KR20030073449A - Rotation axis assembly error compensator method for robot - Google Patents

Abstract

PURPOSE: A method for correcting the assembly error of a rotary shaft is provided to be not necessary to manufacture an assembly or correction jig additionally by using a rotary limit surface and correcting the assembly error. CONSTITUTION: A method for correcting the assembly error of a rotary shaft(1) comprises the steps of: setting the rotary angle of the rotary shaft; rotating the rotary shaft to a rotary limit surface, and calculating a correction sensor value; always correcting the rotary angle by the correction sensor value; and rotating the rotary shaft by corrected rotary angle.

Description

ROTATION AXIS ASSEMBLY ERROR COMPENSATOR METHOD FOR ROBOT}

The present invention relates to a robot, and more particularly, to a method of correcting a rotation axis assembly error of a robot to correct a rotation axis error generated when the robot is assembled.

Recently, home robots and toys having a large number of joints are forming a new market, and the focus on the robots or toys is to show the operation to the consumer.

To make this move, a rotation is generated in the axis of rotation, the joint between the joints and the combination of rotations is used.

In general, the rotation of the rotating shaft is made by a drive device embedded in the joint of the robot, which will be described with reference to the accompanying drawings.

1 is a cross-sectional view showing a joint drive device of a general robot, which is responsible for the motor 4 as a power source, the belt or wire or gear trains 2 and 3 for transmitting the power of the motor 4, and the actual joint rotation. It consists of a rotating shaft (1), through which the joints 5 of the robot or toy are connected.

In addition, one side of the rotating shaft (1) is provided with a sensor that can read the rotation signal, the rotating shaft (1), as shown in Figure 2, the rotation limit surface to rotate only the desired amount in both +,-both directions Will install

Here, referring to FIG. 3, the rotation control flow will be described. The magnitude of the rotation angle to rotate the rotation shaft 3 is applied to the motor 33 by a motor driving signal from the motor driver IC 32. Power is generated from the motor 33 by this signal, and rotates the rotary shaft 3.

On the other hand, when assembling the sensor 6 and the rotating shaft 3, an error occurs, and as a result, even if the output data of the sensor 6 indicates that the rotating shaft 3 is rotated as desired, it is actually a different rotation state. Will be displayed.

This error is due to the tolerance of the sensor 6 itself, the assembly tolerance between the sensor 6 and the rotation axis 3, so the error is not absolutely eliminated.

Therefore, conventionally, there is a problem that the assembly error must be corrected by making a separate assembly or correction jig.

The present invention has been made in order to solve the above problems, by correcting the rotation axis error generated in the joint structure when the robot assembly using the rotation limiting surface, so that the robot does not need to manufacture a separate assembly or correction jig Its purpose is to provide a rotation axis assembly error correction method of the.

1 is a cross-sectional view showing the configuration of a rotating shaft drive of the robot.

Figure 2 is a schematic view showing a rotation limiting surface in Figure 1;

Figure 3 is a schematic diagram showing a conventional rotating shaft control flow.

Figure 4 is an operation flow chart for the rotation axis assembly error correction method of the present invention robot.

FIG. 5 is an operation flowchart showing detection of a sensor correction value in FIG. 4; FIG.

The present invention for achieving the above object, the first process of setting the rotation angle of the user's desired rotation axis; A second step of calculating a correction sensor value by rotating the rotating shaft to a rotation limiting surface, and then constantly correcting the rotation angle with the correction sensor value; By the second process, characterized in that the third process of rotating the rotating shaft at the corrected rotation angle.

Hereinafter, with reference to the accompanying drawings, the operation and effects of the method for correcting the assembly error of the rotation axis of the robot according to the present invention will be described in detail.

4 is an operation flowchart for a method of correcting a rotation axis assembly error of the robot of the present invention, and as shown in the drawing, a first process of setting a rotation angle of a rotation axis 3 desired by a user; A second process of rotating the rotating shaft 3 to the rotation limiting surface 7 to calculate a correction sensor value, and then constantly correcting the rotation angle with the correction sensor value; A third step of rotating the rotary shaft 3 at the corrected rotation angle by the second step; And a fourth process of feedback-controlling the rotation of the rotation shaft by error correction using the sensor rotation angle generated by the rotation shaft 3 being rotated by the correction sensor value and the correction sensor value.

Fig. 5 is an operation flow chart showing the process of detecting the correction sensor value, as shown in the drawing, a first step of calculating the limit angle from the rotation axis 3 to the rotation limit surface 7; A second step of rotating the rotary shaft (3) to the rotation limiting surface (7) and calculating a rotation angle with a sensor (6); The third step of detecting a difference between the sensor rotation angle and the limit angle and setting the difference as a correction sensor value will be described.

First, the rotation angle of the rotation axis 3 desired by the user is set.

Then, the rotation shaft 3 is rotated to the rotation limiting surface 7 to calculate a correction sensor value, and then the rotation angle is always corrected by the correction sensor value.

That is, after calculating the limit angle to the rotation limiting surface 7 with respect to the rotation axis 3 between the joints, the rotation axis 3 is rotated to the rotation limiting surface 7 and then rotated by the sensor 6. After the angle is detected, the difference between the sensor rotation angle and the limit angle is detected and the difference is set as the correction sensor value, and then the rotation angle initially set by the user is always corrected by the correction sensor value.

Thereafter, the motor is driven at the corrected rotation angle to rotate the rotation shaft, and the sensor rotation angle generated at this time is fed back, and compared with the correction sensor value to detect and correct the error so that the rotation shaft is precisely rotated. To control.

The specific embodiments or examples made in the detailed description of the present invention are intended to clarify the technical contents of the present invention to the extent that they should not be construed as limited to these specific embodiments and should not be construed in consultation. Various changes can be made within the scope of.

As described in detail above, the present invention, by compensating the rotation axis error generated in the joint structure during the assembly of the robot by using the rotation limiting surface, there is no need to manufacture a separate assembly or correction jig can economically assemble the robot It works.

Claims (4)

A first step of setting a rotation angle of a rotation axis desired by the user; A second step of calculating a correction sensor value by rotating the rotating shaft to a rotation limiting surface, and then constantly correcting the rotation angle with the correction sensor value; And a second process of rotating the rotating shaft at the corrected rotating angle by the second process. The method of claim 1, further comprising the step of controlling feedback of the rotation axis of the robot by using the correction sensor value and the sensor rotation angle generated by the rotation axis being rotated by the correction sensor value. Way. The method of claim 2, further comprising detecting a difference between the correction sensor value and the sensor rotation angle, and controlling the motor drive by using the difference value as an error compensation value. The method of claim 1, wherein the second process comprises: Calculating a limiting angle from the rotational axis to the rotational limiting surface; A second step of rotating the rotating shaft to a rotation limiting surface and calculating a rotation angle with a sensor; And a third step of detecting a difference between the sensor rotation angle and the limit angle and setting the difference as a correction sensor value.