CN205272071U - Error correction device of equipment zero -bit of robot - Google Patents
Error correction device of equipment zero -bit of robot Download PDFInfo
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- CN205272071U CN205272071U CN201520907352.5U CN201520907352U CN205272071U CN 205272071 U CN205272071 U CN 205272071U CN 201520907352 U CN201520907352 U CN 201520907352U CN 205272071 U CN205272071 U CN 205272071U
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Abstract
The utility model discloses an error correction device of equipment zero -bit of robot, it includes that one rectifies plug, at least one light sensor, it assembles on the arm of robot to rectify the plug upper end, it is provided with upper end check point, lower extreme check point to rectify the plug on the axis direction, it is provided with an anchor ring to rectify plug upper portion, the anchor ring is located upper end check point and lower extreme check point top, the anchor ring is provided with a breach, when removing initial position, the light sensor detection and correction plug rectifies current X axle and the Y axle coordinate of upper end check point and the lower extreme check point of plug, the current Z axle coordinate of anchor ring, the current rotation angle of anchor ring breach correspondence. Through the utility model discloses an error correction device of equipment zero -bit of robot, robot be automated inspection, correction very fast, can resume the spatiality of original ideal completely.
Description
Technical field
The utility model relates to automatic technology, in particular to the error correction device of the equipment zero-bit of a kind of robot.
Background technology
Industrial robot is that it can automatically perform work towards the industry multi-joint manipulator in field or the machine device of multiple degree of freedom, is lean on self power and controllability to realize a kind of machine of various function. Industrial robot is grouped into by main body, drive system and Controlling System three basic portion. Main body and support and topworks, comprise arm, wrist and hand, and some robots also have travel mechanism. There are 3��6 freedom of motion degree in most industry robot, and wherein wrist has 1��3 freedom of motion degree usually; Drive system comprises power set and transmission rig, with so that topworks produces corresponding action; Controlling System is, according to the program of input, drive system and topworks are sent instruction signal, and controls.
Small-sized assembling robot, refers to the robot that maximum useful load can reach 20kg (44 pounds), farthest reason distance can reach 1300mm (51 inches). There are two kinds of base types in this kind of robot: four axle SCARA robot (hereinafter referred to as four axle robots) and six axles articulated type robot (hereinafter referred to as six-joint robot). Wherein, four axle robots are in particular and pick and place operation and design at a high speed, and six-joint robot then provides higher production kinematic dexterity.
Four axle SCARA (SelectiveComplianceAssemblyRobotArm, selectivity assembling joint robotic arm) type robot, refers to that the arm segment of four axle robots can move freely in a geometry plane. The first two joint of SCARA robot can rotate freely left and right in the horizontal plane. By one, 3rd joint is called that the metallic rod of feather (quill) and clamper form. This metallic rod can in vertical plane upwards and move down or rotate around its Z-axis, but can not tilt. This kind of unique design makes four axle robots have very strong rigidity, thus enables them be competent at a high speed and the work of high duplication.
Six-joint robot two joints more than four axle robots, therefore have more " freedom of action degree ". First closing energy-saving of six-joint robot rotates freely at horizontal plane as four axle robots, and latter two closing energy-saving is at vertical planar movement. In addition, six-joint robot has one " arm ", two " wrist " joints, and this allows it have the arm of the mankind and the similar ability of wrist. The more joint of six-joint robot mean they can pick up on horizontal plane arbitrarily towards parts, put in wrapped product with special angle. They can also perform many operations that just can complete by skilled labor. Six-joint robot is general at China's industrial automation Application comparison, is particularly applied in Automated assembly aspect particularly extensive. It has the features such as effect height, precision height, consistence are good, dark liking by everybody.
We are during normal use, often realize: when production product type is more or robot gone out breakdown maintenance after (such as collision, factor such as dismounting robot etc.), the skew of trace will be there is in the work relative position of robot, higher just cannot the producing of operating accuracy in this way, artificial working routine of modifying progressively one by one must being leaned on, until meeting the relative positional accuracy position of work, also being involved the working condition of other products simultaneously, time-consuming taking a lot of work, quality cannot ensure. Although existing robot had one automatically check and correction revise device, but this check and correction revises that device adopts automatically is that the inspection correction of point is revised, also can not meet the accuracy requirement of robot gripper skew.
Practical novel content
The technical problems to be solved in the utility model is to provide the error correction device of the equipment zero-bit of a kind of robot, can correct the error of the space posture position of the arm of robot, recovers the spatiality that robot arm is original.
For solving the problems of the technologies described above, the error correction device of the equipment zero-bit of the robot that the utility model provides, it comprises a correction plug, at least one optical sensor;
Described correction plug, upper end is assembled on the arm of robot and is positioned at robot working range;
In described robot working range, it is provided with a volume coordinate system;
Described correction plug, is provided with upper end check point, lower end check point in the axial direction;
Described correction plug, top is provided with an annulus face; Described annulus face, is positioned at above upper end check point and lower end check point; Described annulus face, is provided with a breach;
Described optical sensor, for detect correction plug move to starting position time, current X-axis in described volume coordinate system of the correction upper end check point of plug and lower end check point and Y-axis coordinate, the current Z axial coordinate of the annulus face of correction plug in described volume coordinate system, and the current angle of rotation that the annulus face breach of correction plug is corresponding in described volume coordinate system.
Preferably, this error correction device also comprises an equipment verification unit;
Described equipment verification unit, for current Z axial coordinate, the current angle of rotation that annulus face breach is corresponding in the current X-axis according to the correction upper end check point of plug and lower end check point and Y-axis coordinate, annulus face, with correcting the upper end check point of plug and the initial X-axis of lower end check point and the difference between Y-axis coordinate, the initial Z axial coordinate in annulus face, the initial rotation angle degree of annulus face breach when equipment zero-bit is error free in described volume coordinate system, the relative coordinate of the production product program of described robot is corrected.
Preferably, with the clutch coupling of switching frock on the arm of described robot,
The arm of described robot, by correcting plug described in described clutch coupling adhesive and drive positive plug to move.
Preferably, described error correction device, comprises the first laser sensor, dual-laser sensor, the 3rd laser sensor three optical sensors;
First laser sensor, for detecting X-axis and the Y-axis coordinate of the correction upper end check point of plug and lower end check point;
Dual-laser sensor, for detecting the Z axial coordinate in the annulus face of correction plug;
3rd laser sensor, for detecting the angle of rotation of the correspondence of the annulus face breach of correction plug.
Preferably, described clutch coupling, it is possible to automatically switch frock;
The artificial six-joint robot of described machine or four axle robots.
Preferably, described first laser sensor is cross correlation laser sensor.
The error correction device of the equipment zero-bit of robot of the present utility model, the current angle of rotation of the upper end check point of correction plug and the current X-axis of lower end check point and Y-axis coordinate, the current Z axial coordinate in annulus face of correction plug and the correspondence of the annulus face breach of correction plug when plug moves to starting position is corrected by light sensors, the error of the space posture position of the arm of robot can be corrected, recover the spatiality that robot arm is original.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical solution of the utility model, below the accompanying drawing used required for the utility model is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the correction plug schematic diagram of the error correction device of the equipment zero-bit of robot of the present utility model;
Fig. 2 is the upper end check point of the correction plug of error correction device one embodiment of the equipment zero-bit of robot of the present utility model and the current X-axis of lower end check point and Y-axis coordinate, the current Z axial coordinate in annulus face, current angle of rotation detection schematic diagram that annulus face breach is corresponding.
Embodiment
Below in conjunction with accompanying drawing, the technical scheme in the utility model is carried out clear, complete description, it is clear that described embodiment is part embodiment of the present utility model, instead of whole embodiments. Based on the embodiment in the utility model, other embodiments all that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belong to the scope of the utility model protection.
