CN106808483A - The instrument means for correcting of mechanical arm - Google Patents
The instrument means for correcting of mechanical arm Download PDFInfo
- Publication number
- CN106808483A CN106808483A CN201610124875.1A CN201610124875A CN106808483A CN 106808483 A CN106808483 A CN 106808483A CN 201610124875 A CN201610124875 A CN 201610124875A CN 106808483 A CN106808483 A CN 106808483A
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- Prior art keywords
- measuring plate
- instrument
- axis
- sensor
- correcting
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Classifications
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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 instrument means for correcting for being applied to the mechanical arm with instrument, comprising：Pedestal；X-axis measuring equipment, is arranged at pedestal, and be contained in the first sensor of the first measuring plate displacement of the first measuring plate and sensing of X-axis axial movement；Y-axis measuring equipment, be arranged at pedestal and it is adjacent with X-axis measuring equipment set, and be contained in Y-axis axial movement the second measuring plate and sensing the second measuring plate displacement the second sensor；Z axis measuring equipment, be arranged at pedestal depressed part and with X-axis measuring equipment and Y-axis measuring equipment is adjacent sets, and be contained in the 3rd sensor of the 3rd measuring plate displacement of the 3rd measuring plate and sensing of Z axis axial movement；Wherein, the displacement for being obtained in X-axis, Y-axis and Z axis movement institute sensing according to instrument, to obtain the central point information of instrument, makes sharp correction.
Description
Technical field
The present invention is on a kind of instrument means for correcting, the instrument means for correcting of espespecially a kind of mechanical arm.
Background technology
With the progress of industrial technology, robot miscellaneous be widely developed be applied to life and
In industry.In general, mechanical arm is the critical elements of robot, and mechanical arm can be filled in its end
Required task is carried out with instrument.For example, the instrument can be soldering appliance, boring bar tool, grasping
Instrument, milling tool or cutting tool.Being fixed on the instrument of the end of mechanical arm need to have the end of a definition
Point, referred to as tool center point (Tool Center Point, hereinafter referred to as TCP).When instrument is arranged at manipulator
During the end of arm, phase between the TCP of the instrument and the end effect point (End-Effect Point) of mechanical arm
To side-play amount must accurately obtain and preset.In other words, it is necessary in mechanical arm assembly tool
The size of instrument is first known, consequently, it is possible to when mechanical arm is operated in assembly tool, robot program can
It is corrected according to the side-play amount for obtaining, the instrument is run on correct path and position.
At present, the TCP of aligning tool for convenience, can be used instrument means for correcting to realize.Conventional tool
Means for correcting includes framework and multiple infrared sensors.When instrument is assemblied in the end of mechanical arm, i.e.,
The instrument of carrying out correction program.First, instrument is moved towards instrument means for correcting, and carries out the point position mould of instrument
Intend being moved in space defined in the framework with teaching program, i.e. mechanical arm with power driven tools in instrument means for correcting
Move, and instrument means for correcting carries out teaching point position program according to the moving for TCP of the instrument and sets up this
The sample of instrument.Consequently, it is possible to when the instrument of identical kenel is changed, instrument means for correcting just may compare work
Tool departure produced before and after changing, and mechanical arm is compensated instrument correctness, make
Into instrument correction program.
However, the conventional tool means for correcting with infrared sensor prices are rather stiff.Additionally, when dress
When instrument assigned in mechanical arm is with the tool changing of identical kenel, although traditional work of tool infrared sensor
Tool means for correcting can obtain side-play amount relative between the TCP of instrument and the end effect point of mechanical arm,
But when tool changing of the instrument for being assemblied in mechanical arm with different kenels, have the biography of infrared sensor
System instrument means for correcting simultaneously cannot be obtained correctly between the TCP of instrument and the end effect point of mechanical arm
Relative side-play amount, therefore the correctness reduction of instrument correction is carried out with conventional tool means for correcting.Additionally,
The dislocation of instrument will cause whole producing line to shut down and waste of materials, time and cost.
Therefore, it is necessary to develop a kind of instrument means for correcting of mechanical arm in fact, to solve prior art institute face
The problem faced.
The content of the invention
It is an object of the invention to provide a kind of instrument means for correcting of mechanical arm, its cost is relatively low and can mould
Blockization is assembled.Additionally, instrument means for correcting of the invention can correctly measure with obtain instrument TCP with
Relative side-play amount between the end effect point of mechanical arm, thereby mechanical arm can rapidly to instrument just
True property is compensated, to ensure the correct operating position of instrument.Compared to manual synchronizing mode, using this hair
Bright instrument means for correcting may not only save the operating time, and can be with the high-precision correction of implementation tool.
It is that, up to above-mentioned purpose, the present invention provides a kind of instrument means for correcting, is applied to the manipulator with instrument
Arm, mechanical arm band power driven tools are moved, and instrument means for correcting includes pedestal, X-axis measuring equipment, Y-axis amount
Survey device and Z axis measuring equipment.Pedestal has depressed part.X-axis measuring equipment is arranged on pedestal, and bag
Containing the first measuring plate and the first sensor, wherein the first measuring plate is moved axially in X-axis, and the first sensing
Device is ordered about when the first measuring plate is moved in instrument and senses the first displacement that the first measuring plate is moved.Y-axis amount
Survey device be arranged on pedestal and it is adjacent with the side of X-axis measuring equipment set, and comprising the second measuring plate
And second sensor, wherein the second measuring plate is moved axially in Y-axis, and the second sensor is ordered about in instrument
Second measuring plate senses the second displacement amount that the second measuring plate is moved when moving.Z axis measuring equipment, is set
In depressed part and with two sides adjacents respectively with X-axis measuring equipment and Y-axis measuring equipment is adjacent sets, and
Comprising the 3rd measuring plate and the 3rd sensor, wherein the 3rd measuring plate is moved axially in Z axis, and the 3rd sensing
Device orders about the triple motion amount that the 3rd measuring plate of sensing is moved when the 3rd measuring plate is moved in instrument.Wherein,
The first displacement for being obtained in X-axis, Y-axis and Z axis movement institute sensing according to instrument, second displacement amount and
Triple motion amount, to obtain the information of the tool center point on instrument, makes the tool center point of the instrument of carrying out
Correction.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as to of the invention
Limit.
Brief description of the drawings
Figure 1A is the structural representation of the instrument means for correcting of first embodiment of the invention.
Figure 1B is the structural side view of the instrument means for correcting shown in Figure 1A.
Fig. 2A is the structural representation that robotic arm assembly tool is applied to instrument means for correcting of the invention.
Fig. 2 B are the partial enlarged drawing of structure shown in Fig. 2A.
Fig. 3 is applied to operation workflow figure during instrument means for correcting for robotic arm assembly tool.
Fig. 4 A are the structural representation of the instrument means for correcting of second embodiment of the invention.
Fig. 4 B are the structural side view of the instrument means for correcting shown in Fig. 4 A.
Fig. 5 A are the structural representation of the instrument means for correcting of third embodiment of the invention.
Fig. 5 B are the structural side view of the instrument means for correcting shown in Fig. 5 A.
Fig. 6 A are the structural representation of the instrument means for correcting of fourth embodiment of the invention.
Fig. 6 B are the structural side view of the instrument means for correcting shown in Fig. 6 A.
Fig. 7 A are the structural representation of the instrument means for correcting of fifth embodiment of the invention.
Fig. 7 B are the structural side view of the instrument means for correcting shown in Fig. 7 A.
Wherein, reference
1、1a、1b、1c、1d：Instrument means for correcting
10：Pedestal
101：Groove portion
101a：Top surface
143a、243a：The first side wall face
102：Depressed part
102a：Bottom surface
10a：X-axis measuring equipment
11：First measuring plate
11a：First sliding part
11b：First measurement portion
11c：The first side wall
111c：Lateral surface
112c、212c：Medial surface
12：First sensor
12a：First sensing groove
13：First linear track
13a：First side
13b：Second side
14：First flexible member
14a：First spring
144a：The first side wall face
14b：First post
10b：Y-axis measuring equipment
21：Second measuring plate
21a：Second sliding part
21b：Second measurement portion
21c：Second sidewall
22：Second sensor
22a：Second sensing groove
23：Second linear track
23a：First side
23b：Second side
24：Second flexible member
24a：Second spring
24b：Second post
10c：Z axis measuring equipment
31：3rd measuring plate
31a：3rd sliding part
31b：3rd measurement portion
31c：3rd side wall
32：3rd sensor
32a：3rd sensing groove
33：Third linear track
34：3rd flexible member
34a：3rd spring
34b：3rd post
101c：First side
102c：Second side
103c：Top surface
103：Sensing space
2：Mechanical arm
2a：End effect point
3：Instrument
3a：Connection end
3b：Tool center point
S1-S6：Step
Specific embodiment
Technical solution of the present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings, more to enter one
Step understands the purpose of the present invention, scheme and effect, but is not intended as scope of the appended claims of the present invention
Limitation.
