second sensor 22
It is to be set to second side 23b of the second linear track 23, and the second elastic element 24 is then set to the second linear track 23
First side 23a.
Fig. 7 A is the structural schematic diagram of the tool means for correcting of fifth embodiment of the invention and Fig. 7 B is shown in Fig. 7 A
The structural side view of tool means for correcting.Compared to tool means for correcting 1 shown in Figure 1A and Figure 1B, the tool school of the present embodiment
Equipment 1d uses different sensors, that is to say, that first sensor 12, the second sensor 22 and third sense of the present embodiment
Survey device 32 respectively can be used touch switch, with the sensor of previous embodiment the difference is that: when the first measurement portion 11b,
Second measurement portion 21b or third measurement portion 31b is mobile and when touching touch switch, and touch switch system can accordingly sense
The displacement of first measurement portion 11b, the second measurement portion 21b and third measurement portion 31b.Therefore, touch switch and sensor are same
Sample can measure the displacement of the first measurement portion 11b, the second measurement portion 21b and third measurement portion 31b.
In conclusion the present invention provides a kind of tool means for correcting of mechanical arm, cost is relatively low and can modularization group
Dress.In addition, tool means for correcting of the invention can correctly measure the end effect point with the TCP of the tool of acquirement and mechanical arm
Between opposite offset, mechanical arm can rapidly compensate tool correctness whereby, to ensure the correct of tool
Operating position.Compared to manual synchronizing method, the operating time may not only be saved using tool means for correcting of the invention, and can
With the high-precision correction of implementation tool.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (11)
1. a kind of tool means for correcting, which is characterized in that be applied to a mechanical arm, which has a tool, and should
Mechanical arm drives the tool mobile, which includes:
One pedestal has a recessed portion；
One X-axis measuring equipment, is set on the pedestal, and includes one first measuring plate and one first sensor, wherein this first
Measuring plate is moved axially in X-axis, and first sensor senses first amount when tool drives first measuring plate mobile
One first displacement that drafting board is moved；
One Y-axis measuring equipment, be set on the pedestal and it is adjacent with the side of the X-axis measuring equipment set, and include one second
Measuring plate and one second sensor, wherein second measuring plate is moved axially in Y-axis, and second sensor drives in the tool
Second measuring plate senses the second displacement amount that second measuring plate is moved when mobile；And
One Z axis measuring equipment is set to the recessed portion and there are two sides adjacents to measure respectively with the X-axis measuring equipment and the Y-axis
Device is adjacent to be set, and includes a third measuring plate and a third sensor, and wherein the third measuring plate is moved axially in Z axis,
And the third sensor senses the third position that the third measuring plate is moved when the tool drives the third measuring plate mobile
Shifting amount；
Wherein, according to the tool in mobile first displacement for sensing acquirement of the X-axis, the Y-axis and the Z axis, the second
Shifting amount and the third displacement make the tool for carrying out the tool to obtain the information of the tool center point about the tool
The correction of central point.
2. tool means for correcting as described in claim 1, which is characterized in that it is linear that the X-axis measuring equipment further includes one first
Track and one first elastic element, which slides for first measuring plate, and first elastic element is in the work
Tool generates elastic restoring force when driving first measuring plate mobile, and wherein the Y-axis measuring equipment further includes one second linear track
And one second elastic element, second linear track are slided for second measuring plate, and second elastic element drives in the tool
Make to generate elastic restoring force when second measuring plate is mobile, wherein the Z axis measuring equipment further includes a third linear track and one
Third elastic element, which slides for the third measuring plate, and the third elastic element drives this in the tool
Third measuring plate generates elastic restoring force when mobile.
3. tool means for correcting as claimed in claim 2, which is characterized in that first measuring plate includes one first sliding part,
It is matched with first linear track, so that first measuring plate slides on first linear track, wherein second measurement
Plate includes one second sliding part, is matched with second linear track, so that second measuring plate slides on second linear rails
On road, wherein the third measuring plate includes a third sliding part, is matched with the third linear track, so that the third measuring plate
It slides on the third linear track.
4. tool means for correcting as claimed in claim 3, which is characterized in that first measuring plate include one first measurement portion with
First sensor is correspondingly arranged, and to sense the displacement in the first measurement portion, wherein second measuring plate includes one second
Measurement portion is correspondingly arranged with second sensor, to sense the displacement in the second measurement portion, the wherein third measuring plate packet
It is correspondingly arranged containing a third measurement portion and the third sensor, to sense the displacement in the third measurement portion.