Embodiment one
The error correction device of the equipment zero-bit of robot, it comprises a correction plug, at least one optical sensor;
Described correction plug, upper end is assembled on the arm of robot and is positioned at robot working range;
In described robot working range, it is provided with a volume coordinate system;
Described correction plug 1 as shown in Figure 1, is provided with upper end check point 11, lower end check point 12 in the axial direction;
Described correction plug 1, top is provided with an annulus face 13;
Described annulus face 13, is positioned at above upper end check point 11 and lower end check point 12; Described annulus face 13, is provided with a breach 131;
Described optical sensor, for detect correction plug move to starting position time, current X-axis in described volume coordinate system of the correction upper end check point 11 of plug and lower end check point 12 and Y-axis coordinate, the current Z axial coordinate of the annulus face 13 of correction plug 1 in described volume coordinate system, and the current angle of rotation that annulus face 13 breach 131 of correction plug is corresponding in described volume coordinate system.
The error correction device of the equipment zero-bit of the robot of embodiment one, the current angle of rotation of the current X-axis of the correction upper end check point of plug and lower end check point when plug moves to starting position and Y-axis coordinate, the current Z axial coordinate in annulus face of correction plug, the correspondence of the annulus face breach of correction plug is corrected by light sensors, the error of the space posture position of the arm of robot can be corrected, recover the spatiality that robot arm is original.
Embodiment two
Based on embodiment one, the error correction device of the equipment zero-bit of this robot also comprises an equipment verification unit;
Described equipment verification unit, for current Z axial coordinate, the current angle of rotation that annulus face breach is corresponding in the current X-axis according to the correction upper end check point 11 of plug 1 and lower end check point 12 and Y-axis coordinate, annulus face, with correcting the upper end check point of plug and the initial X-axis of lower end check point and the difference between Y-axis coordinate, the initial Z axial coordinate in annulus face, the initial rotation angle degree of annulus face breach when equipment zero-bit is error free in described volume coordinate system, the relative coordinate of the production product program of described robot is corrected.
The production product program of described robot, adopt the programmed method of relative coordinate, initial centerline that when the initial initial point producing product program adopts that equipment zero-bit is error free in volume coordinate system, the upper end check point of correction plug and the initial X-axis of lower end check point and Y-axis coordinate are determined, the initial Z axial coordinate in annulus face, the initial rotation angle degree of annulus face breach.
When equipment zero-bit is error free, when the correction plug being assemblied on the clutch coupling on the arm of described robot is positioned at starting position, lower end check point corresponds to the initial X-axis of lower end points and the Y-axis coordinate of described volume coordinate system, upper end check point corresponds to the initial X-axis of upper end points and the Y-axis coordinate of described volume coordinate system, annulus face breach is corresponding to the initial rotation angle degree of volume coordinate system, and annulus face is corresponding to the initial Z axial coordinate of volume coordinate system.
Embodiment three
Based on the error correction device of equipment zero-bit of the robot of embodiment one, with the clutch coupling of switching frock on the arm of described robot,
The arm of described robot, by correcting plug described in described clutch coupling adhesive and drive positive plug to move.
Preferably, as shown in Figure 2, described error correction device, comprises the first laser sensor, dual-laser sensor, the 3rd laser sensor three optical sensors;
First laser sensor, for detecting X-axis and the Y-axis coordinate of the correction upper end check point of plug and lower end check point;
Dual-laser sensor, for detecting the Z axial coordinate in the annulus face of correction plug;
3rd laser sensor, for detecting angle of rotation corresponding to the annulus face breach correcting plug.
Preferably, described clutch coupling, it is possible to automatically switch frock;
The artificial six-joint robot of described machine or four axle robots.
Preferably, described first laser sensor is cross correlation laser sensor.
The error correction device of the equipment zero-bit of the robot of embodiment three, current angle of rotation corresponding to the current X-axis of the correction upper end check point of plug and lower end check point when correction plug moves to starting position and Y-axis coordinate, the current Z axial coordinate in annulus face and annulus face breach is detected respectively by the first laser sensor, dual-laser sensor, the 3rd laser sensor, structure is simple, easy to operate.
Embodiment four
Carry out the method for equipment zero correction based on the error correction device of the equipment zero-bit of the robot of embodiment one, comprise the following steps:
One. the clutch coupling in described equipment verification unit control machine human arm, draw correction plug, move to starting position;
Two, the current X-axis of the described light sensors correction upper end check point of plug and lower end check point and Y-axis coordinate, the current Z axial coordinate in the annulus face of detection correction plug, the current angle of rotation of the annulus face breach of detection correction plug;
Three. the current medullary ray of correction plug that described equipment verification unit is determined according to the current X-axis of the upper end check point and lower end check point that correct plug and Y-axis coordinate, with equipment zero-bit error free time the correction lower end points of plug and the initial centerline determined of the initial X-axis of upper end points and Y-axis coordinate between error, the medullary ray relative coordinate of the production product program of described robot is corrected;
The Z axle relative coordinate of the production product program of described robot, with the error between described initial Z axial coordinate, is corrected by the current Z axial coordinate in the annulus face according to correction plug;
The Z axle rotation angle relative coordinate of the production product program of described robot, with the error between described initial rotation angle degree, is corrected by the current angle of rotation according to annulus face breach.
The method of the equipment zero correction of embodiment four, a calibration coordinate system is designed in the working range of robot, the production product program of robot adopts the programmed method of relative coordinate, the current X-axis of the correction upper end check point of plug and lower end check point and Y-axis coordinate when robot moves to starting position by detection correction plug, the current Z axial coordinate in the annulus face of correction plug, the current angle of rotation of the correspondence of the annulus face breach of correction plug, and according to the current X-axis of upper end check point and lower end check point and Y-axis coordinate, the current Z axial coordinate in annulus face, the upper end check point of correction plug when the current angle of rotation that annulus face breach is corresponding is error free with equipment zero-bit and the initial X-axis of lower end check point and Y-axis coordinate, the initial Z axial coordinate in annulus face, difference between the initial rotation angle degree of annulus face breach, proofread the error of correction plug space posture position, automatically error correction is carried out, with so automatic detection, correction, the method revised, recover the spatiality that robot arm is original.
The method of the equipment zero correction of embodiment four, the process being a relative space position skew correction and revising. When after maintenance of equipment well or after product transformation, robot first utilizes the method that space detects automatically, the physical location and the robot device's zero-bit that measure the arm of robot compare, if any error robot auto modification error, significantly reduce the workload of artificial check and correction like this, it is ensured that the quality of product.
The method of the equipment zero correction of embodiment four, encounter same fault type, equipment to be resumed production, robot can very fast detect automatically, correction, the originally desirable spatiality of arm can be returned to completely, not only decrease the time of manual intervention, also ensure that the quality of production of automation line simultaneously.
The foregoing is only better embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment of making, equivalent replacements, improvement etc., all should be included within the scope that the utility model is protected.
Claims (6)
1. the error correction device of the equipment zero-bit of a robot, it is characterised in that, comprise a correction plug, at least one optical sensor;
Described correction plug, upper end is assembled on the arm of robot and is positioned at robot working range;
In described robot working range, it is provided with a volume coordinate system;
Described correction plug, is provided with upper end check point, lower end check point in the axial direction;
Described correction plug, top is provided with an annulus face; Described annulus face, is positioned at above upper end check point and lower end check point; Described annulus face, is provided with a breach;
Described optical sensor, for detect correction plug move to starting position time, current X-axis in described volume coordinate system of the correction upper end check point of plug and lower end check point and Y-axis coordinate, the current Z axial coordinate of the annulus face of correction plug in described volume coordinate system, and the current angle of rotation that the annulus face breach of correction plug is corresponding in described volume coordinate system.
2. the error correction device of the equipment zero-bit of robot according to claim 1, it is characterised in that,
This error correction device also comprises an equipment verification unit;
Described equipment verification unit, for current Z axial coordinate, the current angle of rotation that annulus face breach is corresponding in the current X-axis according to the correction upper end check point of plug and lower end check point and Y-axis coordinate, annulus face, with correcting the upper end check point of plug and the initial X-axis of lower end check point and the difference between Y-axis coordinate, the initial Z axial coordinate in annulus face, the initial rotation angle degree of annulus face breach when equipment zero-bit is error free in described volume coordinate system, the relative coordinate of the production product program of described robot is corrected.
3. the error correction device of the equipment zero-bit of robot according to claim 1, it is characterised in that,
With the clutch coupling of switching frock on the arm of described robot,
The arm of described robot, by correcting plug described in described clutch coupling adhesive and drive positive plug to move.
4. the error correction device of the equipment zero-bit of robot according to claim 1, it is characterised in that,
Described error correction device, comprises the first laser sensor, dual-laser sensor, the 3rd laser sensor three optical sensors;
First laser sensor, for detecting X-axis and the Y-axis coordinate of the correction upper end check point of plug and lower end check point;
Dual-laser sensor, for detecting the Z axial coordinate in the annulus face of correction plug;
3rd laser sensor, for detecting angle of rotation corresponding to the annulus face breach correcting plug.
5. the error correction device of the equipment zero-bit of robot according to claim 3, it is characterised in that,
Described clutch coupling, it is possible to automatically switch frock;
The artificial six-joint robot of described machine or four axle robots.
6. the error correction device of the equipment zero-bit of robot according to claim 4, it is characterised in that,
Described first laser sensor is cross correlation laser sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520907352.5U CN205272071U (en) | 2015-11-13 | 2015-11-13 | Error correction device of equipment zero -bit of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520907352.5U CN205272071U (en) | 2015-11-13 | 2015-11-13 | Error correction device of equipment zero -bit of robot |
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| Publication Number | Publication Date |
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| CN205272071U true CN205272071U (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520907352.5U Withdrawn - After Issue CN205272071U (en) | 2015-11-13 | 2015-11-13 | Error correction device of equipment zero -bit of robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695880A (en) * | 2015-11-13 | 2017-05-24 | 联合汽车电子有限公司 | Error correction device for equipment zero position of robot and correction method for equipment zero position |
| CN106926261A (en) * | 2017-04-25 | 2017-07-07 | 东莞台盈拓科技股份有限公司 | Relative position measurement instrument |
| CN107042519A (en) * | 2017-04-28 | 2017-08-15 | 安徽捷迅光电技术有限公司 | A kind of robot arm zero-bit automatic correction system |
| CN107253193A (en) * | 2017-06-13 | 2017-10-17 | 上海交通大学 | Robot repetitive positioning accuracy detection and zero correction system |
| CN111859579A (en) * | 2020-07-28 | 2020-10-30 | 东南大学 | Temporomandibular joint motion simulation device |
-
2015
- 2015-11-13 CN CN201520907352.5U patent/CN205272071U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695880A (en) * | 2015-11-13 | 2017-05-24 | 联合汽车电子有限公司 | Error correction device for equipment zero position of robot and correction method for equipment zero position |
| CN106695880B (en) * | 2015-11-13 | 2019-09-17 | 联合汽车电子有限公司 | The error correction device and its equipment zero correction method of the equipment zero-bit of robot |
| CN106926261A (en) * | 2017-04-25 | 2017-07-07 | 东莞台盈拓科技股份有限公司 | Relative position measurement instrument |
| CN106926261B (en) * | 2017-04-25 | 2024-02-02 | 东莞台一盈拓科技股份有限公司 | Relative position measuring instrument |
| CN107042519A (en) * | 2017-04-28 | 2017-08-15 | 安徽捷迅光电技术有限公司 | A kind of robot arm zero-bit automatic correction system |
| CN107253193A (en) * | 2017-06-13 | 2017-10-17 | 上海交通大学 | Robot repetitive positioning accuracy detection and zero correction system |
| CN111859579A (en) * | 2020-07-28 | 2020-10-30 | 东南大学 | Temporomandibular joint motion simulation device |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20160601 Effective date of abandoning: 20190917 |
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| AV01 | Patent right actively abandoned |