CN103252786A - Zeroing method of mechanical arms of robot - Google Patents
Zeroing method of mechanical arms of robot Download PDFInfo
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- CN103252786A CN103252786A CN2013101546460A CN201310154646A CN103252786A CN 103252786 A CN103252786 A CN 103252786A CN 2013101546460 A CN2013101546460 A CN 2013101546460A CN 201310154646 A CN201310154646 A CN 201310154646A CN 103252786 A CN103252786 A CN 103252786A
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- mechanical arms
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Abstract
The invention discloses a zeroing method of mechanical arms of a robot. The zeroing method of the mechanical arms of the robot is characterized in that the mechanical arms of the robot are respectively configured with a driving motor, the driving motors are connected with a control system of the robot, stop dogs are arranged on zero positions of the mechanical arms, torque parameters of the motors are given in the control system, the driving motors drive the mechanical arms to carry out zero homing, and the mechanical arms return to the zero positions when the mechanical arms are contacted with the stop dogs. The zeroing method enables repeated positioning accuracy to be high when the mechanical arms return to zero, and good protective effects on the mechanical arms are achieved due to the fact that the stop dogs are contacted with the mechanical arms in an instant mode.
Description
Technical field
The present invention relates to a kind of robot, relate in particular to the zero-bit method of operating of robot arm.
Background technology
Robot is in the utilization process, and the bit manipulation of often need making zero of its mechanical arm is to look for robot arm initial position coordinate.At home, this robot arm initial position coordinate of looking for, employing has two kinds of patterns, a kind of is the current location of remembering mechanical arm by the dial position of absolute value encoder, adopt this mode to power to memory chip, in case outage, then mechanical arm can't be sought dead-center position, and the cost of absolute value encoder is higher; Another kind of mode is by the dead-center position switch, when mechanical arm during near optoelectronic switch, signal of telecommunication of optoelectronic switch output, illustrate that mechanical arm has arrived dead-center position, also there is certain deficiency in this mode, if optoelectronic switch lost efficacy, mechanical arm can surpass the mechanical zero position so, may cause the damage of mechanical arm like this.Thereby, if make the mechanical arm position of making zero accurate, and can protect mechanical arm not to be damaged, be those skilled in the art's insoluble difficult problems always.
Summary of the invention
In view of the deficiency that background technology exists, the technical problem to be solved in the present invention provides a kind of method that makes zero of simple to operate and scientific and reasonable robot arm.
For this reason, the present invention adopts following technical scheme to realize: a kind of method that makes zero of robot arm, it is characterized in that: the mechanical arm of robot all disposes drive motors, this drive motors links to each other with the ROBOT CONTROL system, dead-center position at mechanical arm is provided with block, and the moment parameter of given motor in described control system is carried out the playback at zero point by drive motors driving device arm, when mechanical arm contacted with block, mechanical arm just revert to dead-center position.
Described mechanical arm is provided with the monitoring circuit at zero point, and this, monitoring circuit was connected with control system at zero point, and described zero point, monitoring circuit can produce the dead-center position signal of telecommunication.
Has the setting of zero migration pulsed quantity in the described control system.
This method of the present invention; by the parameter setting of moment in the control system, make drive motors driving device arm arrive dead-center position, the repetitive positioning accuracy that the mechanical arm of its robot makes zero in execution is high; and block is instantaneous the contact with mechanical arm, and mechanical arm is played good protective effect.
Description of drawings
Further describe relevant details of the present invention below more by reference to the accompanying drawings.
Fig. 1 is robot construction schematic diagram of the present invention;
Fig. 2 is the cutaway view of Fig. 1 of the present invention along H-H.
The specific embodiment
With reference to accompanying drawing, the method that makes zero of this robot arm, the mechanical arm 1 of its robot all disposes drive motors, this drive motors links to each other with the ROBOT CONTROL system, dead-center position at mechanical arm 1 is provided with block 2, the moment parameter of given motor in described control system, carry out the playback at zero point by drive motors driving device arm, when mechanical arm 1 contacts with block 2, mechanical arm 1 just revert to dead-center position, simultaneously be provided with the monitoring circuit at zero point at described mechanical arm, this, monitoring circuit was connected with control system at zero point, and described zero point, monitoring circuit can produce the dead-center position signal of telecommunication; And in described control system, has the setting of zero migration pulsed quantity.When the mechanical arm of robot need make zero, the certain moment parameter of input in control system, making drive motors driving device arm carry out dead-center position looks for, when mechanical arm is looked for along dead-center position, just touch the block of dead-center position, so, just produce a moment between mechanical arm and the block, along with mechanical arm is pressed to block, the moment that mechanical arm and block produce just slowly increases, when the value of this moment reached moment parameter given in the control system, mechanical arm just stopped at this position; Simultaneously; monitoring circuit at zero point on the mechanical arm produces a dead-center position signal of telecommunication; the notice control system; after control system receives the mechanical zero position signal of telecommunication; just pulse at the zero point shift pulse amount of setting in the executive control system; make mechanical arm carry out zero migration; that is to say; when the moment parameter of setting in the control system makes that mechanical arm is looked for the position to negative direction; after block contacts, can continue to press to block, can cause the damage to mechanical arm; and after the control system execution zero migration pulse; make mechanical arm be offset to positive direction, mechanical arm moves certain amount to positive direction, so; after mechanical arm one is pressed to block; just leave block, this process is all finished in moment, has so just finished the playback action at zero point of mechanical arm at once; realize the instantaneous contact of mechanical arm for block, well protected mechanical arm.Control system chip among the present invention adopts Samsung S32410 type, and its scan period reaches nanosecond, so the mechanical arm of robot precision of resetting when making zero is high.
In the present embodiment, the mechanical arm of Biao Shiing and block are one of them in the drawings, and other position is not given and being marked.
Claims (3)
1. the method that makes zero of a robot arm, it is characterized in that: the mechanical arm of robot all disposes drive motors, this drive motors links to each other with the ROBOT CONTROL system, dead-center position at mechanical arm is provided with block, the moment parameter of given motor in described control system, carry out the playback at zero point by drive motors driving device arm, when mechanical arm contacted with block, mechanical arm just revert to dead-center position.
2. the method that makes zero of robot arm according to claim 1 is characterized in that described mechanical arm is provided with the monitoring circuit at zero point, and this, monitoring circuit was connected with control system at zero point, and described zero point, monitoring circuit can produce the dead-center position signal of telecommunication.
3. the method that makes zero of robot arm according to claim 1 is characterized in that having the setting of zero migration pulsed quantity in the described control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101546460A CN103252786A (en) | 2013-04-28 | 2013-04-28 | Zeroing method of mechanical arms of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101546460A CN103252786A (en) | 2013-04-28 | 2013-04-28 | Zeroing method of mechanical arms of robot |
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| Publication Number | Publication Date |
|---|---|
| CN103252786A true CN103252786A (en) | 2013-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013101546460A Pending CN103252786A (en) | 2013-04-28 | 2013-04-28 | Zeroing method of mechanical arms of robot |
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| CN (1) | CN103252786A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249760A (en) * | 2016-03-16 | 2016-12-21 | 中国科学院合肥物质科学研究院 | A kind of auto zero bit correction method based on open loop controlled type sky brightness instrument |
| CN108858287A (en) * | 2018-07-02 | 2018-11-23 | 塞伯睿机器人技术（长沙）有限公司 | The robotic arm alignment method and apparatus of robot |
| CN109866223A (en) * | 2019-03-07 | 2019-06-11 | 济南翼菲自动化科技有限公司 | DELTA robot torque small change point methods |
| CN111331597A (en) * | 2020-02-19 | 2020-06-26 | 浙江吉利汽车研究院有限公司 | Control method and device of industrial robot |
| WO2022257223A1 (en) * | 2021-06-10 | 2022-12-15 | 南京涵铭置智能科技有限公司 | Robot which can be used for multi-section welding and welding method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1925954A (en) * | 2005-03-30 | 2007-03-07 | 松下电器产业株式会社 | Industrial robot |
-
2013
- 2013-04-28 CN CN2013101546460A patent/CN103252786A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1925954A (en) * | 2005-03-30 | 2007-03-07 | 松下电器产业株式会社 | Industrial robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249760A (en) * | 2016-03-16 | 2016-12-21 | 中国科学院合肥物质科学研究院 | A kind of auto zero bit correction method based on open loop controlled type sky brightness instrument |
| CN108858287A (en) * | 2018-07-02 | 2018-11-23 | 塞伯睿机器人技术（长沙）有限公司 | The robotic arm alignment method and apparatus of robot |
| CN109866223A (en) * | 2019-03-07 | 2019-06-11 | 济南翼菲自动化科技有限公司 | DELTA robot torque small change point methods |
| CN109866223B (en) * | 2019-03-07 | 2021-11-09 | 济南翼菲自动化科技有限公司 | Torque change point making method for DELTA robot |
| CN111331597A (en) * | 2020-02-19 | 2020-06-26 | 浙江吉利汽车研究院有限公司 | Control method and device of industrial robot |
| WO2022257223A1 (en) * | 2021-06-10 | 2022-12-15 | 南京涵铭置智能科技有限公司 | Robot which can be used for multi-section welding and welding method thereof |
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Application publication date: 20130821 |