CN112894826A - Modular robot joint zero calibration device and calibration method - Google Patents
Modular robot joint zero calibration device and calibration method Download PDFInfo
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- CN112894826A CN112894826A CN202110206866.8A CN202110206866A CN112894826A CN 112894826 A CN112894826 A CN 112894826A CN 202110206866 A CN202110206866 A CN 202110206866A CN 112894826 A CN112894826 A CN 112894826A
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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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
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention provides a modular robot joint zero calibration device and a calibration method, wherein the calibration device is provided with a bottom plate 1, and a compression assembly 2 is fixed on the bottom plate 1 and used for compressing a joint 3. The bottom plate 1 is fixedly connected with a first support 4 through a sliding rail 17, the first support 4 is provided with a first air cylinder 5 and a flange sleeve plate 6, and the telescopic end of the first air cylinder 5 is connected with the flange sleeve plate 6 through a rocker 7 and used for driving the flange sleeve plate 6 to rotate. The flange sleeve disk 6 is connected with the joint 3 and is used for carrying out zero adjustment on the joint 3. The zero calibration device is simple in structure and convenient to operate, and can realize quick calibration of joints, so that quick maintenance of the modular mechanical arm is realized, the length of the mechanical arm in maintenance is shortened, and the positioning precision of the tail end of the robot is ensured.
Description
Technical Field
The invention relates to the technical field of robot joint production, in particular to zero calibration of a robot joint, and specifically relates to a zero calibration device and a calibration method for a modular robot joint.
Background
The positioning accuracy of the tail end of the modular robot is calibrated by calibrating the laser tracker or other calibration equipment, so that each modular joint does not need consistent zero position information after being assembled, and each joint does not have consistent zero position. However, in the use process of the modular robot, if certain operation faults are met, the modular robot needs to be disassembled, replaced and repaired. After the replacement and maintenance are completed, the robot loses the original positioning accuracy due to the loss of the zero position information of the maintenance joint, so that the robot cannot complete the previously defined work, and therefore a calibration means is needed to recalibrate the robot. For the robot which is well maintained and assembled, the laser tracker is mainly used for carrying out tail end zero position precision calibration at present. However, the method has more implementation defects: 1. the process of the tail end calibration method of the laser tracker and the like is time-consuming; 2. when the mechanical arm is maintained after sale, maintenance personnel are difficult to carry equipment to implement on site due to the fact that the laser tracker is high in value and large in size. Therefore, the robot needs to be returned to the factory for calibration, which results in high transportation cost and cycle time of the method.
Therefore, a joint calibration device with convenient use, high positioning efficiency and low maintenance cost is needed to realize the rapid calibration of the modular joint.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a modular robot joint zero calibration device and a calibration method. The calibration device is simple to operate, low in production cost and high in calibration efficiency, and can realize quick calibration of joints, so that quick maintenance of the modular robot is realized, and the positioning precision of the tail end of the robot is ensured.
The invention provides a modular robot joint zero calibration device which comprises a bottom plate, wherein a pressing component is fixed on the bottom plate and used for pressing a joint; the bottom plate is fixedly connected with a first support through a sliding rail, a first air cylinder and a flange sleeve disc are arranged on the first support, and the telescopic end of the first air cylinder is connected with the flange sleeve disc through a rocker and used for driving the flange sleeve disc to rotate; the flange sleeve disc is connected with the joint and used for carrying out zero adjustment on the joint.
In an embodiment of the present invention, the pressing assembly includes: the second support is fixed on the bottom plate, the second air cylinder is fixed on the second support, and the second air cylinder is used for pressing the joint.
The second cylinder is connected with a compression piece at the telescopic end, the compression piece is of a V-shaped structure or a U-shaped structure and used for clamping the joint to prevent the joint from moving.
In the implementation mode of the invention, a connecting shaft is fixed on one side of the flange sleeve disc, and the connecting shaft and a bearing are matched and fixed in a bearing hole on the first support; the other side of the flange sleeve plate is provided with a first positioning pin, and the first positioning pin corresponds to a positioning pin hole in a joint flange plate of the joint and is used for positioning when the joint is installed; the flange sleeve disc is provided with a threaded hole on the circumference and used for fixing the joint to the flange sleeve disc; and the flange sleeve disc is provided with a wiring hole for wiring the joint.
In an embodiment of the invention, a travel switch is further fixed on the first bracket, and the travel switch is used for controlling the rotation angle of the rocker;
and the joint of the first cylinder and the rocker is also connected with an operating rod for manually adjusting the position of the rocker.
The travel switch is connected with the first air cylinder circuit and used for controlling the expansion and contraction of the first air cylinder.
In an embodiment of the present invention, a fixed end of the first cylinder is connected to the first bracket by a hinge.
In the implementation mode of the invention, a support seat is also fixed on the bottom plate, and the support seat is used for installing and supporting the joint fixing disc of the joint; the supporting seat is provided with a second positioning pin for positioning when the joint is installed; and a wiring groove is arranged on the side edge of the supporting seat and used for wiring the joint.
The invention provides a modular robot joint zero position calibration method, which uses the modular robot joint zero position calibration device and comprises the following specific steps: mounting a joint on a modular robot joint zero calibration device; starting the first air cylinder, and driving the flange sleeve disc to rotate through the rocker; the rocker moves to trigger a travel switch; stopping the rotation of the flange sleeve disc; the joint internal encoder records the position as a joint zero position; and replacing the joint, and repeating the zero calibration operation.
In the embodiment of the invention, the step of installing the joint on the modular robot joint zero calibration device specifically comprises the following steps: the joint fixing disc is placed on the supporting seat, and the second air cylinder is started to press the joint; and moving the slide rail to correspondingly fix the joint flange plate and the flange sleeve plate.
According to the embodiment, the modular robot joint zero calibration device provided by the invention has the following benefits: compared with the existing zero calibration device, the calibration device provided by the invention is simple to operate, low in production cost and high in calibration efficiency, and can realize quick calibration of the joint. After the robot joint breaks down, the zero calibration can be directly carried out on the repaired or replaced joint on the calibration device, so that the maintenance period is greatly shortened, and the rapid recovery of field operation is facilitated. Equipment operation is impeld through the cylinder, can reduce the cost of labor when promoting efficiency. In addition, the setting of travel switch can guarantee that the zero position of each joint is unanimous.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a view-angle first structural diagram of a modular robot joint zero-position calibration device provided by the invention.
Fig. 2 is a structural diagram of a second view angle of the modular robot joint zero position calibration device provided by the invention.
Fig. 3 is a use state diagram of the modular robot joint zero calibration device provided by the invention.
FIG. 4 is a diagram of a joint configuration requiring zero calibration.
Fig. 5 is a flowchart of a first embodiment of the zero calibration method for the joints of the modular robot provided by the present invention.
Fig. 6 is a flowchart of a second embodiment of the zero calibration method for the joints of the modular robot provided by the present invention.
Description of reference numerals:
the device comprises a base plate 1, a pressing component 2, a joint 3, a first support 4, a first air cylinder 5, a flange sleeve plate 6, a rocker 7, a second support 8, a second air cylinder 9, a pressing piece 10, a first positioning pin 11, a threaded hole 12, a travel switch 13, a hinge 14, a support seat 15, a second positioning pin 16, a slide rail 17, an operating rod 18, a connecting shaft 19, a joint flange 20 and a joint fixing plate 21.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.
The invention provides a zero position calibration device for a modular robot joint, and as shown in fig. 1, a structure diagram of a first view angle of the zero position calibration device for the modular robot joint provided by the invention is shown. The device comprises a base plate 1, and a pressing component 2 is fixed on the base plate 1 and used for pressing a joint 3. Through slide rail 17 fixedly connected with first support 4 on the bottom plate 1, first support 4 can carry out the straight line displacement on the slide rail, is applicable to not unidimensional joint installation. The first support 4 is provided with a first air cylinder 5 and a flange sleeve disk 6, and the telescopic end of the first air cylinder 5 is connected with the flange sleeve disk 6 through a rocker 7 and used for driving the flange sleeve disk 6 to rotate. In the embodiment of the present invention, as shown in fig. 2, a connecting shaft 19 is fixed on one side of the flange sleeve 6, and the connecting shaft 19 is fixed in a bearing hole on the first bracket 4 in a matching manner with a bearing, so that the flange sleeve 6 can rotate relative to the first bracket 4. The telescopic end of the first cylinder 5 is connected with the flange sleeve 6 through the rocker 7, so that the flange sleeve 6 can be driven by the first cylinder 5 to rotate. Then, the flange sleeve disk 6 is connected with the joint 3 and drives the joint 3 to rotate, and zero adjustment is carried out on the joint 3.
As shown in fig. 4, the knuckle 3 has a knuckle flange 20 and a knuckle fixing plate 21. When the joint 3 is installed on the zero calibration device, the joint flange plate 20 is fixedly connected with the flange sleeve plate 6, and the joint fixing plate 21 is connected with the supporting seat 15.
In an embodiment of the present invention, the pressing assembly 2 includes: a second bracket 8 and a second cylinder 9. The second support 8 is fixed on the bottom plate 1, the second cylinder 9 is fixed on the second support 8, and the second cylinder 9 is used for pressing the joint 3 to prevent the joint 3 from moving in the zero calibration process. In addition, the telescopic end of the second cylinder 9 is connected with a pressing piece 10, and the pressing piece 10 is of a V-shaped structure or a U-shaped structure and used for clamping the joint 3 to prevent the joint from moving. The V-shaped structure or the U-shaped structure can lock the joint 3, and can prevent the joint 3 from moving up and down and left and right.
In the specific embodiment of the invention, a connecting shaft 19 is fixed on one side of the flange sleeve disk 6, and the connecting shaft 19 is matched with a bearing and fixed in a bearing hole on the first bracket 4. The other side of the flange sleeve disk 6 is provided with a first positioning pin 11, the first positioning pin 11 corresponds to a positioning pin hole on a joint flange plate 20 of the joint 3 and is used for carrying out angle positioning when the joint 3 is installed, so that when subsequent zero position calibration is carried out, the zero position information of each joint 3 can be ensured to be consistent.
In addition, the flange sleeve 6 has at least one threaded hole 12 on its circumference, the threaded hole 12 being used to fix the joint 3 to the flange sleeve 6. The flange sleeve disk 6 is provided with a wiring hole for wiring when the zero calibration operation is carried out on the joint 3.
In the embodiment of the present invention, as shown in fig. 2, a travel switch 13 is further fixed on the first bracket 4, and the travel switch 13 is used for controlling the rotation angle of the rocker 7. The travel switch 13 is in circuit connection with the first cylinder 5 and is used for controlling the expansion and contraction of the first cylinder 5, and further controlling the rocker 7 by the travel switch 13. In this embodiment, the travel switch 13 can contact the rocker 7 when the rocker 7 rotates to a certain angle, the rocker 7 applies pressure to the travel switch 13 to trigger the travel switch 13, the travel switch 13 controls the first cylinder 5 to stop running, the rocker 7 also stops running, and the corresponding flange sleeve 6 also stops running. The joint 3 records the position as zero position information, and finally zero position calibration is completed.
In addition, in the embodiment, an operating rod 18 is further connected to a joint of the first cylinder 5 and the rocker 7, and the operating rod 18 is used for manually adjusting the position of the rocker 7.
In the embodiment of the present invention, the fixed end of the first cylinder 5 is connected to the first bracket 4 by a hinge 14. The flange sleeve disk 6 is fixed on the first support 4, and when the first cylinder 4 pushes the flange sleeve disk 6 to rotate through the rocker 7, the first cylinder 4 also rotates at a certain angle, so that the first cylinder 5 needs to be movably connected onto the first support 4 through the hinge 14.
In the embodiment of the present invention, a supporting seat 15 is further fixed on the bottom plate 1, and the supporting seat 15 is used for mounting and supporting a joint fixing plate 21 of the joint 3. The support base 15 has a second positioning pin 16, and the second positioning pin 16 is used for positioning when the joint 3 is installed. In addition, a wiring groove is formed in the side edge of the supporting seat 15 and used for wiring when the joint 3 is subjected to zero calibration operation.
As shown in fig. 3, the joint is placed on the supporting seat 15, and the second cylinder 9 is actuated to clamp the pressing member 10 on the joint 3, so that the joint 3 is firmly fixed on the supporting seat 15. Then, the first bracket 4 is slid so that the flange sleeve 6 corresponds to the joint flange 20 of the joint 3, and the flange sleeve 6 and the joint flange 20 are fixed by fastening members such as bolts or screws. And next, starting the first air cylinder 5, driving the rocker 7 to rotate by the first air cylinder 5, and driving the flange sleeve disk 6 to rotate by the rocker 7. When the rocker 7 rotates to a certain angle and touches the travel switch 13, the travel switch 13 controls the first cylinder 5 to stop running, and the rocker 7 and the flange sleeve 6 also stop moving. At this time, the position of the joint 3 is marked as zero position, and zero position calibration of the joint 3 is completed.
In addition, after each joint is subjected to zero calibration, the joints are assembled, and finally, a complete mechanical arm is assembled. And then, calibrating the tail end of the mechanical arm by using the laser tracker, and completing the calibration of the whole mechanical arm after the calibration is completed. When a certain joint breaks down and needs to be maintained or replaced in the using process, the zero calibration of the joint is carried out on the maintained joint or the joint to be replaced on the zero calibration device provided by the invention, and the zero position of the joint, which is the same as that of other joints on the mechanical arm, can be realized. After the joint is installed on the mechanical arm, the joint can be put into use without calibrating the mechanical arm. The whole process is simple and convenient, the time for maintaining the mechanical arm can be greatly shortened, and the working efficiency can be effectively improved.
Fig. 5 is a flowchart of a first embodiment of the zero calibration method for the joints of the modular robot provided by the present invention. As shown in fig. 5, the invention provides a zero calibration method for a modular robot joint, which uses the zero calibration device for a modular robot joint provided by the invention, and the specific calibration method comprises the following steps;
step S1: and (4) mounting the joint on a modular robot joint zero calibration device. The joint needs to be fixed in position before zero calibration, and is fixedly installed on a zero calibration device so as to perform subsequent zero calibration operation.
Step S2: and starting the first cylinder, and driving the flange sleeve disc to rotate through the rocker. The fixed joint is subjected to zero calibration operation, a first air cylinder needs to be started, and a flange sleeve disc fixed together with the joint flange disc is driven to rotate through a rocker.
Step S3: the rocker movement triggers the travel switch. When the rocker does not touch the travel switch in the rotation process of the rocker, the first air cylinder continues to drive the rocker to rotate;
when the rocker contacts the travel switch and triggers the travel switch, the travel switch controls the first cylinder to stop running.
Step S4: stopping the rotation of the flange sleeve disc; and when the first cylinder stops operating, the flange sleeve disc connected with the corresponding rocker stops rotating, and the position at the moment is the zero position of the joint.
Step S5: the intra-joint encoder records this position as the joint null. After the zero calibration device stops running, the joint internal encoder records the position of the joint at the moment as the zero position.
Step S6: and replacing the joint, and repeating the zero calibration operation.
Referring to fig. 5, in the method, a certain joint is fixed on a zero calibration device, the joint is rotated by a certain angle, and when the zero calibration device stops operating due to triggering of a travel switch, the joint can be marked as a zero position. By analogy, each joint is subjected to zero calibration through the device, and because the rotation angles of the rocker triggering travel switches are the same, the zero positions of the joints are also the same.
Fig. 6 is a flowchart of a second embodiment of the zero calibration method for the joints of the modular robot provided by the present invention. As shown in fig. 6, in the specific embodiment, step S1 specifically includes:
step S101: the joint fixing disc is placed on the supporting seat, and the second cylinder is started to compress the joint.
Step S102: and moving the slide rail to correspondingly fix the joint flange plate and the flange sleeve plate.
Referring to fig. 6, in the method, the zero calibration device can fix different joints by changing different positions of the first bracket on the slide rail, so that the application range of the device can be greatly enlarged, and the zero calibration efficiency can be improved.
The foregoing is merely an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principle of the present invention should fall within the protection scope of the present invention.
Claims (10)
1. The zero calibration device for the joints of the modular robot is characterized by comprising a bottom plate (1), wherein a pressing component (2) is fixed on the bottom plate (1) and used for pressing the joints (3);
the bottom plate (1) is fixedly connected with a first support (4) through a sliding rail (17), a first air cylinder (5) and a flange sleeve disc (6) are installed on the first support (4), and the telescopic end of the first air cylinder (5) is connected with the flange sleeve disc (6) through a rocker (7) and used for driving the flange sleeve disc (6) to rotate;
the flange sleeve disc (6) is connected with the joint (3) and is used for carrying out zero adjustment on the joint (3).
2. The modular robot joint zero calibration device according to claim 1, characterized in that the pressing assembly (2) comprises: a second bracket (8) and a second cylinder (9), wherein,
the second support (8) is fixed on the bottom plate (1), the second air cylinder (9) is fixed on the second support (8), and the second air cylinder (9) is used for pressing the joint (3).
3. The modular robot joint zero calibration device according to claim 2, wherein the telescopic end of the second cylinder (9) is connected with a pressing member (10), and the pressing member (10) is of a V-shaped structure or a U-shaped structure and is used for clamping the joint (3) to prevent the joint from moving.
4. The modular robot joint zero calibration device according to claim 1, wherein a connecting shaft (19) is fixed on one side of the flange sleeve disc (6), and the connecting shaft (19) and a bearing are matched and fixed in a bearing hole on the first bracket (4);
the other side of the flange sleeve plate (6) is provided with a first positioning pin (11), and the first positioning pin (11) corresponds to a positioning pin hole in a joint flange plate (20) of the joint (3) and is used for positioning when the joint (3) is installed;
the flange sleeve disc (6) is provided with threaded holes (12) on the circumference for fixing the joint (3) on the flange sleeve disc (6);
and the flange sleeve disc (6) is provided with a wiring hole for wiring the joint (3).
5. The modular robot joint zero calibration device according to claim 1, wherein a travel switch (13) is further fixed on the first bracket (4), and the travel switch (13) is used for controlling the rotation angle of the rocker (7);
the joint of the first air cylinder (5) and the rocker (7) is also connected with an operating rod (18) for manually adjusting the position of the rocker (7).
6. The modular robot joint zero calibration device according to claim 5, wherein the travel switch (13) is electrically connected to the first cylinder (5) for controlling the extension and retraction of the first cylinder (5).
7. The modular robot joint zero calibration device according to claim 1, characterized in that the fixed end of the first cylinder (5) is connected to the first bracket (4) by a hinge (14).
8. The modular robot joint zero calibration device according to claim 1, wherein a support seat (15) is further fixed on the bottom plate (1), and the support seat (15) is used for mounting and supporting a joint fixing plate (21) of the joint (3);
the supporting seat (15) is provided with a second positioning pin (16) which is used for positioning when the joint (3) is installed;
and a wiring groove is formed in the side edge of the supporting seat (15) and used for wiring the joint (3).
9. A modular robot joint zero calibration method is characterized in that the modular robot joint zero calibration device of claims 1-8 is used, and the specific zero calibration method comprises the following steps:
mounting a joint on a modular robot joint zero calibration device;
starting the first air cylinder, and driving the flange sleeve disc to rotate through the rocker;
the rocker moves to trigger a travel switch;
stopping the rotation of the flange sleeve disc;
the joint internal encoder records the position as a joint zero position;
and replacing the joint, and repeating the zero calibration operation.
10. The modular robot joint zero calibration method as claimed in claim 9, wherein the step of mounting the joint on the modular robot joint zero calibration device specifically comprises:
the joint fixing disc is placed on the supporting seat, and the second air cylinder is started to press the joint;
and moving the slide rail to correspondingly fix the joint flange plate and the flange sleeve plate.
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| CN202110206866.8A CN112894826B (en) | 2021-02-24 | 2021-02-24 | Modular robot joint zero calibration device and calibration method |
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| CN202110206866.8A CN112894826B (en) | 2021-02-24 | 2021-02-24 | Modular robot joint zero calibration device and calibration method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115635511A (en) * | 2022-12-01 | 2023-01-24 | 成都瑞迪智驱科技股份有限公司 | Magnetic type modularized robot driving mechanism comprehensive detection system |
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| US20060213048A1 (en) * | 2005-03-23 | 2006-09-28 | Control Systems Technologies, Llc | Positioning apparatus and method incorporating modular gimbal unit and jewelry processing system incorporating the positioning apparatus |
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