CN108237521A - Active arm configuration and with its robot - Google Patents
Active arm configuration and with its robot Download PDFInfo
- Publication number
- CN108237521A CN108237521A CN201711393467.7A CN201711393467A CN108237521A CN 108237521 A CN108237521 A CN 108237521A CN 201711393467 A CN201711393467 A CN 201711393467A CN 108237521 A CN108237521 A CN 108237521A
- Authority
- CN
- China
- Prior art keywords
- zero
- master arm
- snap ring
- calibration
- master
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000007787 solid Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of active arm configuration and there is its robot, which includes master arm mounting base, master arm and Zero calibration component；Master arm is rotatably arranged in master arm mounting base；Zero calibration component is arranged in master arm mounting base；Wherein, on Zero calibration component there is Zero calibration position, abutted when master arm turns to Zero calibration position at least part of Zero calibration component with by the dead-center position of the controller of robot record master arm.So as to quickly and easily demarcate the dead-center position of robot master arm, solve the problems, such as that robot master arm of the prior art is cumbersome, time-consuming by extrinsic calibration method progress Zero calibration.
Description
Technical field
The present invention relates to robot field, in particular to a kind of active arm configuration and with its robot.
Background technology
Zero is the benchmark of robot coordinate system, and robot judges the position of itself by zero.In the debugging of robot
It is frequently encountered the situation that the master arm zero of robot is lost in the process, and at present frequently with self-calibration method and extrinsic calibration method
The master arm zero of robot is re-scaled.
Self-calibration method carries out Zero calibration, but self-calibration method can not provide rack using the sensor of robot itself redundancy
Referential and calibration measure the unknown rigid body displacement information between referential；And extrinsic calibration rule is to utilize external sensor,
Such as laser tracker, theodolite, three-coordinates measuring machine precision measurement equipment carry out Zero calibration, but the method it is cumbersome,
Data acquisition is time-consuming, it is difficult to realize Fast Calibration.
Invention content
It is existing at least to solve it is a primary object of the present invention to provide a kind of active arm configuration and with its robot
The master arm of robot in technology by extrinsic calibration method carry out Zero calibration it is cumbersome, time-consuming the problem of.
To achieve these goals, according to the first aspect of the invention, a kind of active arm configuration is provided, including：It is main
Swing arm mounting base；Master arm, master arm are rotatably arranged in master arm mounting base；Zero calibration component is arranged on actively
In arm mounting base；Wherein, there is Zero calibration position, with zero when master arm turns to Zero calibration position on Zero calibration component
At least part of point calibration component abuts the dead-center position to record master arm by the controller of robot.
Further, Zero calibration component includes：Zero snap ring has Zero calibration position on zero snap ring；Wherein, it is main
On swing arm there is calibration protrusion, protrusion is demarcated when master arm turns to Zero calibration position and is abutted with zero snap ring.
Further, zero snap ring has positioning end and Zero calibration end；Wherein, positioning end exists for positioning zero snap ring
Position in master arm mounting base, Zero calibration position is located on Zero calibration end, when master arm turns to Zero calibration position
Calibration protrusion is abutted with Zero calibration end.
Further, zero snap ring is arc panel.
Further, Zero calibration component further includes：Limited block；Wherein, zero snap ring is removably disposed in limited block
On to position position of the zero snap ring in master arm mounting base.
Further, there is limiting slot, zero snap ring is removably disposed in limiting slot to position zero on limited block
Position of the snap ring in master arm mounting base.
Further, limited block is annular solid, and limiting slot is at least part gap slot along the circumferentially extending of limited block；Its
In, when zero snap ring is arranged in limiting slot, the positioning end of zero snap ring is abutted with limiting slot side wall, zero snap ring
Zero calibration end is opposite with the calibration protrusion of master arm.
Further, master arm has rotation section, and master arm is rotatably arranged in master arm mounting base by rotation section
On；Wherein, limited block is set on rotation section.
Further, zero snap ring is and the matched arcuate structure of limiting slot, when zero snap ring is arranged in limiting slot, zero
The madial wall of point snap ring is abutted with rotation section.
According to the second aspect of the invention, a kind of robot is provided, there is active arm configuration, active arm configuration is upper
State the active arm configuration of content.