5. tool means for correcting as claimed in claim 4, which is characterized in that first sensor, second sensor and should
Third sensor is respectively a position sensor or a touch switch.
6. tool means for correcting as claimed in claim 4, which is characterized in that first sensor further includes one first sensing slot
It is correspondingly arranged with the first measurement portion, which further includes one second sensing slot and is correspondingly arranged with the second measurement portion,
And the third sensor includes that third sensing slot is correspondingly arranged with the third measurement portion.
7. tool means for correcting as claimed in claim 6, which is characterized in that first measuring plate includes a first side wall and should
First elastic element is mutually supported, which mutually supports comprising a second sidewall with second elastic element, and the third
Measuring plate includes that a third side wall is mutually supported with the third elastic element.
8. tool means for correcting as claimed in claim 7, which is characterized in that first elastic element include one first spring and
One first column, and first spring pocket is set to first column, wherein second elastic element includes a second spring and one second
Column, and the second spring is sheathed on second column, wherein the third elastic element includes a third spring and a third column, and is somebody's turn to do
Third spring pocket is set to the third column.
9. tool means for correcting as claimed in claim 8, which is characterized in that first sensor is set to first linear rails
The side in road, and first elastic element is set to the other side of first linear track, wherein second sensor is set to
The side of second linear track, and second elastic element is set to the other side of second linear track.
10. tool means for correcting as claimed in claim 8, which is characterized in that the pedestal includes multiple groove portions, for first bullet
Property element and second elastic element are set in the corresponding groove portion.
11. tool means for correcting as described in claim 1, which is characterized in that first measuring plate and second measuring plate point
Be not adjacent to two sides adjacent of the third measuring plate, and part is above a top surface of the third measuring plate, wherein this
One measuring plate, second measuring plate and the third measuring plate define to form a sensing space, so that the mechanical arm drives the work
The tool center point of tool is moved in the sensing space.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201562260924P | 2015-11-30 | 2015-11-30 | |
| US62/260,924 | 2015-11-30 |
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| Publication Number | Publication Date |
|---|---|
| CN106808483A CN106808483A (en) | 2017-06-09 |
| CN106808483B true CN106808483B (en) | 2019-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610124875.1A Active CN106808483B (en) | 2015-11-30 | 2016-03-04 | The tool means for correcting of mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN106808483B (en) |
| TW (1) | TWI589414B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614630B (en) * | 2018-06-19 | 2022-10-18 | 台达电子工业股份有限公司 | Tool correcting device of mechanical arm |
| ES2788274B2 (en) * | 2019-04-17 | 2022-07-21 | Loxin 2002 Sl | MACHINING HEAD WITH ACTIVE CORRECTION, OPERATION PROCEDURE AND USE |
| CN112902898B (en) * | 2019-12-03 | 2022-11-29 | 台达电子工业股份有限公司 | Three-dimensional measuring device and applicable mechanical arm correction method |
| CN113799115B (en) * | 2020-06-11 | 2023-03-24 | 台达电子工业股份有限公司 | Coordinate correction method of robot arm |
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| US5907229A (en) * | 1995-03-30 | 1999-05-25 | Asea Brown Boveri Ab | Method and device for calibration of movement axes of an industrial robot |
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| CN102019620A (en) * | 2009-09-16 | 2011-04-20 | 库卡罗伯特有限公司 | Measurement of a manipulator |
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| CN105091807A (en) * | 2014-04-30 | 2015-11-25 | 鸿富锦精密工业（深圳）有限公司 | Robot tool coordinate system correction method |
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- 2016-03-04 TW TW105106637A patent/TWI589414B/en active
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|---|---|---|---|---|
| US5907229A (en) * | 1995-03-30 | 1999-05-25 | Asea Brown Boveri Ab | Method and device for calibration of movement axes of an industrial robot |
| US6434449B1 (en) * | 2000-08-03 | 2002-08-13 | Pierre De Smet | Method and device for automated robot-cell calibration |
| CN102019620A (en) * | 2009-09-16 | 2011-04-20 | 库卡罗伯特有限公司 | Measurement of a manipulator |
| CN105091807A (en) * | 2014-04-30 | 2015-11-25 | 鸿富锦精密工业（深圳）有限公司 | Robot tool coordinate system correction method |
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Also Published As
| Publication number | Publication date |
|---|---|
| TWI589414B (en) | 2017-07-01 |
| TW201718208A (en) | 2017-06-01 |
| CN106808483A (en) | 2017-06-09 |
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