CN208714028U - A kind of zero resetting device for SCARA cylinder subjoint - Google Patents
A kind of zero resetting device for SCARA cylinder subjoint Download PDFInfo
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- CN208714028U CN208714028U CN201820868357.5U CN201820868357U CN208714028U CN 208714028 U CN208714028 U CN 208714028U CN 201820868357 U CN201820868357 U CN 201820868357U CN 208714028 U CN208714028 U CN 208714028U
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- zero
- scara
- encoder
- proximity sensor
- subjoint
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Abstract
The utility model discloses a kind of zero resetting devices for SCARA cylinder subjoint.The zero resetting device mainly includes the components such as two proximity sensors, cradle head induction screw, two fixed rings；Originally it returns to zero through two proximity sensors, the pin hole and block on mechanical component cooperate the encoder of joint drive motor, realize the self-zeroing in two joints of SCARA robot end.The relationship for determining robot sensor zero signal and encoder position first, then determines the relationship of actual machine zero-bit and encoder position, so that it is determined that the relationship of sensor signal and actual machine zero-bit.When robot uses incremental encoder, joint of robot Return Home can be realized by sensor signal；When robot uses absolute type encoder, after encoder power loss, can give again zero-bit for change automatically by sensor signal.
Description
Technical field
The utility model relates to returning to zero for robot cylinder subjoint, more particularly to one kind to be used for SCARA cylinder subjoint
Zero resetting device.
Background technique
SCARA (Selective Compliance Assembly Robot Arm) robot end is usually one and turns
The cylinder subjoint of movable joint and linear joint combination.The rotation of the SCARA robot of existing movement coupling and linear joint knot
Structure is complicated, causes each joint to return to zero error big, returns to zero the defects of process is cumbersome.
Summary of the invention
The shortcomings that the purpose of the utility model is to overcome the above-mentioned prior arts and deficiency provide a kind of for SCARA circle
The zero resetting device of column subjoint.It has many advantages, such as simple and compact for structure, returns to zero that process is succinct, position is accurate, realizes machine
The difference self-zeroing in two joints of people.
The utility model is achieved through the following technical solutions:
A kind of zero resetting device for SCARA cylinder subjoint, the SCARA cylinder subjoint include second connecting rod 9 and its
Screw rod 10 and spline housing 6；Screw rod 10 passes through spline housing 6, and spline housing 6 is mounted on second connecting rod 9 by bearing；Screw rod 10 is by watching
Motor driven is taken, the operation of servo motor is controlled by controller；The zero resetting device connects including the first proximity sensor 1, second
Nearly formula sensor 2, sensor mount 3, cradle head incude screw 4, tightening type fixed ring 5, open-type fixed ring 7, end
Actuator 8；
The tightening type fixed ring 5, which is arranged, to be fixed on spline housing 6, and it is solid that cradle head induction screw 4 is mounted on tightening type
Determine on ring 5；
The upper end of the sensor mount 3 is fixedly mounted on the bottom surface of second connecting rod 9；First proximity sensor 1
It is mounted on the middle part of sensor mount 3 from top to bottom with the second proximity sensor 2；The lower end of sensor mount 3 is
One 90 ° of bending plane offers the first dowel hole 31 in bending plane；
The end effector 8 and open-type fixed ring 7 are sequentially arranged at the lower end of screw rod 10, wherein end effector
8 are mounted on the top of 10 lower end of screw rod；The second dowel hole 81 is offered on the end effector 8；
First proximity sensor 1, the second proximity sensor 2 connect controller.
The open-type fixed ring 7 is magnetic open-type fixed ring.
The controller is motion control card.
A kind of zero resetting device operation method for SCARA cylinder subjoint, includes the following steps:
After the completion of SCARA robotic asssembly, carries out itself zero-bit and just demarcate；
When returning to zero beginning, each joint moves according to the predetermined direction, until proximity sensor detect target proximity inductive signal,
Servo motor is slowed down with specified deceleration and is stopped；It reversely rotates at low speed again, until proximity sensor is detected again close to letter
Number variation when, servo motor slow down stop；And rotate backward again, until detecting encoder flag signal, servo motor
Stop, and records encoder numerical value at this time；Establish the relationship between proximity sensor signal and encoder position；
Resettle the relationship of mechanical zero and encoder position；After driving near each joint to zero-bit, servo motor servo
The brake of power-off, servo motor is opened, and so that each joint is in free state, encoder is also recording current location always；Hand
The position of dynamic fine tuning end effector 8, until pin can pass through two opposite first dowel holes 31 and the second dowel hole
When 81, the numerical value of encoder at this time is recorded；
By the position of mechanical zero encoder and difference when detecting sensor signal between the position of encoder, it is denoted as
Mechanical zero and approach signal positional shift；When SCARA robot self-zeroing, each joint first looks for proximity sensor letter
After number, then the numerical value of positional shift was rotated backward, each joint reaches mechanical zero.
Each joint refers to cradle head, linear joint.
After SCARA revolute joint first returns to zero, linear joint returns to zero again；
SCARA robot refers to the SCARA robot with incremental encoder motor, every time each joint motor when booting
Sensor signal is searched out, then moves backward deviation post and reaches mechanical zero.
The specific steps that cradle head returns to zero:
When spline housing 6 rotates near mechanical zero, cradle head incudes screw 4 and enters the first proximity sensor 1
Detection range, then the first proximity sensor 1 receives signal, tracer signal encoder position；Second on end effector 8
Dowel hole 81 is aligned with the first dowel hole 31 on sensor mount 3, can be also cross the second dowel hole with pin
81 and be cradle head mechanical zero when the first dowel hole 31, record mechanical zero encoder position；The two of encoder record
The difference of position is deviation post and is stored in reservoir；SCARA robot, it is close to search out first for motor when being switched on every time
1 signal of formula sensor, then reversely rotate deviation angle and reach mechanical zero；
The specific steps that linear joint returns to zero:
When screw rod 10 is moved near mechanical zero, open-type fixed ring 7 enters the second proximity sensor 2 and detects model
It encloses, then the second proximity sensor 2 receives signal, tracer signal encoder position；7 upper surface of open-type fixed ring and spline
When covering 6 lower end face contact, it is linear joint mechanical zero, records mechanical zero encoder position；The two positions of encoder record
Difference be deviation post and to be stored in reservoir；SCARA robot, motor searches out the second proximity biography when booting every time
2 signal of sensor, then move backward deviation post and reach mechanical zero.
The utility model compared with the existing technology, have following advantages and effects
The utility model is by two proximity sensors side by side and incudes screw by cradle head and magnetic open-type is consolidated
The induction component for determining ring composition realizes returning to zero for the combination joint SCARA, and the apparatus structure is compact.Robot returns to zero just deutero-albumose
After fixed, mechanical zero and sensor signal offset position are recorded in memory, later without manually adjusting alignment pin hole location
It sets, can realize automatically and return to zero calibration.Booting joint can be conveniently realized for the driving motor with incremental encoder to return to zero.Needle
, for change as long as sensor position is constant, zero point can be given automatically after replacing battery or mechanical part to absolute type encoder.
Detailed description of the invention
Fig. 1 is the zero resetting device the schematic diagram of the section structure that the utility model is used for SCARA cylinder subjoint.
Fig. 2 is the zero resetting device schematic perspective view that the utility model is used for SCARA cylinder subjoint.
Fig. 3 is the zero resetting device overlooking structure diagram that the utility model is used for SCARA cylinder subjoint.
Fig. 4 is the utility model sensor mount structural schematic diagram.
Specific embodiment
The utility model is more specifically described in detail combined with specific embodiments below.
Embodiment
As shown in Figures 1 to 4.The utility model discloses a kind of zero resetting devices for SCARA cylinder subjoint, should
SCARA cylinder subjoint includes second connecting rod 9 and its screw rod 10 and spline housing 6；Screw rod 10 passes through spline housing 6, and spline housing 6 passes through
Bearing is mounted on second connecting rod 9；Screw rod 10 is driven by servo motor, and the operation of servo motor is controlled by controller；This is returned to zero
Device include the first proximity sensor 1, the second proximity sensor 2, sensor mount 3, cradle head induction screw 4,
Tightening type fixed ring 5, open-type fixed ring 7, end effector 8；
The tightening type fixed ring 5, which is arranged, to be fixed on spline housing 6, and it is solid that cradle head induction screw 4 is mounted on tightening type
Determine on ring 5；
The upper end of the sensor mount 3 is fixedly mounted on the bottom surface of second connecting rod 9；First proximity sensor 1
It is mounted on the middle part of sensor mount 3 from top to bottom with the second proximity sensor 2；The lower end of sensor mount 3 is
One 90 ° of bending plane offers the first dowel hole 31 in bending plane；
The end effector 8 and open-type fixed ring 7 are sequentially arranged at the lower end of screw rod 10, wherein end effector
8 are mounted on the top of 10 lower end of screw rod；The second dowel hole 81 is offered on the end effector 8；First dowel hole 31
The initial angle of positioning actuator is used for the second dowel hole 81.
First proximity sensor 1, the second proximity sensor 2 connect controller.First proximity sensor 1 is used
It is returned to zero in cradle head, the second proximity sensor 2 is returned to zero for linear joint.
Cradle head incudes detection target of the screw 4 as the first proximity sensor 1, while playing the work of tightening fixed ring
With.
The open-type fixed ring 7 (upper surface band buffer gasket) is magnetic open-type fixed ring, plays 10 row of limitation screw rod
The effect of journey, while the detection target as the second proximity sensor 2.
When the first dowel hole 31 and coaxial the second dowel hole 81, as cradle head zero-bit.
The controller is motion control card.
Proximity sensor detects that magnetic metal close to (nonmagnetic metal detecting distance is shorter), can generate digital voltage
Signal reads the signal by controller (motion control card).Controller can get the feedback of any time motor encoder simultaneously
Position.
Here the cylindrical pair of SCARA robot realizes articulation by spline housing (ball spline sleeve) and spline shaft structure,
Realize that joint is mobile by ball nut and screw axis, splined shaft and screw axis are the same parts.Rotation shutdown and linear joint
Between movement exist coupling.After revolute joint first returns to zero, linear joint returns to zero again.
The utility model is returned to zero for SCARA cylinder subjoint, can be achieved by the steps of:
After the completion of SCARA robotic asssembly, carries out itself zero-bit and just demarcate；
When returning to zero beginning, each joint moves according to the predetermined direction, until proximity sensor detect target proximity inductive signal,
Servo motor is slowed down with specified deceleration and is stopped；It reversely rotates at low speed again, until proximity sensor is detected again close to letter
Number variation when, servo motor slow down stop；And rotate backward again, until detecting encoder flag signal, servo motor
Stop, and records encoder numerical value at this time；Establish the relationship between proximity sensor signal and encoder position；
Resettle the relationship of mechanical zero and encoder position；After driving near each joint to zero-bit, servo motor servo
The brake of power-off, servo motor is opened, and so that each joint is in free state, encoder is also recording current location always；Hand
The position of dynamic fine tuning end effector 8, until pin can pass through two opposite first dowel holes 31 and the second dowel hole
When 81, the numerical value of encoder at this time is recorded；
By the position of mechanical zero encoder and difference when detecting sensor signal between the position of encoder, it is denoted as
Mechanical zero and approach signal positional shift；When SCARA robot self-zeroing, each joint first looks for proximity sensor letter
After number, then the numerical value of positional shift was rotated backward, each joint reaches mechanical zero.
Each joint refers to cradle head, linear joint.
After SCARA revolute joint first returns to zero, linear joint returns to zero again；
SCARA robot refers to the SCARA robot with incremental encoder motor, every time each joint motor when booting
Sensor signal is searched out, then moves backward deviation post and reaches mechanical zero.
The specific steps that cradle head returns to zero:
When spline housing 6 rotates near mechanical zero, cradle head incudes screw 4 and enters the first proximity sensor 1
Detection range, then the first proximity sensor 1 receives signal, tracer signal encoder position；Second on end effector 8
Dowel hole 81 is aligned with the first dowel hole 31 on sensor mount 3, can be also cross the second dowel hole with pin
81 and be cradle head mechanical zero when the first dowel hole 31, record mechanical zero encoder position；The two of encoder record
The difference of position is deviation post and is stored in reservoir；SCARA robot, it is close to search out first for motor when being switched on every time
1 signal of formula sensor, then reversely rotate deviation angle and reach mechanical zero；
The specific steps that linear joint returns to zero:
When screw rod 10 is moved near mechanical zero, open-type fixed ring 7 enters the second proximity sensor 2 and detects model
It encloses, then the second proximity sensor 2 receives signal, tracer signal encoder position；7 upper surface of open-type fixed ring and spline
When covering 6 lower end face contact, it is linear joint mechanical zero, records mechanical zero encoder position；The two positions of encoder record
Difference be deviation post and to be stored in reservoir；SCARA robot, motor searches out the second proximity biography when booting every time
2 signal of sensor, then move backward deviation post and reach mechanical zero.