Using the active arm configuration of technical solution of the present invention, including：Master arm mounting base, master arm and Zero calibration group
Part；Master arm is rotatably arranged in master arm mounting base；Zero calibration component is arranged in master arm mounting base；Wherein,
There is Zero calibration position, when master arm turns to Zero calibration position with Zero calibration component at least on Zero calibration component
Part abuts the dead-center position to record master arm by the controller of robot.So as to quickly and easily demarcate robot
The dead-center position of master arm solves robot master arm of the prior art and carries out Zero calibration operation by extrinsic calibration method
The problem of cumbersome, time-consuming.
Other than objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is described in further detail.
Description of the drawings
The Figure of description for forming the part of the present invention is used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the structure diagram of optional active arm configuration according to embodiments of the present invention；
Fig. 2 is another structure diagram of optional active arm configuration according to embodiments of the present invention；And
Fig. 3 is the zero Snap ring structure schematic diagram of optional active arm configuration according to embodiments of the present invention.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, master arm mounting base；20th, master arm；21st, calibration protrusion；22nd, rotation section；30th, Zero calibration component；31st, zero
Point snap ring；32nd, limited block.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
Active arm configuration according to embodiments of the present invention, as shown in Figure 1, including master arm mounting base 10,20 and of master arm
Zero calibration component 30；Master arm 20 is rotatably arranged in master arm mounting base 10；Zero calibration component 30 is arranged on master
In swing arm mounting base 10；Wherein, there is Zero calibration position, master arm 20 turns to Zero calibration position on Zero calibration component 30
It is abutted when putting at least part of Zero calibration component 30 with by the dead-center position of the controller of robot record master arm 20.
Using 20 structure of master arm of technical solution of the present invention, including master arm mounting base 10, master arm 20 and zero mark
Determine component 30；Master arm 20 is rotatably arranged in master arm mounting base 10；Zero calibration component 30 is arranged on master arm peace
It fills on seat 10；Wherein, there is Zero calibration position on Zero calibration component 30, when master arm 20 turns to Zero calibration position with
At least part of Zero calibration component 30 abuts the dead-center position to record master arm 20 by the controller of robot.So as to
The dead-center position of enough quickly and easily calibration robots master arm 20, solves robot master arm 20 of the prior art and passes through
Extrinsic calibration method carries out the problem of Zero calibration is cumbersome, time-consuming.
When it is implemented, as depicted in figs. 1 and 2, Zero calibration component 30 includes：Zero snap ring 31, on zero snap ring 31
With Zero calibration position；Wherein, there is calibration protrusion 21, master arm 20 turns to Zero calibration position markers on master arm 20
Fixed protrusion 21 is abutted with zero snap ring 31, then the dead-center position for the controller record master arm 20 for passing through robot.
Further, as shown in figure 3, zero snap ring 31 is arc panel.Zero snap ring 31 has positioning end and Zero calibration
End；Wherein, for positioning end for positioning position of the zero snap ring 31 in master arm mounting base 10, Zero calibration position is located at zero
It demarcates on end, limited block 32 is provided in master arm mounting base 10, limited block 32 is annular solid, has limiting on limited block 32
Slot, zero snap ring 31 are removably disposed in limiting slot, and limiting slot is to be lacked along at least part of the circumferentially extending of limited block 32
Mouth slot；Wherein, when zero snap ring 31 is arranged in limiting slot, the positioning end of zero snap ring 31 is abutted with limiting slot side wall
To position position of the zero snap ring 31 in master arm mounting base 10, the Zero calibration end of zero snap ring 31 and the mark of master arm 20
Fixed protrusion 21 is opposite, and protrusion 21 is demarcated when master arm 20 turns to Zero calibration position and is abutted with Zero calibration end, so as to fulfill
Zero calibration.
Further, as shown in Figure 1, master arm 20 have rotation section 22, master arm 20 by rotation section 22 rotationally
It is arranged in master arm mounting base 10；Wherein, limited block 32 is set on rotation section 22.Zero snap ring 31 is matches with limiting slot
Arcuate structure, when zero snap ring 31 is arranged in limiting slot, the madial wall of zero snap ring 31 is abutted with rotation section 22, so as to
Enough keep the stability of zero snap ring 31.
Another embodiment according to embodiments of the present invention, provides a kind of robot, there is active arm configuration in robot, the master
Boom structure is the active arm configuration of above-described embodiment.It, can be quick using the robot of the active arm configuration of above-described embodiment
The easily dead-center position of calibration robot master arm 20, solves robot master arm 20 of the prior art and is marked by outside
Determine method and carry out the problem of Zero calibration is cumbersome, time-consuming.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of active arm configuration, which is characterized in that including：
Master arm mounting base (10)；
Master arm (20), the master arm (20) are rotatably arranged on the master arm mounting base (10)；
Zero calibration component (30) is arranged on the master arm mounting base (10)；
Wherein, there is Zero calibration position, the master arm (20) turns to the zero on the Zero calibration component (30)
It is abutted when demarcating position at least part of the Zero calibration component (30) and the master is recorded with the controller by robot
The dead-center position of swing arm (20).
2. active arm configuration according to claim 1, which is characterized in that the Zero calibration component (30) includes：
Zero snap ring (31) has the Zero calibration position on the zero snap ring (31)；
Wherein, have calibration raised (21) on the master arm (20), the master arm (20) turns to the Zero calibration position
The calibration raised (21) is abutted with the zero snap ring (31) when putting.
3. active arm configuration according to claim 2, which is characterized in that the zero snap ring (31) has positioning end and zero
Point calibration end；
Wherein, the positioning end is used to position position of the zero snap ring (31) on the master arm mounting base (10), institute
It states Zero calibration position to be located on the Zero calibration end, described in when the master arm (20) turns to the Zero calibration position
Calibration raised (21) is abutted with the Zero calibration end.
4. active arm configuration according to claim 3, which is characterized in that the zero snap ring (31) is arc panel.
5. active arm configuration according to claim 3, which is characterized in that the Zero calibration component (30) further includes：
Limited block (32)；
Wherein, the zero snap ring (31) is removably disposed on limited block (32) to position the zero snap ring (31) in institute
State the position in master arm mounting base (10).
6. active arm configuration according to claim 5, which is characterized in that there is limiting slot, institute on the limited block (32)
Zero snap ring (31) is stated to be removably disposed in limiting slot to position the zero snap ring (31) in the master arm mounting base
(10) position on.
7. active arm configuration according to claim 6, which is characterized in that the limited block (32) be annular solid, the limit
Position slot is at least part gap slot along the circumferentially extending of the limited block (32)；
Wherein, when the zero snap ring (31) is arranged in the limiting slot, the positioning end of the zero snap ring (31) with it is described
One side wall of limiting slot abuts, and the Zero calibration end of the zero snap ring (31) and the calibration of the master arm (20) are convex
It is opposite to play (21).
8. active arm configuration according to claim 7, which is characterized in that the master arm (20) has rotation section (22),
The master arm (20) is rotatably arranged in by the rotation section (22) on the master arm mounting base (10)；
Wherein, the limited block (32) is set on the rotation section (22).
9. active arm configuration according to claim 8, which is characterized in that the zero snap ring (31) be and the limiting slot
Matched arcuate structure, when the zero snap ring (31) is arranged in the limiting slot, the madial wall of the zero snap ring (31)
It is abutted with the rotation section (22).
10. a kind of robot has active arm configuration, which is characterized in that the active arm configuration is to appoint in claim 1 to 9
Active arm configuration described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711393467.7A CN108237521A (en) | 2017-12-19 | 2017-12-19 | Active arm configuration and with its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711393467.7A CN108237521A (en) | 2017-12-19 | 2017-12-19 | Active arm configuration and with its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108237521A true CN108237521A (en) | 2018-07-03 |
Family
ID=62700636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711393467.7A Pending CN108237521A (en) | 2017-12-19 | 2017-12-19 | Active arm configuration and with its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108237521A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267108A (en) * | 2020-03-23 | 2020-06-12 | 珞石（北京）科技有限公司 | Industrial robot joint zero calibration structure and calibration method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07299779A (en) * | 1994-05-11 | 1995-11-14 | Mitsubishi Heavy Ind Ltd | Origin adjusting method for scalar type robot and adjusting jig |
| JP2007061979A (en) * | 2005-09-01 | 2007-03-15 | Sharp Corp | Visual sensor correction method for robot arm and computer program |
| JP2009255198A (en) * | 2008-04-14 | 2009-11-05 | Murata Mach Ltd | Parallel mechanism |
| CN204019549U (en) * | 2014-06-10 | 2014-12-17 | 广州明珞汽车装备有限公司 | A kind of rotary stopper Dui Ling mechanism |
| CN104816316A (en) * | 2015-03-26 | 2015-08-05 | 珠海格力电器股份有限公司 | Rocker arm zero calibration device and robot with rocker arm zero calibration device |
| CN206105833U (en) * | 2016-08-30 | 2017-04-19 | 佛山市新鹏机器人技术有限公司 | Teaching machinery arm with zero point calibration device |
| US20170120458A1 (en) * | 2015-10-30 | 2017-05-04 | Seiko Epson Corporation | Robot and robot system |
| US20170274537A1 (en) * | 2016-03-28 | 2017-09-28 | Seiko Epson Corporation | Robot and encoder |
| CN207630041U (en) * | 2017-12-19 | 2018-07-20 | 珠海格力智能装备有限公司 | Active arm configuration and robot with it |
-
2017
- 2017-12-19 CN CN201711393467.7A patent/CN108237521A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07299779A (en) * | 1994-05-11 | 1995-11-14 | Mitsubishi Heavy Ind Ltd | Origin adjusting method for scalar type robot and adjusting jig |
| JP2007061979A (en) * | 2005-09-01 | 2007-03-15 | Sharp Corp | Visual sensor correction method for robot arm and computer program |
| JP2009255198A (en) * | 2008-04-14 | 2009-11-05 | Murata Mach Ltd | Parallel mechanism |
| CN204019549U (en) * | 2014-06-10 | 2014-12-17 | 广州明珞汽车装备有限公司 | A kind of rotary stopper Dui Ling mechanism |
| CN104816316A (en) * | 2015-03-26 | 2015-08-05 | 珠海格力电器股份有限公司 | Rocker arm zero calibration device and robot with rocker arm zero calibration device |
| US20170120458A1 (en) * | 2015-10-30 | 2017-05-04 | Seiko Epson Corporation | Robot and robot system |
| US20170274537A1 (en) * | 2016-03-28 | 2017-09-28 | Seiko Epson Corporation | Robot and encoder |
| CN206105833U (en) * | 2016-08-30 | 2017-04-19 | 佛山市新鹏机器人技术有限公司 | Teaching machinery arm with zero point calibration device |
| CN207630041U (en) * | 2017-12-19 | 2018-07-20 | 珠海格力智能装备有限公司 | Active arm configuration and robot with it |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267108A (en) * | 2020-03-23 | 2020-06-12 | 珞石（北京）科技有限公司 | Industrial robot joint zero calibration structure and calibration method |
| CN111267108B (en) * | 2020-03-23 | 2021-12-17 | 珞石（北京）科技有限公司 | Industrial robot joint zero calibration structure and calibration method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| ES2754039T3 (en) | Procedure for calibrating a tool center point for an industrial robot system | |
| US20110178763A1 (en) | Use of inclinometers to improve relocation of a portable articulated arm coordinate measuring machine | |
| US20130151001A1 (en) | Calibration method for a spherical measurement probe | |
| CN205649543U (en) | High accuracy optical tracking instrument | |
| US11644295B2 (en) | Metrology device with automated compensation and/or alert for orientation errors | |
| CN207630041U (en) | Active arm configuration and robot with it | |
| CN108237521A (en) | Active arm configuration and with its robot | |
| CN105559885A (en) | Coordinate point marking system in medical navigation | |
| WO2021174037A1 (en) | Laser alignment device | |
| JP2015087186A (en) | Arm type three-dimensional measuring machine, and inclination correction method of base part supporting arm type three-dimensional measuring machine | |
| CN109983299A (en) | The measuring system and method for industrial robot | |
| CA2812894A1 (en) | A measuring tool | |
| JP3219197U (en) | Pipe size indexing device | |
| JP2008089541A (en) | Reference for measuring motion error and motion error measuring device | |
| CN205102753U (en) | Instrument is detected at phase angle | |
| CN103884279A (en) | Method for detecting perpendicularity of cross shaft and vertical shaft of laser tracker | |
| CN208419804U (en) | A kind of architectural engineering welding inspection rule | |
| US20150260515A1 (en) | Method and apparatus for determining the distance of a light beam from a point on a surface of an object | |
| CN204730793U (en) | A kind of pivoting support inner ring raceway dip stick | |
| CN205079719U (en) | Biax angular surveying appearance | |
| CN202470970U (en) | Measuring rod | |
| CN103206921B (en) | A kind of method by the axially projecting amount of laser beam detection angular contact ball bearing | |
| JP5980084B2 (en) | Error detection method for robot hand | |
| CN112720485B (en) | Mechanical arm joint zero returning method and device and computer readable storage medium | |
| CN104535236A (en) | Method and equipment for positioning on-shaft load test point of wind generating set |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |