CN109746927B - Robot zero point position calibration device and calibration method - Google Patents
Robot zero point position calibration device and calibration method Download PDFInfo
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- CN109746927B CN109746927B CN201910086322.5A CN201910086322A CN109746927B CN 109746927 B CN109746927 B CN 109746927B CN 201910086322 A CN201910086322 A CN 201910086322A CN 109746927 B CN109746927 B CN 109746927B
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Abstract
The invention discloses a robot zero point position calibration device and a calibration method, and the robot zero point position calibration device comprises a robot main body, a middle plate and a base, wherein a processor is arranged in the robot main body, a first infrared emitter is fixed on the lower end surface of the robot main body, a first inductor group is fixed on the upper end surface of the middle plate, a second infrared emitter is fixed on the lower end surface of the middle plate, a second inductor group is fixed on the upper end surface of the base, clamping blocks are fixed on two sides of the lower ends of the robot main body and the middle plate, a first pressure inductor and a second pressure inductor are respectively fixed on two sides of the upper end surfaces of the middle plate and the base, and the processor is connected with the first infrared emitter, the second infrared emitter, the first inductor group, the second inductor group, the first pressure inductor and the second pressure inductor through wires. The invention can calibrate the zero position of the robot main body in real time, and can automatically reset the robot main body when the offset is overlarge.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a robot zero point position calibration device and a calibration method.
Background
At present, in industrial production, a robot is required to be adopted, but when the robot is used, the robot can cause the position of the robot to gradually shift due to repeated contact of external objects, although the shift is slight, the shift always exists, if the reset precision is adjusted to be low, the robot can continuously generate the reset condition, if the reset precision is adjusted to be high, when the robot shifts too much, the robot cannot normally work, and the traditional zero point calibration device of the robot can calibrate the zero point position only when the robot is started, and when the robot shifts, the traditional zero point calibration device of the robot cannot calibrate the zero point position in real time, so that a zero point position calibration device and a calibration method of the robot need to be arranged to solve the problems.
Disclosure of Invention
The invention aims to provide a zero point position calibration device and a calibration method for a robot, and aims to solve the problems that the conventional zero point calibration device for the robot in the background art is difficult to calibrate in real time, and the robot cannot work normally due to slight deviation of the robot.
In order to achieve the purpose, the invention provides the following technical scheme: a zero point position calibration device for a robot comprises a robot main body, an intermediate plate and a base, wherein a processor is arranged in the robot main body, a first infrared emitter is fixed on the lower end face of the robot main body, a first inductor group is fixed on the upper end face of the intermediate plate, a second infrared emitter is fixed on the lower end face of the intermediate plate, a second inductor group is fixed on the upper end face of the base, the first inductor group and the second inductor group are arranged in a mutually vertical mode in the horizontal direction, a first electric push rod and a second electric push rod are fixed at the rear ends of the intermediate plate and the base respectively, clamping blocks are fixed on two sides of the lower ends of the robot main body and the intermediate plate, a first pressure inductor and a second pressure inductor are fixed on two sides of the upper end faces of the intermediate plate and the base respectively, and the processor and the first infrared emitter are fixed through wires, The second infrared emitter, the first inductor group, the second inductor group, the first pressure inductor and the second pressure inductor are connected.
Preferably, the middle plate and the two sides of the upper end face of the base are both provided with clamping grooves, the clamping grooves in the upper ends of the middle plate and the base are parallel to the first inductor group and the second inductor group respectively, and the clamping blocks are arranged in the clamping grooves.
Preferably, the second inductor group and the first pressure inductor are respectively fixed at two ends of the middle plate and the clamping grooves at two sides of the base.
Preferably, the lower terminal surface of robot main part and intermediate lamella is fixed with the bar slider, the spout has been seted up with the up end of base to the intermediate lamella, the bar slider sets up in the spout, just spout, bar slider all are parallel with the draw-in groove.
Preferably, threaded holes are fixed at four corners of the base.
Preferably, the top ends of the first electric push rod and the second electric push rod are both fixed with an L-shaped connecting rod.
Preferably, the robot main body and the middle plate, the middle plate and the base are mutually attached, and the attachment surfaces are smooth surfaces.
Preferably, the first inductor group and the second inductor group adopt infrared inductors, and are provided with a plurality of inductors which are mutually and closely arranged.
A calibration method for zero point positions of a robot comprises the following specific calibration methods:
A. the middle plate and the robot main body are sequentially arranged on the base, the transverse position of the robot main body is calibrated through the first infrared emitter and the first inductor group, and the longitudinal position of the robot main body is calibrated through the second infrared emitter and the second inductor group;
B. in operation, the robot main part is under the effect of self or external force, lead to the robot main part to take place slight skew, through first infrared emitter and first inductor group, second infrared emitter carries out real-time determination with the position of second inductor group to the robot main part, thereby mark zero point position in real time, guarantee the work of robot main part, when squinting to fixture block and first pressure sensors, the second pressure sensors, it is too big to explain the skew, need reset, handle through the treater, make first electric putter, the work of second electric putter, reset robot main part position.
Compared with the prior art, the invention has the beneficial effects that:
1. set up first infrared emitter and first inductor group, two sensors of second infrared emitter and second inductor group and inductor group, and set up both mutually perpendicular on the level, in the work of robot, when contacting with external objects such as work piece or other and other, can take place constantly to squint, for the normal operating of guaranteeing the robot, through two sensors and inductor group, can transversely with vertically go up to the main part of robot and mark in real time, avoid the main part of robot work error to appear.
2. When the robot main part is because constantly squinting for robot main part position error is when grow gradually, the fixture block can with first pressure sensors, second pressure sensors contact, handle information through the treater, make first electric putter, the work of second electric putter, carry out automatic re-setting to the robot main part, avoid the error to continue to enlarge, lead to robot main part work error.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a base structure according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an upper end surface of an intermediate plate according to an embodiment of the present invention;
FIG. 4 is a schematic view of the lower end face structure of the intermediate plate in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot body according to an embodiment of the present invention.
In the figure: 1. a robot main body; 2. a processor; 3. a first infrared emitter; 4. a first inductor group; 5. a first pressure sensor; 6. a chute; 7. an L-shaped connecting rod; 8. a middle plate; 9. a first electric push rod; 10. a threaded hole; 11. a card slot; 12. a clamping block; 13. a base; 14. a second pressure sensor; 15. a second electric push rod; 16. a second inductor group; 17. a second infrared emitter; 18. a strip-shaped sliding block.
Detailed Description
The embodiment of the application provides a zero point position calibration device and a calibration method for a robot, and solves the problems that the zero point position is difficult to calibrate in real time by the existing zero point position calibration device for the robot, and the robot cannot work normally due to slight deviation of the robot.
In order to solve the crosstalk problem, the technical solution in the embodiment of the present application adopts the following general idea:
set up first infrared emitter and first inductor group, two sensors of second infrared emitter and second inductor group and inductor group, and set up both mutually perpendicular on the level, in the work of robot, when contacting with external objects such as work piece or other and other, can take place constantly to squint, for the normal operating of guaranteeing the robot, through two sensors and inductor group, can transversely with vertically go up to the main part of robot and mark in real time, avoid the main part of robot work error to appear.
When the robot main part is because constantly squinting for robot main part position error is when grow gradually, the fixture block can with first pressure sensors, second pressure sensors contact, handle information through the treater, make first electric putter, the work of second electric putter, carry out automatic re-setting to the robot main part, avoid the error to continue to enlarge, lead to robot main part work error.
The following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
A zero point position calibration device and a calibration method of a robot comprise a robot main body 1, an intermediate plate 8 and a base 13, wherein a processor 2 is arranged in the robot main body 1, a first infrared emitter 3 is fixed on the lower end face of the robot main body 1, a first inductor group 4 is fixed on the upper end face of the intermediate plate 8, a second infrared emitter 17 is fixed on the lower end face of the intermediate plate 8, a second inductor group 16 is fixed on the upper end face of the base 13, the first inductor group 4 and the second inductor group 16 are vertically arranged on the horizontal plane, a first electric push rod 9 and a second electric push rod 15 are respectively fixed on the rear ends of the intermediate plate 8 and the base 13, fixture blocks 12 are fixed on two sides of the lower ends of the robot main body 1 and the intermediate plate 8, a first pressure inductor 5 and a second pressure inductor 14 are respectively fixed on two sides of the upper end faces of the intermediate plate 8 and the base 13, and the processor 2 is connected with the first infrared emitter 3, the second infrared emitter 14, the first sensor and the second sensor 14 through a wire, The second infrared emitter 17, the first sensor group 4, the second sensor group 16, the first pressure sensor 5 and the second pressure sensor 14 are connected.
In the embodiment, when the robot main body 1 works, the robot main body 1 continuously contacts with other robots, so that the robot main body 1 continuously deviates due to the action force of the workpiece and other robots, if the robot main body 1 is fixed in a working area, the supporting part of the robot main body 1 is gradually bent and the connecting part is gradually loosened due to the action force of the workpiece and other robots, so that the robot main body 1 is slidably mounted in the working area, and the supporting part of the robot main body 1 is gradually bent and the connecting part is gradually loosened due to the action force of the outside;
in the continuous and slight deviation of the robot main body 1, the working parameters of adjacent robots can be gradually influenced, the transverse position of the robot main body 1 can be calibrated in real time through the first infrared emitter 3 and the first inductor group 4, the longitudinal position of the robot main body 1 can be calibrated in real time through the second infrared emitter 17 and the second inductor group 16, and the obtained transverse and longitudinal positions are marked as zero positions again, so that the operation parameters of the adjacent robots can be adjusted conveniently, and the normal work of the robot main body 1 is ensured;
when the robot main body 1 deviates for a long time, so that the deviation position of the robot main body 1 is too large, and the adjacent robots cannot meet the working requirements of the robot main body 1 through self adjustment, the fixture block 12 at the lower end of the robot main body 1 slides along with the deviation and is in contact with the first pressure sensor 5, or the fixture block 12 at the lower end of the middle plate 8 slides along with the deviation and is in contact with the second pressure sensor 14, the first pressure sensor 5 and the second pressure sensor 14 receive information and transmit the information to the processor 2, the information is processed by the processor 2 and is transmitted to the first electric push rod 9 and the second electric push rod 15, and the first electric push rod 9 and the second electric push rod 15 work to reset the robot main body 1 in the transverse direction or the longitudinal direction;
the processor 2 is of a specific model of S7-130, the first infrared emitter 3 and the second infrared emitter 17 are of a specific model of OS137-2-MA, the first sensor group 4 and the second sensor group 16 are infrared sensor groups matched with the first infrared emitter 3 and the second infrared emitter 17, the specific model of the first sensor group is GB-40-B, the first pressure sensor 5 and the second pressure sensor 14 are of a specific model of AP-C31C, and the first electric putter 9 and the second electric putter 15 are of a specific model of ANT-52.
A calibration method for zero point positions of a robot comprises the following specific calibration methods:
A. the middle plate 8 and the robot main body 1 are sequentially arranged on the base 13, the transverse position of the robot main body 1 is calibrated through the first infrared emitter 3 and the first inductor group 4, and the longitudinal position of the robot main body 1 is calibrated through the second infrared emitter 17 and the second inductor group 16;
B. in operation, robot main part 1 is under the effect of self or external force, lead to robot main part 1 to take place slight skew, through first infra red ray emitter 3 and first inductor group 4, second infra red ray emitter 17 carries out real-time determination with second inductor group 16 to robot main part 1's position, thereby mark zero point position in real time, guarantee robot main part 1's work, when squinting to fixture block 12 and first pressure sensors 5, during second pressure sensors 14, it is too big to explain the skew, need reset, handle through treater 2, make first electric putter 9, the work of second electric putter 15, reset robot main part 1 position.
Example 2
Clamping grooves 11 are formed in two sides of the upper end surfaces of the middle plate 8 and the base 13, the clamping grooves 11 in the upper ends of the middle plate 8 and the base 13 are respectively parallel to the first inductor group 4 and the second inductor group 16, and the clamping blocks 12 are arranged in the clamping grooves 11; the second inductor group 16 and the first pressure inductor 5 are respectively fixed at two ends of the middle plate 8 and the clamping grooves 11 at two sides of the base 13; a strip-shaped sliding block 18 is fixed on the lower end faces of the robot main body 1 and the middle plate 8, a sliding groove 6 is formed in the upper end faces of the middle plate 8 and the base 13, the strip-shaped sliding block 18 is arranged in the sliding groove 6, and the sliding groove 6 and the strip-shaped sliding block 18 are parallel to the clamping groove 11; threaded holes 10 are fixed at four corners of the base 13; the top ends of the first electric push rod 9 and the second electric push rod 15 are both fixed with an L-shaped connecting rod 7; the robot main body 1 and the middle plate 8, the middle plate 8 and the base 13 are mutually attached, and the attachment surfaces are all smooth surfaces; the first inductor group 4 and the second inductor group 16 are infrared inductors, and are provided with a plurality of inductors which are mutually and closely arranged.
In this embodiment, the slot 11 is provided to facilitate the back-and-forth sliding of the fixture block 12, and the fixture block 12 can contact with the first inductor group 4 or the second inductor group 16 on both sides of the slot 11;
the bar-shaped sliding block 18 and the sliding groove 6 are arranged to limit the offset direction of the robot main body 1 and the middle plate 8, so that the robot main body and the middle plate can only slide along the direction of the sliding groove 6, the offset data reading and the real-time zero point calibration of the first infrared emitter 3 and the first sensor group 4 and the offset data reading and the real-time zero point calibration of the second infrared emitter 17 and the second sensor group 16 are facilitated, and meanwhile, the fixture block 12 is also convenient to contact with the first pressure sensor 5 or the second pressure sensor 14;
the threaded hole 10 is arranged, so that the base 13 can be fixed in a working area, and the whole device is further fixed in the working area;
in the L-shaped connecting rod 7, the first electric push rod 9 is convenient to connect the robot main body 1 with the middle plate 8, and the second electric push rod 15 is convenient to connect the middle plate 8 with the base 13, so that the first electric push rod 9 and the second electric push rod 15 can work conveniently;
the robot main body 1 and the middle plate 8 as well as the middle plate 8 and the base 13 are mutually attached, and the attachment surfaces are smooth surfaces, so that the robot main body 1 can conveniently slide on the upper end of the middle plate 8, and the middle plate 8 can conveniently slide on the upper end of the base 13;
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a zero point position calibration device of robot, includes robot main part (1), intermediate lamella (8) and base (13), its characterized in that: the robot comprises a robot main body (1), a processor (2) is arranged in the robot main body (1), a first infrared emitter (3) is fixed on the lower end face of the robot main body (1), a first inductor group (4) is fixed on the upper end face of an intermediate plate (8), a second infrared emitter (17) is fixed on the lower end face of the intermediate plate (8), a second inductor group (16) is fixed on the upper end face of a base (13), the first inductor group (4) and the second inductor group (16) are arranged in a mutually vertical mode in the horizontal direction, a first electric push rod (9) and a second electric push rod (15) are respectively fixed at the rear ends of the intermediate plate (8) and the base (13), clamping blocks (12) are fixed on two sides of the lower ends of the robot main body (1) and the intermediate plate (8), a first pressure inductor (5) and a second pressure inductor (14) are respectively fixed on two sides of the upper end faces of the intermediate plate (8) and the base (13),
clamping grooves (11) are formed in two sides of the upper end faces of the middle plate (8) and the base (13), the clamping grooves (11) in the upper ends of the middle plate (8) and the base (13) are respectively parallel to the first inductor group (4) and the second inductor group (16), and the clamping blocks (12) are arranged in the clamping grooves (11);
the processor (2) is connected with the first infrared emitter (3), the second infrared emitter (17), the first sensor group (4), the second sensor group (16), the first pressure sensor (5) and the second pressure sensor (14) through leads.
2. The robot zero-point position calibration device according to claim 1, characterized in that: the second inductor group (16) and the first pressure inductor (5) are respectively fixed at two ends of the middle plate (8) and the clamping grooves (11) on two sides of the base (13).
3. The robot zero-point position calibration device according to claim 1, characterized in that: the robot is characterized in that a bar-shaped sliding block (18) is fixed to the lower end face of the robot main body (1) and the lower end face of the middle plate (8), a sliding groove (6) is formed in the upper end face of the middle plate (8) and the upper end face of the base (13), the bar-shaped sliding block (18) is arranged in the sliding groove (6), and the sliding groove (6) and the bar-shaped sliding block (18) are parallel to the clamping groove (11).
4. The robot zero-point position calibration device according to claim 1, characterized in that: threaded holes (10) are fixed at four corners of the base (13).
5. The robot zero-point position calibration device according to claim 1, characterized in that: and the top ends of the first electric push rod (9) and the second electric push rod (15) are both fixed with an L-shaped connecting rod (7).
6. The robot zero point position calibration device according to claim 1, characterized in that: robot main part (1) and intermediate lamella (8), intermediate lamella (8) and base (13) all laminate each other, and the binding face all sets up to the smooth surface.
7. The robot zero point position calibration device according to claim 1, characterized in that: the first inductor group (4) and the second inductor group (16) adopt infrared inductors, are provided with a plurality of infrared inductors and are mutually and closely arranged.
8. The robot zero-point position calibration device according to claim 1, wherein the calibration method comprises the following steps:
A. the middle plate (8) and the robot main body (1) are sequentially arranged on the base (13), the transverse position of the robot main body (1) is calibrated through the first infrared emitter (3) and the first inductor group (4), and the longitudinal position of the robot main body (1) is calibrated through the second infrared emitter (17) and the second inductor group (16);
B. in operation, robot main part (1) is under the effect of self or external force, lead to robot main part (1) to take place slight skew, carry out real-time determination to the position of robot main part (1) through first infrared emitter (3) and first inductor group (4), second infrared emitter (17) and second inductor group (16), thereby mark zero point position in real time, guarantee the work of robot main part (1), when squinting fixture block (12) and first pressure sensors (5), second pressure sensors (14), it is too big to explain the skew, need reset, handle through treater (2), make first electric putter (9), second electric putter (15) work, reset robot main part (1) position.
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