CN109514600A - A kind of zero mechanism of six degree of freedom humanoid robot school - Google Patents
A kind of zero mechanism of six degree of freedom humanoid robot school Download PDFInfo
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- CN109514600A CN109514600A CN201710846174.3A CN201710846174A CN109514600A CN 109514600 A CN109514600 A CN 109514600A CN 201710846174 A CN201710846174 A CN 201710846174A CN 109514600 A CN109514600 A CN 109514600A
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- zero
- degree
- calibration apparatus
- humanoid robot
- pedestal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to robotic technology fields, specifically a kind of zero mechanism of six degree of freedom humanoid robot school.Limits device is set including six degree of freedom humanoid robot, end Zero calibration apparatus, pedestal Zero calibration apparatus and end zero check, wherein end Zero calibration apparatus is connect with the end flange of six degree of freedom humanoid robot, pedestal Zero calibration apparatus is set on the pedestal of six degree of freedom humanoid robot, end zero check is set limits device and is set on pedestal Zero calibration apparatus, for located terminal end Zero calibration apparatus, pass through the mutual cooperation of end Zero calibration apparatus and pedestal Zero calibration apparatus, each joint position of six degree of freedom humanoid robot is determined, so that it is determined that the zero-bit in each joint of six degree of freedom humanoid robot.The present invention is by once assembling and step up to position, so that it may find out the zero-bit in six joints of robot by inverse kinematic, it is easy to operate, high-efficient, precision is high, at low cost and easy to carry, and it is suitble to use in six degree of freedom revolute robot school odd-job work.
Description
Technical field
The invention belongs to robotic technology fields, specifically a kind of zero mechanism of six degree of freedom humanoid robot school.
Background technique
With the continuous expansion of commercial production scale, the continuous rising of human cost, the requirement of industrial automation is increasingly
It is high.And robot will be widely used as a kind of advanced science and technology.The design of robot is a kind of complicated sets
Meter, is related to the technological know-how of each subject.Wherein, Time window device people zero-bit is very important, all robot pilot teaching journeys
Sequence is required based on robot zero-bit, and the accuracy of robot zero-bit is also concerning robot precision, therefore one kind is convenient to use
And the design of the Zero calibration apparatus of accurate positioning is one very important link of Robot Design.
There are mainly two types of zero modes of school of existing six degree of freedom revolute robot, and wherein mode one is to use school odd-job
Tool carries out school zero to six joint shafts respectively, and mode two is using laser calibration school zero.It respectively has its advantage and disadvantage, application mode one
Need to using school odd-job tool to each axis of robot school zero one by one, operate it is relatively complicated, and due to each axle construction of robot,
Odd-job tool in each axis school is also not quite similar, and when use will also do to distinguish, the also response by school odd-job tool precision of zero precision of school, such as
Required precision is higher, causes the pin cooperation of school zero relatively tight inconvenient to use.Application mode second revisal zero passes through end movement, kinematics
It is higher that anti-solution calculates each axis zero point accuracy, but zero equipment cost of school is higher and heavy, and equipment operation is cumbersome, is not suitable in machine
People's site of deployment uses.
With the continuous development and optimization of Kinetic Analysis of Robots and emulation technology, robot gravity compensation technology and drag
It drags pilot teaching function and has also obtained larger range of application and popularization, which is embodied as the raising of robot dynamics' performance and phase
The design for closing function and device is laid a good foundation.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of zero mechanism of six degree of freedom humanoid robot school, the mechanism
The advantages of by above two zero mode of school, is combined, easy to operate, high-efficient, precision is high and at low cost.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of zero mechanism of six degree of freedom humanoid robot school, including six degree of freedom humanoid robot, end Zero calibration apparatus, pedestal school
Zero device and end zero check set limits device, and wherein the end flange of end Zero calibration apparatus and six degree of freedom humanoid robot connects
It connects, the pedestal Zero calibration apparatus is set on the pedestal of the six degree of freedom humanoid robot, and the end zero check sets limitation dress
It installs and is placed on the pedestal Zero calibration apparatus, for positioning the end Zero calibration apparatus, pass through the end Zero calibration apparatus and bottom
The mutual cooperation of seat Zero calibration apparatus, determines each joint position of six degree of freedom humanoid robot, so that it is determined that six degree of freedom type machine
The zero-bit in each joint of device people.
The end Zero calibration apparatus includes connecting flange, connecting shaft and locating piece, wherein connecting flange and locating piece difference
The both ends of connecting shaft are set to, the connecting flange is connect with the end flange of the six degree of freedom humanoid robot, the positioning
Block with the pedestal Zero calibration apparatus for being located by connecting.
The locating piece is cube structure.
One vertical edge of the locating piece is equipped with chamfering used for positioning.
The end flange of the connecting flange and the six degree of freedom humanoid robot is positioned by seam allowance and positioning pin I.
The pedestal Zero calibration apparatus includes bottom plate and the location hole and locating slot that are set on the bottom plate, and the bottom plate is logical
It crosses the positioning pin II for being set to positioning hole and the pedestal is located by connecting, the locating slot is used for and the end Zero calibration apparatus
Locating piece cooperation.
The locating slot is square groove.
The semi-open-type structure that the locating slot is enclosed by bottom surface and two sides, two sides of the locating slot it
Between pass through arc surface transition.
It includes three elbow folders that the end zero check, which sets limits device, and three elbow folders carry out three faces of the locating piece
Positioning clamps.
The six degree of freedom humanoid robot includes the pedestal being successively rotatablely connected, waist seat, large arm, shaft, forearm, wrist joint
And end flange.
The invention has the advantages and beneficial effects that: the present invention is by once assembling and stepping up to position, so that it may pass through movement
Learn the zero-bit that anti-solution finds out six joints of robot, it is easy to operate, high-efficient, precision is high, at low cost and easy to carry, it is suitble to
Six degree of freedom revolute robot school odd-job uses in making.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram that the present invention is in correcting state；
Fig. 3 is enlarged view at I in Fig. 2；
Fig. 4 is the structural schematic diagram of end Zero calibration apparatus in the present invention；
Fig. 5 is the structural schematic diagram that end Zero calibration apparatus is connect with end flange in the present invention；
Fig. 6 is the axonometric drawing that end Zero calibration apparatus is connect with end flange in the present invention；
Fig. 7 is the structural schematic diagram of pedestal Zero calibration apparatus in the present invention；
Fig. 8 is the structural schematic diagram that pedestal Zero calibration apparatus is connect with pedestal in the present invention.
Wherein: 1 is pedestal, and 2 be waist seat, and 3 be large arm, and 4 be shaft, and 5 be forearm, and 6 be wrist joint, and 7 be end flange, 8
It is connecting flange for end Zero calibration apparatus, 81,82 be connecting shaft, and 83 be locating piece, and 84 be chamfering, and 9 be positioning pin I, and 10 be bottom
Seat Zero calibration apparatus, 101 be bottom plate, and 102 be location hole, and 103 be locating slot, and 104 be arc surface, and 11 set limitation for end zero check
Device, 12 be positioning pin II.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1-3, zero mechanism of a kind of six degree of freedom humanoid robot school provided by the invention, including six degree of freedom type machine
Device people, end Zero calibration apparatus 8, pedestal Zero calibration apparatus 10 and end zero check set limits device 11, wherein end Zero calibration apparatus 8 with
The end flange 7 of six degree of freedom humanoid robot connects, and pedestal Zero calibration apparatus 10 is set to the pedestal 1 of six degree of freedom humanoid robot
On, end zero check is set limits device 11 and is set on pedestal Zero calibration apparatus 10, is used for located terminal end Zero calibration apparatus 8, passes through end
The mutual cooperation for holding Zero calibration apparatus 8 and pedestal Zero calibration apparatus 10, determines each joint position of six degree of freedom humanoid robot, so that it is determined that
The zero-bit in each joint of six degree of freedom humanoid robot.
The six degree of freedom humanoid robot include the pedestal 1 being successively rotatablely connected, waist seat 2, large arm 3, shaft 4, forearm 5,
Wrist joint 6 and end flange 7, wherein pedestal 1 is fixed with ground, and waist seat 2 can be rotated around pedestal 1, and large arm 3 can be around waist seat 2
Rotation, shaft 4 can be rotated around large arm 3, and forearm 5 can be rotated with around the shaft 4 rotations, wrist joint 6 around forearm 5, end method
Orchid 7 can rotate around wrist joint 6, and robot is made to have six-freedom degree.
As Figure 4-Figure 6, end Zero calibration apparatus 8 includes connecting flange 81, connecting shaft 82 and locating piece 83, wherein connection method
Orchid 81 and locating piece 83 are respectively arranged at the both ends of connecting shaft 82, the end flange of connecting flange 81 and six degree of freedom humanoid robot
7 connections, locating piece 83 with pedestal Zero calibration apparatus 10 for being located by connecting.
Further, locating piece 83 is cube structure, and a vertical edge of the locating piece 83 of cube structure, which is equipped with, to be used
In the chamfering 84 of positioning.
Further, the end flange 7 of connecting flange 81 and six degree of freedom humanoid robot is fixed by seam allowance and positioning pin I9
Position.
As Figure 7-8, pedestal Zero calibration apparatus 10 includes bottom plate 101 and the location hole 102 being set on bottom plate 101 and determines
Position slot 103, bottom plate 101 are located by connecting by the positioning pin II12 being set in location hole 102 with pedestal 1, and locating slot 103 is used for
Cooperate with the locating piece 83 of end Zero calibration apparatus 8.
The positioning method of pedestal Zero calibration apparatus 10 and pedestal 1, the face finished by two and positioning pin II12 come
Determine the positional relationship of pedestal Zero calibration apparatus 10 Yu pedestal 1.
Further, locating slot 103 is square groove, and locating slot 103 is opened by half that bottom surface and two sides enclose
Open architecture passes through 104 transition of arc surface between two sides of locating slot 103.When school zero, need to make end Zero calibration apparatus 8
Locating piece 83 and pedestal Zero calibration apparatus 10 square groove the cooperation of three faces, while the chamfering 84 and pedestal of locating piece 83
The arc surface 104 of the square groove of Zero calibration apparatus 10 is overlapped, and unique spatial position is determined, for ensuring zero appearance of robot school
The uniqueness of state.
In one embodiment of the invention, it includes three elbow folders that end zero check, which sets limits device 11, and three elbow folders are solid respectively
Three directions of pedestal Zero calibration apparatus 10 are scheduled on, it can be from the three of the square of three 8 front ends of direction gripping ends Zero calibration apparatus
Located terminal end Zero calibration apparatus 8 is played the role of in a face.
The working principle of the invention is:
End Zero calibration apparatus 8 is needed to be mounted on the end of six degree of freedom humanoid robot in a preferred embodiment of the present invention
It is positioned in end flanges 7 and by positioning pin I9, pedestal Zero calibration apparatus 10 need to be mounted on to the pedestal 1 of six degree of freedom humanoid robot
It goes up and passes through positioning pin II14 and position, it is free together with six to drag end Zero calibration apparatus 8 for the dragging pilot teaching function based on robot
The each joint motions of degree type robot reach zero check and set, i.e. 8 front end cube structure of end Zero calibration apparatus is mounted to pedestal school
In zero device, 10 front end square groove, gripping ends zero check sets three elbows folder of limits device 11 respectively, runs robot
Zero program of school, applied robot's inverse kinematic is counter to release robot null positions.
The present invention is based on the dragging pilot teaching functions of robot, and end Zero calibration apparatus can be pushed to start shipment together with each axis one of robot
It is dynamic to reach predetermined school zero attitude, each axis of robot can be made to reach random angle in motion range by pulling end Zero calibration apparatus
Degree.
The present invention passes through the mutual cooperation of end Zero calibration apparatus and pedestal Zero calibration apparatus, fixed by once assembling and stepping up
Position, obtains each joint position of robot that one uniquely determines, so that it may find out six degree of freedom type machine by inverse kinematic
The zero-bit in six joints of people realizes robot school zero power energy.Operation of the present invention is simple, high-efficient, precision is high, at low cost and take
Band is convenient, is suitble to use in six degree of freedom revolute robot school odd-job work.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of zero mechanism of six degree of freedom humanoid robot school, which is characterized in that filled including six degree of freedom humanoid robot, end school zero
It sets (8), pedestal Zero calibration apparatus (10) and end zero check and sets limits device (11), wherein end Zero calibration apparatus (8) and six freedom
The end flange (7) of degree type robot connects, and the pedestal Zero calibration apparatus (10) is set to the six degree of freedom humanoid robot
On pedestal (1), the end zero check is set limits device (11) and is set on the pedestal Zero calibration apparatus (10), for positioning
End Zero calibration apparatus (8) are stated, by the mutual cooperation of the end Zero calibration apparatus (8) and pedestal Zero calibration apparatus (10), determine institute
Each joint position of six degree of freedom humanoid robot is stated, so that it is determined that the zero-bit in each joint of six degree of freedom humanoid robot.
2. zero mechanism of six degree of freedom humanoid robot according to claim 1 school, which is characterized in that the end Zero calibration apparatus
It (8) include connecting flange (81), connecting shaft (82) and locating piece (83), wherein connecting flange (81) and locating piece (83) are set respectively
The both ends of connecting shaft (82) are placed in, the connecting flange (81) connect with the end flange (7) of the six degree of freedom humanoid robot,
The locating piece (83) with the pedestal Zero calibration apparatus (10) for being located by connecting.
3. zero mechanism of six degree of freedom humanoid robot according to claim 2 school, which is characterized in that the locating piece (83) is
Cube structure.
4. zero mechanism of six degree of freedom humanoid robot according to claim 3 school, which is characterized in that the locating piece (83)
One vertical edge is equipped with chamfering used for positioning (84).
5. zero mechanism of six degree of freedom humanoid robot according to claim 2 school, which is characterized in that the connecting flange (81)
It is positioned with the end flange (7) of the six degree of freedom humanoid robot by seam allowance and positioning pin I (9).
6. according to zero mechanism of claim 2-4 described in any item six degree of freedom humanoid robots school, which is characterized in that the pedestal
Zero calibration apparatus (10) includes bottom plate (101) and the location hole (102) and locating slot (103) that are set on the bottom plate (101), institute
Bottom plate (101) is stated to be located by connecting by the positioning pin II (12) being set in location hole (102) with the pedestal (1), it is described fixed
Position slot (103) is used to cooperate with the locating piece (83) of the end Zero calibration apparatus (8).
7. zero mechanism of six degree of freedom humanoid robot according to claim 6 school, which is characterized in that the locating slot (103)
For square groove.
8. zero mechanism of six degree of freedom humanoid robot according to claim 7 school, which is characterized in that the locating slot (103)
The semi-open-type structure enclosed by bottom surface and two sides passes through arc surface between two sides of the locating slot (103)
(104) transition.
9. zero mechanism of six degree of freedom humanoid robot according to claim 2 school, which is characterized in that the end zero check is set
Limits device (11) includes three elbow folders, and three elbow folders carry out positioning clamping to three faces of the locating piece (83).
10. zero mechanism of six degree of freedom humanoid robot according to claim 1 school, which is characterized in that the six degree of freedom type
Robot includes the pedestal (1) being successively rotatablely connected, waist seat (2), large arm (3), shaft (4), forearm (5), wrist joint (6) and end
End flanges (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710846174.3A CN109514600A (en) | 2017-09-19 | 2017-09-19 | A kind of zero mechanism of six degree of freedom humanoid robot school |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710846174.3A CN109514600A (en) | 2017-09-19 | 2017-09-19 | A kind of zero mechanism of six degree of freedom humanoid robot school |
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| Publication Number | Publication Date |
|---|---|
| CN109514600A true CN109514600A (en) | 2019-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710846174.3A Pending CN109514600A (en) | 2017-09-19 | 2017-09-19 | A kind of zero mechanism of six degree of freedom humanoid robot school |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070730A (en) * | 2022-06-29 | 2022-09-20 | 厦门新松智能研究院有限公司 | Zero calibration device and method for wrist joint offset robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06134683A (en) * | 1992-10-26 | 1994-05-17 | Fanuc Ltd | Mastering of seven degree of freedom manipulator |
| US5639204A (en) * | 1993-05-13 | 1997-06-17 | Fanuc, Ltd. | Positioning device for an industrial robot |
| CN105773610A (en) * | 2016-03-22 | 2016-07-20 | 长春大正博凯汽车设备有限公司 | Robot correction device |
| CN206123708U (en) * | 2016-10-21 | 2017-04-26 | 苏州哈工海渡工业机器人有限公司 | Industrial robot coordinate system calibration module |
-
2017
- 2017-09-19 CN CN201710846174.3A patent/CN109514600A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06134683A (en) * | 1992-10-26 | 1994-05-17 | Fanuc Ltd | Mastering of seven degree of freedom manipulator |
| US5639204A (en) * | 1993-05-13 | 1997-06-17 | Fanuc, Ltd. | Positioning device for an industrial robot |
| CN105773610A (en) * | 2016-03-22 | 2016-07-20 | 长春大正博凯汽车设备有限公司 | Robot correction device |
| CN206123708U (en) * | 2016-10-21 | 2017-04-26 | 苏州哈工海渡工业机器人有限公司 | Industrial robot coordinate system calibration module |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070730A (en) * | 2022-06-29 | 2022-09-20 | 厦门新松智能研究院有限公司 | Zero calibration device and method for wrist joint offset robot |
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