Figure 1A is the structural representation of the instrument means for correcting of first embodiment of the invention, and Figure 1B is Figure 1A
The structural side view of shown instrument means for correcting, Fig. 2A is applied to the present invention for robotic arm assembly tool
The structural representation of instrument means for correcting (robotic arm is with selective compliance assembly robot arm (Selective
Compliance Assembly Robot Arm, SCARA) as a example by, but be not limited), Fig. 2 B are figure
The partial enlarged drawing of structure shown in 2A.As shown in Figure 1A, 1B, 2A and 2B, instrument school of the invention
Equipment 1 is used for the instrument 3 that the end of correction mechanical arm 2 is assembled, so that mechanical arm 2 is being performed
May insure that instrument 3 operates on correct position during required task.Instrument means for correcting 1 includes pedestal 10, X
Axle measuring equipment 10a, Y-axis measuring equipment 10b and Z axis measuring equipment 10c, wherein pedestal 10 are comprising more
The depressed part 102 of individual groove portion 101 and.X-axis measuring equipment 10a and Y-axis measuring equipment 10b are respectively provided with
In on pedestal 10, and Z axis measuring equipment 10c is then arranged at the depressed part 102 of pedestal 10, wherein X-axis
The side of 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 of Z axis measuring equipment 10c respectively
Side 102c is simultaneously partly higher by the top surface 103c of Z axis measuring equipment 10c, thereby make X-axis measuring equipment 10a,
Y-axis measuring equipment 10b and Z axis measuring equipment 10c define to form sensing space 103.
X-axis measuring equipment 10a includes the first measuring plate 11, the first sensor 12, the first linear track 13
And first flexible member 14.In the present embodiment, the first sensor 12 is to be adjacent to the first linear track 13
The first side 13a, and the first flexible member 14 is then the second side 13b for being adjacent to the first linear track 13.
First measuring plate 11 includes the first sliding part 11a, the first measurement portion 11b and the first side wall 11c, wherein the
One measurement portion 11b is correspondingly arranged with the first sensor 12, is used to sense the displacement of the first measurement portion 11b.
First sensor 12 includes the first sensing groove 12a, and the first sensing groove 12a and the first measuring plate 11 the
One measurement portion 11b is correspondingly arranged, and thereby makes the first measurement portion 11b of the first measuring plate 11 and can feel in first
Survey and moved in groove 12a, consequently, it is possible to the displacement of the first measurement portion 11b is using the first sensor 12
Measure and obtain.It is preferred that the first sensor 12 is position sensor.First linear track 13 is fixed on
The top surface of pedestal 10, and the first sliding part 11a of the first measuring plate 11 matches with the first linear track 13
Close, thereby the first measuring plate 11 is slidably on the first linear track 13.First flexible member 14 is set
In in the corresponding groove portion 101 of pedestal 10, and comprising the first spring 14a and the first post 14b, wherein
One spring 14a is sheathed on the first post 14b, and the first spring 14a and the first measuring plate 11 the first side wall
The corresponding settings of 11c, in detail, one end of the first spring 14a is resisted against the lateral surface of the first side wall 11c
111c, and the other end of the first spring 14a is then the first side wall face 143a for being resisted against groove portion 101, thereby
When the first side wall 11c of the first measuring plate 11 forces in the first spring 14a, the first spring 14a is pressed
Contracting and generation 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 second flexible member 24.In the present embodiment, the second sensor 22 is to be adjacent to the second linear track 23
The first side 23a, and the second flexible member 24 is then the second side 23b for being adjacent to the second linear track 23.
Second measuring plate 21 includes the second sliding part 21a, the second measurement portion 21b and second sidewall 21c, wherein the
Two measurement portion 21b are correspondingly arranged with the second sensor 22, are used to sense the displacement of the second measurement portion 21b.
Second sensor 22 includes the second sensing groove 22a, and the second sensing groove 22a and the second measuring plate 21 the
Two measurement portion 21b are correspondingly arranged, and thereby make the second measurement portion 21b of the second measuring plate 21 and can feel in second
Survey and moved in groove 22a, consequently, it is possible to the displacement of the second measurement portion 21b can be by the second sensor 22
Measure and obtain.It is preferred that the second sensor 22 is position sensor.Second linear track 23 is fixed on
The top surface of pedestal 10, and the second sliding part 21a of the second measuring plate 21 is mutual with the second linear track 23
Coordinate, thereby the second measuring plate 21 is slidably on the second linear track 23.Second flexible member 24 sets
It is placed in the corresponding groove portion 101 of pedestal 10, and comprising second spring 24a and the second post 24b, wherein
Second spring 24a is sheathed on the second post 24b, and second spring 24a and the second measuring plate 21 the second side
The corresponding settings of wall 21c, in detail, one end of second spring 24a is resisted against the outside of second sidewall 21c
Face (not shown), and the other end of second spring 24a is then the first side wall face 243a for being resisted against groove portion 101,
Thereby when the second sidewall 21c of the second measuring plate 21 forces in second spring 24a, second spring 24a
Elastic restoring force is compressed and is produced, so that the movement of the second measuring plate 21 returns back to origin-location.
Z axis measuring equipment 10c includes the 3rd measuring plate 31, the 3rd sensor 32, third linear track 33
And the 3rd flexible member 34.3rd measuring plate 31 comprising the 3rd sliding part 31a, the 3rd measurement portion 31b and
3rd side wall 31c, wherein the 3rd measurement portion 31b is correspondingly arranged with the 3rd sensor 32, is used to sense
The displacement of three measurement portion 31b.3rd sensor 32 is arranged at the bottom surface 102a of depressed part 102, and bag
Containing the 3rd sensing groove 32a, the 3rd measurement portion 31b with the 3rd measuring plate 31 is correspondingly arranged, and thereby makes the
3rd measurement portion 31b of three measuring plates 31 can be moved in the 3rd sensing groove 32a, consequently, it is possible to the 3rd
The displacement of measurement portion 31b can be measured and obtained by the 3rd sensor 32.It is preferred that the 3rd sensor
32 is position sensor.Third linear track 33 is adjacent to the side of depressed part 102, and the 3rd measuring plate
31 the 3rd sliding part 31a is cooperated with third linear track 33, and thereby the 3rd measuring plate 31 can be slided
Move on third linear track 33.3rd flexible member 34 is arranged at the bottom surface 102a of depressed part 102,
And comprising the 3rd spring 34a and the 3rd post 34b, the 3rd post 34b is vertically connected at the bottom surface of depressed part 102
102a, wherein the 3rd spring 34a is sheathed on the 3rd post 34b, and the 3rd spring 34a and the 3rd measuring plate 31
The 3rd side corresponding settings of wall 31c, in detail, the 3rd side wall 31c is supported in one end of the 3rd spring 34a
Side, and the other end of the 3rd spring 34a is then the bottom surface 102a for being resisted against depressed part 102, thereby
When the 3rd side wall 31c of the 3rd measuring plate 31 forces in the 3rd spring 34a, the 3rd spring 34a is pressed
Contracting and generation elastic restoring force, so that the movement of the 3rd measuring plate 31 returns back to origin-location.
Instrument 3 includes connection end 3a and tool center point 3b (i.e. distal point), wherein connection end 3a and machinery
The end effect point 2a phases of arm 2 are fixed and connect, and the tool center point 3b of instrument 3 then may move in
X-axis measuring equipment 10a, Y-axis measuring equipment 10b and Z axis measuring equipment 10c form sensing space 103
In, in other words, mechanical arm 2 can driving instrument 3 its tool center point 3b is displaced into sensing space 103
It is interior.
The function mode of instrument means for correcting 1 described further below.First, it is with X axis sensing
Example, when mechanical arm 2 is moved axially with power driven tools 3 with X-axis, the tool center point 3b of instrument 3 with
X-axis is moved axially in sensing space 103, and is moved to the first measuring plate 11 from origin-location.Instrument
3 will touch the first measuring plate 11 and promote the first measuring plate 11 to be slided along the first linear track 13.
Now, the first side wall 11c of the first measuring plate 11 can be applied to the first spring 14a of the first flexible member 14
Power, make the first spring 14a produce elastic restoring force, and the first measuring plate 11 the 11b meetings of the first measurement portion
Movement is placed into the first sensing groove 12a of the first sensor 12, consequently, it is possible to the first sensor 12 is just
Displacement parameter of the instrument 3 in X-axis axial direction, i.e., first can be obtained according to the displacement of the first measurement portion 11b
Displacement.Afterwards, mechanical arm 2 can axially be moved in opposite directions with power driven tools 3 along X-axis, and be made
The first measuring plate 11 is obtained to move and return back to origin-location because of the elastic restoring force of the first spring 14a.
Then, by taking Y-axis sensing as an example, when mechanical arm 2 is moved axially with power driven tools 3 with Y-axis,
The tool center point 3b of instrument 3 is moved axially in sensing space 103 with Y-axis, and from origin-location to
Second measuring plate 21 is moved.Instrument 3 will touch the second measuring plate 21 and promote the second measuring plate 21
Slided along the second linear track 23.Now, the second sidewall 21c of the second measuring plate 21 can be to the second bullet
Property element 24 second spring 24a forces, second spring 24a is produced elastic restoring force, and the second amount
Second measurement portion 21b of drafting board 21 can be moved and is placed into the second sensing groove 22a of the second sensor 22,
Consequently, it is possible to the second sensor 22 just can obtain instrument 3 in Y according to the displacement of the second measurement portion 21b
The displacement parameter of axle axial direction, i.e. second displacement amount.Afterwards, mechanical arm 2 can be with power driven tools 3 along Y-axis
Axially conversely to move towards, and cause the second measuring plate 21 because of the elastic restoring force of second spring 24a
Movement returns back to origin-location.
Come again, so that Z axis are to sensing as an example, when mechanical arm 2 is moved axially with power driven tools 3 with Z axis,
The tool center point 3b of instrument 3 is moved axially in sensing space 103 with Z axis, and from origin-location to
3rd measuring plate 31 is moved.Instrument 3 will touch the 3rd measuring plate 31 and promote the 3rd measuring plate 31
Slided along third linear track 33.Now, the 3rd side wall 31c of the 3rd measuring plate 31 can be to the 3rd bullet
Property element 34 the 3rd spring 34a forces, the 3rd spring 34a is produced elastic restoring force, and the 3rd amount
3rd measurement portion 31b of drafting board 31 can be moved and is placed into the 3rd sensing groove 32a of the 3rd sensor 32,
Consequently, it is possible to the 3rd sensor 32 just can obtain instrument 3 in Z according to the displacement of the 3rd measurement portion 31b
The displacement parameter of axle axial direction, i.e. triple motion amount.Afterwards, mechanical arm 2 can be with power driven tools 3 along Z axis axle
To moving in opposite directions, and cause that the 3rd measuring plate 31 is moved because of the elastic restoring force of the 3rd spring 34a
It is dynamic to return back to origin-location.
By after the sensing of X-axis, Y-axis and the axle of Z axis three axial direction, you can obtain the tool focus of instrument 3
Relative to the side-play amount in X-Y-Z spaces between the end effect point 2a of point 3b and mechanical arm 2, so
One, mechanical arm 2 just can carry out instrument accuracy compensation according to side-play amount control instrument 3.
Fig. 3 is applied to operation workflow figure during instrument means for correcting for robotic arm assembly tool.First, will
Instrument means for correcting 1 is arranged at the underface of mechanical arm 2, and obtains instrument means for correcting 1 and manipulator
The distance between arm 2 parameter (such as step S1).Then, instrument 3 is assemblied in the end of mechanical arm 2,
Mechanical arm 2 is set to be moved to instrument means for correcting 1 with power driven tools 3, so that the tool center point 3b of instrument 3
In sensing space 103 (such as step S2).Come again, mechanical arm 2 is with power driven tools 3 with X-axis axial direction
Move, and instrument 3 is touched and promotes the first measuring plate 11 to move, and is moved the first measurement portion 11b and is inserted
In first sensing groove 12a, make the acquirement instrument 3 of the first sensor 12 in the displacement parameter (i.e. first of X axis
Displacement), and after the displacement parameter of X axis is obtained, mechanical arm 2 can be with power driven tools 3 along X axis
Move in opposite directions, and cause that the movement of the first measuring plate 11 returns back to origin-location (such as step S3).Again
Come, mechanical arm 2 is moved axially with power driven tools 3 with Y-axis, and instrument 3 is touched and promotes the second measurement
Plate 21 is moved, and is moved the second measurement portion 21b and is inserted in the second sensing groove 22a, makes the second sensor 22
Acquirement instrument 3 Y-axis displacement parameter (i.e. second displacement amount), and in Y-axis displacement parameter obtain
Afterwards, mechanical arm 2 can be moved in opposite directions with power driven tools 3 along Y-axis, and cause the second measuring plate
21 movements return back to origin-location (such as step S4).Come again, mechanical arm 2 is with power driven tools 3 with Z axis axle
Touch and promote the 3rd measuring plate 31 to move to movement, and instrument 3, move the 3rd measurement portion 31b and put
Enter in the 3rd sensing groove 32a, make the acquirement instrument 3 of the 3rd sensor 32 Z axis to displacement parameter (i.e. the
Triple motion amount), and in Z axis to displacement parameter obtain after, mechanical arm 2 can band power driven tools 3 along Z axis
To moving in opposite directions, and cause that the movement of the 3rd measuring plate 31 returns back to origin-location (such as step S5).
Finally, by after the sensing of X-axis, Y-axis and the axle of Z axis three axial direction, you can in the instrument of acquirement instrument 3
Relative to the side-play amount in X-Y-Z spaces between heart point 3b and the end effect point 2a of mechanical arm 2, make
Mechanical arm 2 can carry out instrument accuracy compensation (such as step S6) according to side-play amount control instrument 3.
It should be noted that instrument means for correcting 1 is not limited to the above embodiments.Fig. 4 A to 7B show
Show the various possible change case of the instrument means for correcting 1 shown in Figure 1A of the present invention and 1B, and in Fig. 4 A
Into 7B, the structure and element characteristics of the instrument means for correcting 1 shown in Figure 1A and 1B are with identical
Component symbol represents, in repeating no more hereinafter.
Fig. 4 A are the structural representation of the instrument means for correcting of second embodiment of the invention, and Fig. 4 B are
The structural side view of the instrument means for correcting shown in Fig. 4 A.Compared to the instrument school shown in Figure 1A and Figure 1B
Equipment 1, the first spring 14a and second spring 24a of the instrument means for correcting 1a of the present embodiment are arranged at
Different positions.The first side wall face 144a of groove portion 101 is fixed in one end of first spring 14a, and
The other end of one spring 14a is then fixed on the medial surface 112c of the first side wall 11c.When the first measuring plate 11
When X-axis is moved axially, the first side wall 11c of the first measuring plate 11 is accordingly moved, consequently, it is possible to
The first side wall 11c of the first measuring plate 11 will stretch the first spring 14a, the first spring 14a is produced bullet
Property restoring force, and can make the first measuring plate 11 move return back to origin-location.Additionally, second spring 24a
One end be fixed on the second sidewall face (not shown) of groove portion 101, and the other end of second spring 24a is then solid
Due to the medial surface 212c of second sidewall 21c.When the second measuring plate 21 is moved axially in Y-axis, second
The second sidewall 21c of measuring plate 21 is accordingly moved, consequently, it is possible to the second sidewall of the second measuring plate 21
21c will stretch second spring 24a, second spring 24a is produced elastic restoring force, and can make the second amount
The movement of drafting board 21 returns back to origin-location.
Fig. 5 A are the structural representation of the instrument means for correcting of third embodiment of the invention, and Fig. 5 B are
The structural side view of the instrument means for correcting shown in Fig. 5 A.Compared to the instrument school shown in Figure 1A and Figure 1B
Equipment 1, the pedestal 10 of the instrument means for correcting 1b of the present embodiment does not simultaneously have corresponding groove portion 101,
And first flexible member 14 and the second flexible member 24 be respectively arranged on the top surface 101a of pedestal 10.
Fig. 6 A are the structural representation of the instrument means for correcting of fourth embodiment of the invention, and Fig. 6 B are
The structural side view of the instrument means for correcting shown in Fig. 6 A.Compared to the instrument school shown in Figure 1A and Figure 1B
Equipment 1, the pedestal 10 of the instrument means for correcting 1c of the present embodiment does not have corresponding groove portion 101 equally,
And first flexible member 14 and the second flexible member 24 be also respectively arranged at the top surface of pedestal 10
On 101a.Additionally, the first sensor 12 is disposed on the second side 13b of the first linear track 13, and
One flexible member 14 is then disposed on the first side 13a of the first linear track 13.In addition, the second sensor
22 the second side 23b for being disposed on the second linear track 23, and the second flexible member 24 is then disposed on
First side 23a of bilinear track 23.
Fig. 7 A are the structural representation of the instrument means for correcting of fifth embodiment of the invention, and Fig. 7 B are
The structural side view of the instrument means for correcting shown in Fig. 7 A.Compared to the instrument school shown in Figure 1A and Figure 1B
Equipment 1, the instrument means for correcting 1d of the present embodiment uses different sensors, that is to say, that this reality
The first sensor 12, the second sensor 22 and the 3rd sensor 32 for applying example can be used contact to open respectively
Close, it is with the difference of the sensor of previous embodiment：As the first measurement portion 11b, the second measurement portion 21b
Or the 3rd measurement portion 31b when moving and touching touch switch, touch switch system can accordingly sense
The displacement of one measurement portion 11b, the second measurement portion 21b and the 3rd measurement portion 31b.Therefore, contact is opened
Close measure first measurement portion 11b, second measurement portion 21b and threeth measurement portion 31b same with sensor
Displacement.
In sum, the present invention provides a kind of instrument means for correcting of mechanical arm, and its cost is relatively low and can mould
Blockization is assembled.Additionally, instrument means for correcting of the invention can correctly measure with obtain instrument TCP with
Relative side-play amount between the end effect point of mechanical arm, thereby mechanical arm can rapidly to instrument just
True property is compensated, to ensure the correct operating position of instrument.Compared to manual synchronizing method, using this hair
Bright instrument means for correcting may not only save the operating time, and can be with the high-precision correction of implementation tool.
Certainly, the present invention can also have other various embodiments, in the feelings without departing substantially from spirit of the invention and its essence
Under condition, those of ordinary skill in the art work as can make various corresponding changes and deformation according to the present invention, but
These corresponding changes and deformation should all belong to the protection domain of appended claims of the invention.
Claims (11)
1. a kind of instrument means for correcting, it is characterised in that be applied to a mechanical arm, mechanical arm tool
There is an instrument, and the mechanical arm drives the instrument to move, the instrument means for correcting is included：
One pedestal, with a depressed part；
One X-axis measuring equipment, is arranged on the pedestal, and is sensed comprising one first measuring plate and one first
Device, wherein first measuring plate are moved axially in X-axis, and first sensor in the instrument order about this
One measuring plate senses one first displacement that first measuring plate is moved when moving；
One Y-axis measuring equipment, be arranged on the pedestal and it is adjacent with the side of the X-axis measuring equipment set,
And comprising one second measuring plate and one second sensor, wherein second measuring plate is moved axially in Y-axis,
And second sensor senses second measuring plate and is moved when the instrument orders about second measuring plate movement
A second displacement amount；And
One Z axis measuring equipment, is arranged at the depressed part and measures dress with the X-axis respectively with two sides adjacents
Put and this Y-axis measuring equipment is adjacent sets, and comprising one the 3rd measuring plate and one the 3rd sensor, wherein
3rd measuring plate is moved axially in Z axis, and the 3rd sensor orders about the 3rd measuring plate and moves in the instrument
The triple motion amount that the 3rd measuring plate is moved is sensed when dynamic；
Wherein, obtained in the X-axis, the Y-axis and the Z axis movement institute sensing according to the instrument this first
Displacement, the second displacement amount and the triple motion amount, to obtain the tool center point on the instrument
Information, makes the correction of the tool center point for carrying out the instrument.
2. instrument means for correcting as claimed in claim 1, it is characterised in that the X-axis measuring equipment is more
Comprising one first linear track and one first flexible member, first linear track is slided for first measuring plate
It is dynamic, and first flexible member produces elastic restoring force when the instrument orders about first measuring plate movement, its
In the Y-axis measuring equipment further include one second linear track and one second flexible member, second linear rails
Road is slided for second measuring plate, and second flexible member is when the instrument orders about second measuring plate and moves
Elastic restoring force is produced, the wherein Z axis measuring equipment further includes a third linear track and one the 3rd elasticity unit
Part, the third linear track is slided for the 3rd measuring plate, and the 3rd flexible member orders about this in the instrument
3rd measuring plate produces elastic restoring force when moving.
3. instrument means for correcting as claimed in claim 2, it is characterised in that first measuring plate is included
One first sliding part, is engaged with first linear track, so that first measuring plate slides on the First Line
Property track on, wherein second measuring plate include one second sliding part, be engaged with second linear track,
So that second measuring plate is slided on second linear track, wherein the 3rd measuring plate is slided comprising one the 3rd
Dynamic portion, is engaged, with the third linear track so that the 3rd measuring plate is slided on the third linear track.
4. instrument means for correcting as claimed in claim 3, it is characterised in that first measuring plate is included
One first measurement portion is correspondingly arranged with first sensor, is used to sense the displacement in the first measurement portion, its
In second measuring plate be correspondingly arranged with second sensor comprising one second measurement portion, be used to sense this second
The displacement in measurement portion, wherein the 3rd measuring plate are set comprising one the 3rd measurement portion is corresponding with the 3rd sensor
Put, be used to sense the displacement in the 3rd measurement portion.
5. instrument means for correcting as claimed in claim 4, it is characterised in that first sensor, should
Second sensor and the 3rd sensor are respectively a position sensor or a touch switch.
6. instrument means for correcting as claimed in claim 4, it is characterised in that first sensor is more wrapped
It is correspondingly arranged with the first measurement portion containing one first sensing groove, second sensor further includes one second sensing groove
It is correspondingly arranged with the second measurement portion, and the 3rd sensor includes one the 3rd sensing groove and the 3rd measurement portion
It is correspondingly arranged.
7. instrument means for correcting as claimed in claim 6, it is characterised in that first measuring plate is included
One the first side wall is mutually supported with first flexible member, second measuring plate comprising a second sidewall with this second
Flexible member is mutually supported, and the 3rd measuring plate is mutually supported comprising one the 3rd side wall with the 3rd flexible member.
8. instrument means for correcting as claimed in claim 7, it is characterised in that the first flexible member bag
Containing one first spring and one first post, and first spring housing is located at first post, wherein the second elasticity unit
Part includes a second spring and one second post, and the second spring is sheathed on second post, wherein the 3rd bullet
Property element include one the 3rd spring and one the 3rd post, and the 3rd spring housing be located at the 3rd post.
9. instrument means for correcting as claimed in claim 8, it is characterised in that first sensor is set
In the side of first linear track, and first flexible member is arranged at the another of first linear track
Side, wherein second sensor are arranged at the side of second linear track, and second flexible member is set
In the opposite side of second linear track.
10. instrument means for correcting as claimed in claim 8, it is characterised in that the pedestal includes multiple grooves
Portion, is arranged in the corresponding groove portion for first flexible member and second flexible member.
11. instrument means for correctings as claimed in claim 1, it is characterised in that first measuring plate with should
Second measuring plate is adjacent to two sides adjacent of the 3rd measuring plate, and part above the 3rd amount respectively
One top surface of drafting board, wherein first measuring plate, second measuring plate and the 3rd measuring plate define to form one
Sensing space, so that the mechanical arm drives the tool center point of the instrument to be 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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| CN106808483A true CN106808483A (en) | 2017-06-09 |
| CN106808483B 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) |
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Also Published As
| Publication number | Publication date |
|---|---|
| TWI589414B (en) | 2017-07-01 |
| CN106808483B (en) | 2019-06-11 |
| TW201718208A (en) | 2017-06-01 |
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