CN110000806B - Calibration method for rotation center of rotation driving mechanism - Google Patents
Calibration method for rotation center of rotation driving mechanism Download PDFInfo
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- CN110000806B CN110000806B CN201910238468.7A CN201910238468A CN110000806B CN 110000806 B CN110000806 B CN 110000806B CN 201910238468 A CN201910238468 A CN 201910238468A CN 110000806 B CN110000806 B CN 110000806B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 206010063385 Intellectualisation Diseases 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Abstract
The invention discloses a rotation center calibration device and a calibration method of a rotation driving mechanism, which are used for calibrating the circle center of the rotation driving mechanism and comprise an installation adjusting plate and a calibration plate fixed on the installation adjusting plate, wherein the installation adjusting plate is rotated by the rotation driving mechanism, a plurality of first pin holes are annularly arranged on the rotation driving mechanism at equal angles around a rotation shaft of the rotation driving mechanism, a plurality of second pin holes are arranged on the calibration plate, and the axis of one second pin hole and the axis of the first pin hole are on the same horizontal plane. The invention can quickly and accurately calibrate the round points, and has the advantages of simple and convenient operation, high calibration efficiency, low cost and good economy.
Description
The multi-axis robot is a divisional application of patent of multi-axis robot with patent number 201710251368.9 and application date of 2017, 4 and 18.
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of rotating mechanisms, and particularly relates to a rotation center calibration device and a calibration method of a rotation driving mechanism.
[ background of the invention ]
With the continuous development of economy and the continuous progress of science and technology, powerful economic and technical pillars are provided for the development of enterprises, the enterprises are promoted to move towards the directions of intellectualization, high integration and the like, and the manipulator is one of the intellectualized products researched and developed by the enterprises. In order to reduce the burden on the operator or to perform dangerous work instead of the operator, the application of the manipulator is not left. The manipulator replaces the operation of operators, so that the aim of improving the effect or protecting the operators is fulfilled, and the manipulator is widely applied to the occasions of automatic production.
In various automation equipment, a rotary driving mechanism is indispensable, and after the whole automation equipment is installed, the control of motion can be carried out only after the round points of the rotary driving mechanism are found.
Therefore, it is necessary to provide a new device and method for calibrating the rotation center of a rotation driving mechanism to solve the above problems.
[ summary of the invention ]
One of the main objects of the present invention is to provide a rotation center calibration device for a rotation driving mechanism, which can calibrate dots rapidly and accurately, and has the advantages of simple operation, high calibration efficiency, low cost and good economical efficiency.
The invention realizes the purpose through the following technical scheme: the utility model provides a rotation driving mechanism's rotation center calibration device for rotation driving mechanism carries out centre of a circle and marks, and it includes the installation regulating plate and fixes calibration plate on the installation regulating plate, the installation regulating plate receives rotation driving mechanism carries out rotary motion, last angle rings such as around its rotation axis of rotation driving mechanism are provided with a plurality of first pinholes, be provided with a plurality of second pinholes on the calibration plate, one of them the axis of second pinhole with the axis of first pinhole is on same horizontal plane.
Furthermore, the rotation driving mechanism comprises a horizontal rotation driving joint positioned at the bottom and a horizontal rotation mechanism driven by the horizontal rotation driving joint to rotate horizontally.
Furthermore, the horizontal rotation driving joint comprises a first mounting seat in a cylindrical structure, a first driving device embedded in the first mounting seat, and a first speed reducer matched with the first driving device.
Furthermore, a plurality of first pin holes which are distributed around a rotating shaft of the horizontal rotation driving joint in an equal angle are formed in the outer surface of the first mounting seat, and the axes of the first pin holes in the first mounting seat are located on the same horizontal plane.
Furthermore, horizontal rotary mechanism is vertical rotary drive joint, vertical rotary drive joint includes receive first speed reducer drive carries out the second mount pad of rotation, embedded in the inside second speed reducer of second mount pad and drive the second drive arrangement of second speed reducer.
Furthermore, a swing arm plate is arranged at the rotating end of the second speed reducer, and a plurality of first pin holes which are distributed around the rotating shaft of the vertical rotation driving joint in an equal angle are formed in the swing arm plate.
Furthermore, the installation adjusting plate is fixedly installed on the second installation seat.
Furthermore, a long strip-shaped waist-shaped hole is formed in the mounting adjusting plate.
Another main object of the present invention is to provide a calibration method for a rotation center calibration apparatus of a rotation driving mechanism, which comprises the following steps,
1) setting an initial state: aligning the second pin hole with one of the first pin holes, detecting whether the second pin hole and the corresponding first pin hole can be simultaneously penetrated through by using a pin shaft, if the second pin hole and the corresponding first pin hole can be penetrated through the pin shaft, finishing the initial state setting, and if the first pin hole and the second pin hole cannot be penetrated through the pin shaft, starting the rotary driving mechanism, and driving the calibration plate to rotate for a certain angle until the pin shaft can simultaneously penetrate through the second pin hole and the first pin hole;
2) setting the rotation driving mechanism to rotate clockwise or anticlockwise by a first angle, detecting whether the pin shaft can simultaneously penetrate through the second pin hole and the corresponding first pin hole by adopting a pin shaft, if the pin shaft can penetrate through the second pin hole, carrying out the next step, if the pin shaft cannot penetrate through the first pin hole, starting the rotation driving mechanism, driving the calibration plate to rotate by a certain angle until the pin shaft can simultaneously penetrate through the second pin hole and the first pin hole, and obtaining a dot error which is the difference value between the set rotation angle value and the first angle;
3) correcting the error to obtain a new set dot;
4) returning to the initial state;
5) and repeating the steps 2-3 or the steps 2-4 until the pin shaft can simultaneously penetrate through the second pin hole and the corresponding first pin hole after the rotary driving mechanism rotates in any direction by any multiple of the first angle in the initial state, so that the set dot coordinate of the rotary driving mechanism is calibrated accurately.
Further, the first angle is 360 degrees divided by the number of the first pin holes.
Compared with the prior art, the rotation center calibration device and the calibration method of the rotation driving mechanism have the advantages that: compared with a dot calibration instrument in the prior art, the fast and accurate dot calibration instrument has the advantages of being simple and convenient in design operation, high in calibration efficiency, low in cost and good in economy, and can reach 0.005mm in the dot calibration precision through the control of the machining precision of the pin holes and the pin shafts, so that the control precision and the motion precision of the robot are greatly improved.
[ description of the drawings ]
FIG. 1 is a schematic structural diagram of a use state according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a calibration apparatus according to an embodiment of the present invention;
the figures in the drawings represent:
100 a rotation center calibration device of a rotation driving mechanism;
101 a first pin hole; 102 a second pin hole;
1, installing an adjusting plate and 11 waist-shaped holes; 2, calibrating a plate; 3 horizontal rotation driving joint, 31 first mounting seat; 4, vertically rotating a driving joint, 41 a second mounting seat; 5 swing arm board.
[ detailed description ] embodiments
Examples
The "horizontal rotation" mentioned in the present embodiment means that the rotation axis is vertical; "vertical rotation" means that the axis of rotation is horizontal; the "center of the rotary drive mechanism" refers to the center of a circle formed by the rotational path of the rotary mechanism.
Referring to fig. 1-2, the present embodiment is a rotation center calibration apparatus 100 for a rotation driving mechanism, which is used for calibrating a circle center of the rotation driving mechanism, and includes an installation adjusting plate 1 and a calibration plate 2 fixed on the installation adjusting plate 1, the installation adjusting plate 1 is rotated by the rotation driving mechanism, the rotation driving mechanism is provided with a plurality of first pin holes 101 at equal angles around a rotation shaft thereof, the calibration plate 2 is provided with a plurality of second pin holes 102, an axis of one of the second pin holes 102 and an axis of the corresponding first pin hole 101 are on the same horizontal plane, so that a pin shaft can simultaneously pass through the corresponding second pin hole 102 and the corresponding first pin hole 101. In this embodiment, the number of the first pin holes 101 is four.
In this embodiment, the rotation driving mechanism includes a horizontal rotation driving joint 3 located at the bottom, a vertical rotation driving joint 4 driven by the horizontal rotation driving joint 3 to rotate horizontally, and a swing arm plate 5 driven by the vertical rotation driving joint 4 to rotate vertically.
The horizontal rotation driving joint 3 includes a first mounting seat 31 having a cylindrical structure, a first driving device (not shown) embedded in the first mounting seat 31, and a first speed reducer (not shown) engaged with the first driving device. The outer surface of the first mounting seat 31 is provided with a plurality of first pin holes 101 which are equiangularly distributed around the rotation axis of the horizontal rotation driving joint 3. The axes of the first pin holes 101 in the first mounting seat 31 are located on the same horizontal plane.
The vertical rotation driving joint 4 includes a second mounting base 41 driven by the first speed reducer to rotate, a second speed reducer (not shown) embedded in the second mounting base 41, and a second driving device (not shown) for driving the second speed reducer. The swing arm plate 5 is provided with a plurality of first pin holes 101 which are equiangularly distributed around the rotation axis of the vertical rotation driving joint 4.
The installation adjusting plate 1 is provided with a long strip-shaped waist-shaped hole 11, so that the installation position of the calibration plate 2 can be conveniently adjusted. The mounting adjustment plate 1 is fixedly mounted on the second mounting seat 41.
The rotation center calibration device 100 of the rotation driving mechanism performs dot coordinate calibration on the horizontal rotation driving joint 3 as follows:
1) setting an initial state: aligning the second pin hole 102 with one of the first pin holes 101, detecting whether the pin can simultaneously pass through the second pin hole 102 and the first pin hole 101 by using a pin shaft, if the pin can pass through the second pin hole 102 and the first pin hole 101, finishing the initial state setting, and if the pin cannot pass through the first pin hole, starting the horizontal rotation driving joint 3, driving the second mounting seat 41 and simultaneously driving the calibration plate 2 to rotate for a certain angle until the pin shaft can simultaneously pass through the second pin hole 102 and the first pin hole 101;
2) setting a horizontal rotation driving joint 3 to rotate clockwise or anticlockwise for a first angle, wherein the first angle is 360 degrees divided by the number of first pin holes 101, and because the number of the first pin holes 101 is four in the embodiment, the reading of the first angle is 90 degrees, detecting whether the pin can simultaneously pass through the second pin holes 102 and the corresponding first pin holes 101 by adopting a pin shaft, if the pin can pass through the second pin holes 102 and the corresponding first pin holes 101, carrying out the next step, if the pin cannot pass through the first pin holes, starting the horizontal rotation driving joint 3, driving the second mounting seat 41 to simultaneously drive the calibration plate 2 to rotate for a certain angle until the pin shaft can simultaneously pass through the second pin holes 102 and the corresponding first pin holes 101, and obtaining a dot error, wherein the dot error is the difference between the set rotation angle value and the first angle;
3) correcting the error to obtain a new set dot: error correction is well known to those skilled in the art and is well-established, and therefore, will not be described in detail in this embodiment;
4) returning to the initial state;
5) and repeating the steps 2 to 3 or the steps 2 to 4, wherein the rotation angle can be selected from one of 90 degrees, 180 degrees, 270 degrees or 360 degrees, but the rotation angle does not exceed the rotation range of the rotation driving mechanism, and the rotation direction can rotate clockwise or counterclockwise until the pin shaft can simultaneously pass through the second pin hole 102 and the corresponding first pin hole 101 after the horizontal rotation driving joint 3 rotates in any direction by any multiple of the first angle in the initial state, so that the set dot coordinates of the horizontal rotation driving joint 3 are calibrated accurately.
In this embodiment, since the number of the first pin holes 101 is four, the rotation angle of the driving joint is a multiple of 90 degrees in the dot calibration process, while in other embodiments, the number of the first pin holes 101 may be set to N, and the rotation angle of each driving joint is a multiple of 360 °/N (i.e., the first angle) in the dot calibration process.
The calibration method of the rotation center calibration device of the rotation driving mechanism is the same as the dot coordinate calibration principle of the horizontal rotation driving joint 3 in the dot coordinate calibration principle of the vertical rotation driving joint 2.
The rotation center calibration device of the rotation driving mechanism has the advantages that: compared with a dot calibration instrument in the prior art, the fast and accurate dot calibration instrument has the advantages of being simple and convenient in design operation, high in calibration efficiency, low in cost and good in economy, and can reach 0.005mm in the dot calibration precision through the control of the machining precision of the pin holes and the pin shafts, so that the control precision and the motion precision of the robot are greatly improved.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (9)
1. A calibration method for a rotation center of a rotation driving mechanism is characterized by comprising the following steps: the calibration device is realized based on a calibration device, the calibration device comprises an installation adjusting plate and a calibration plate fixed on the installation adjusting plate, the installation adjusting plate is rotated by a rotation driving mechanism, a plurality of first pin holes are annularly arranged on the rotation driving mechanism at equal angles around a rotation shaft of the rotation driving mechanism, a plurality of second pin holes are arranged on the calibration plate, and the axis of one of the second pin holes and the axis of the first pin hole are on the same horizontal plane;
the calibration method comprises the following steps of,
1) setting an initial state: aligning the second pin hole with one of the first pin holes, detecting whether the second pin hole and the corresponding first pin hole can be simultaneously penetrated through by using a pin shaft, if the second pin hole and the corresponding first pin hole can be penetrated through the pin shaft, finishing the initial state setting, and if the first pin hole and the second pin hole cannot be penetrated through the pin shaft, starting the rotary driving mechanism, and driving the calibration plate to rotate for a certain angle until the pin shaft can simultaneously penetrate through the second pin hole and the first pin hole;
2) setting the rotation driving mechanism to rotate clockwise or anticlockwise by a first angle, detecting whether the pin shaft can simultaneously penetrate through the second pin hole and the corresponding first pin hole by adopting a pin shaft, if the pin shaft can penetrate through the second pin hole, carrying out the next step, if the pin shaft cannot penetrate through the first pin hole, starting the rotation driving mechanism, driving the calibration plate to rotate by a certain angle until the pin shaft can simultaneously penetrate through the second pin hole and the first pin hole, and obtaining a dot error which is the difference value between the set rotation angle value and the first angle;
3) correcting the error to obtain a new set dot;
4) returning to the initial state;
5) and repeating the steps 2) -3) or the steps 2) -4) until the pin shaft can simultaneously penetrate through the second pin hole and the corresponding first pin hole after the rotary driving mechanism rotates in any direction by any multiple of the first angle in the initial state, so that the set dot coordinate of the rotary driving mechanism is calibrated accurately.
2. A method of calibrating a rotational center of a rotary drive mechanism as defined in claim 1, wherein: the rotary driving mechanism comprises a horizontal rotary driving joint positioned at the bottom and a horizontal rotary mechanism driven by the horizontal rotary driving joint to rotate horizontally.
3. A method of calibrating a rotational center of a rotary drive mechanism as defined in claim 2, wherein: the horizontal rotation driving joint comprises a first mounting seat in a cylindrical structure, a first driving device embedded in the first mounting seat and a first speed reducer matched with the first driving device.
4. A method of calibrating a rotational center of a rotary drive mechanism as defined in claim 3, wherein: the outer surface of the first mounting seat is provided with a plurality of first pin holes which are distributed around a rotating shaft of the horizontal rotation driving joint in an equal angle mode, and the axes of the first pin holes in the first mounting seat are located on the same horizontal plane.
5. A method of calibrating a rotational center of a rotary drive mechanism as defined in claim 3, wherein: the horizontal rotating mechanism is a vertical rotation driving joint which comprises a second mounting seat driven by the first speed reducer to rotate, a second speed reducer embedded in the second mounting seat and a second driving device for driving the second speed reducer.
6. The method for calibrating the rotation center of a rotary drive mechanism according to claim 5, wherein: the rotating end of the second speed reducer is provided with a swing arm plate, and the swing arm plate is provided with a plurality of first pin holes which are distributed around a rotating shaft of the vertical rotation driving joint at equal angles.
7. The method for calibrating the rotation center of a rotary drive mechanism according to claim 5, wherein: the installation adjusting plate is fixedly installed on the second installation seat.
8. A method of calibrating a rotational center of a rotary drive mechanism as defined in claim 1, wherein: the mounting adjusting plate is provided with a long strip-shaped waist-shaped hole.
9. A method of calibrating a rotational center of a rotary drive mechanism as defined in claim 1, wherein: the first angle is 360 degrees divided by the number of the first pin holes.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910238468.7A CN110000806B (en) | 2017-04-18 | 2017-04-18 | Calibration method for rotation center of rotation driving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251368.9A CN107234629B (en) | 2017-04-18 | 2017-04-18 | Multi-axis robot |
| CN201910238468.7A CN110000806B (en) | 2017-04-18 | 2017-04-18 | Calibration method for rotation center of rotation driving mechanism |
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| CN110000806B true CN110000806B (en) | 2022-03-01 |
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| CN201710251368.9A Active CN107234629B (en) | 2017-04-18 | 2017-04-18 | Multi-axis robot |
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| CN107238358A (en) * | 2017-04-25 | 2017-10-10 | 张州逸 | The pivot caliberating device and its scaling method of a kind of rotary drive mechanism |
| CN108705559A (en) * | 2018-08-09 | 2018-10-26 | 常州市知豆信息科技有限公司 | A kind of plane articulation robot shaft coupling joint and its manufacturing equipment |
| CN113580140A (en) * | 2021-08-18 | 2021-11-02 | 连江福桔电子有限公司 | Control method and terminal of seven-axis mechanical arm |
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| JPS60127985A (en) * | 1983-12-15 | 1985-07-08 | ファナック株式会社 | Regulator for position of origin of industrial robot |
| FR2599290B1 (en) * | 1986-05-27 | 1994-07-29 | Afma Robots | ELECTRO-MECHANICAL ORIENTATION SYSTEM ESPECIALLY FOR A THREE-AXIS ROBOT WRIST. |
| KR100439843B1 (en) * | 2002-01-15 | 2004-07-12 | 삼성전자주식회사 | object alignment-angular inspection equipment of ion implanter and method there of |
| CN201046892Y (en) * | 2007-06-01 | 2008-04-16 | 徐州重型机械有限公司 | Caterpiller crane arm rack arc centralization positioning device |
| JP5299444B2 (en) * | 2011-02-04 | 2013-09-25 | 株式会社安川電機 | robot |
| CN202382693U (en) * | 2012-01-06 | 2012-08-15 | 常德市中科技术有限公司 | Angle correcting plate of center collector ring |
| CN202726917U (en) * | 2012-08-07 | 2013-02-13 | 吕健 | Mechanical zero calibration device of industrial robot |
| CN203495975U (en) * | 2013-09-24 | 2014-03-26 | 昆山泰丰自动化技术有限公司 | Mechanical arm and original point positioning device of mechanical arm |
| CN203875490U (en) * | 2014-03-28 | 2014-10-15 | 东莞华贝电子科技有限公司 | Mobile phone laser marking locating jig |
| CN204123407U (en) * | 2014-09-06 | 2015-01-28 | 苏州神运机器人有限公司 | A kind of forcing press Special handling robot |
| JP2016147322A (en) * | 2015-02-10 | 2016-08-18 | 株式会社デンソーウェーブ | Robot control apparatus, and control method |
| CN205232122U (en) * | 2015-11-30 | 2016-05-11 | 天津滨海设备配套技术有限公司 | Support is trailed to manual regulation formula solar energy |
| CN205466203U (en) * | 2016-01-31 | 2016-08-17 | 湖州中望机械设备科技有限公司 | Six -shaft mechanical arm |
| CN106500564B (en) * | 2016-11-25 | 2019-03-05 | 沈阳黎明航空发动机(集团)有限责任公司 | A kind of small segmental arc thin-walled sheet metal part detection method of major diameter |
| CN206811998U (en) * | 2017-04-18 | 2017-12-29 | 张州逸 | A kind of multi-axis robot |
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| CN107234629A (en) | 2017-10-10 |
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