SCARA robot, every time when booting, spline housing and ball nut move simultaneously, and cradle head is made to return to zero zero-bit
Angle.Then, ball nut moves alone, and linear joint is made to return to zero null positions again；And then complete SCARA robot end
It is diarticular to return to zero.
As described above, the utility model can be realized preferably.
The embodiments of the present invention is simultaneously not restricted to the described embodiments, other are any without departing from the utility model
Made changes, modifications, substitutions, combinations, simplifications under spiritual essence and principle, should be equivalent substitute mode, are included in
Within the protection scope of the utility model.
Claims (3)
1. a kind of zero resetting device for SCARA cylinder subjoint, the SCARA cylinder subjoint include second connecting rod (9) and its
Screw rod (10) and spline housing (6)；Screw rod (10) passes through spline housing (6), and spline housing (6) is mounted on second connecting rod (9) by bearing
On；Screw rod (10) is driven by servo motor, and the operation of servo motor is controlled by controller；It is characterized by:
The zero resetting device includes the first proximity sensor (1), the second proximity sensor (2), sensor mount (3), turns
Movable joint incudes screw (4), tightening type fixed ring (5), open-type fixed ring (7), end effector (8)；
The tightening type fixed ring (5), which is arranged, to be fixed on spline housing (6), and cradle head induction screw (4) is mounted on tightening type
In fixed ring (5)；
The upper end of the sensor mount (3) is fixedly mounted on the bottom surface of second connecting rod (9)；First proximity sensor
(1) and the second proximity sensor (2) is mounted on the middle parts of sensor mount (3) from top to bottom；Sensor mount (3)
The bending plane that lower end is one 90 °, offers the first dowel hole (31) in bending plane；
The end effector (8) and open-type fixed ring (7) are sequentially arranged at the lower end of screw rod (10), and wherein end executes
Device (8) is mounted on the top of screw rod (10) lower end；The second dowel hole (81) are offered on the end effector (8)；
First proximity sensor (1), the second proximity sensor (2) connect controller.
2. being used for the zero resetting device of SCARA cylinder subjoint according to claim 1, it is characterised in that: the open-type is solid
Ring (7) are determined for magnetic open-type fixed ring.
3. being used for the zero resetting device of SCARA cylinder subjoint according to claim 1, it is characterised in that: the controller is
Motion control card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820868357.5U CN208714028U (en) | 2018-06-06 | 2018-06-06 | A kind of zero resetting device for SCARA cylinder subjoint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820868357.5U CN208714028U (en) | 2018-06-06 | 2018-06-06 | A kind of zero resetting device for SCARA cylinder subjoint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208714028U true CN208714028U (en) | 2019-04-09 |
Family
ID=65971266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820868357.5U Withdrawn - After Issue CN208714028U (en) | 2018-06-06 | 2018-06-06 | A kind of zero resetting device for SCARA cylinder subjoint |
Country Status (1)
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|---|---|
| CN (1) | CN208714028U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108568839A (en) * | 2018-06-06 | 2018-09-25 | 华南理工大学 | A kind of zero resetting device and its method for SCARA cylinder subjoints |
-
2018
- 2018-06-06 CN CN201820868357.5U patent/CN208714028U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108568839A (en) * | 2018-06-06 | 2018-09-25 | 华南理工大学 | A kind of zero resetting device and its method for SCARA cylinder subjoints |
| CN108568839B (en) * | 2018-06-06 | 2023-09-26 | 华南理工大学 | Zero-returning device and method for SCARA cylindrical secondary joint |
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Legal Events
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190409 Effective date of abandoning: 20230926 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190409 Effective date of abandoning: 20230926 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |