CN109746927A - A kind of robot dead-center position caliberating device and scaling method - Google Patents
A kind of robot dead-center position caliberating device and scaling method Download PDFInfo
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- CN109746927A CN109746927A CN201910086322.5A CN201910086322A CN109746927A CN 109746927 A CN109746927 A CN 109746927A CN 201910086322 A CN201910086322 A CN 201910086322A CN 109746927 A CN109746927 A CN 109746927A
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- intermediate plate
- robot body
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Abstract
The invention discloses a kind of robot dead-center position caliberating device and scaling methods, including robot body, intermediate plate and pedestal, processor is provided in the robot body, the lower end surface of the robot body is fixed with the first RF transmitter, the upper surface of the intermediate plate is fixed with the first sensor group, the lower end surface of the intermediate plate is fixed with the second RF transmitter, the upper surface of the pedestal is fixed with the second sensor group, the lower end two sides of the robot body and intermediate plate are fixed with fixture block, the two sides of the intermediate plate and pedestal upper surface are respectively fixed with first pressure inductor and second pressure inductor, the processor passes through conducting wire and the first RF transmitter, second RF transmitter, first sensor group, second sensor group, first pressure inductor and the connection of second pressure inductor.The present invention can carry out real-time calibration to the dead-center position of robot body, and when deviating excessive, can reset automatically to it.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specially a kind of robot dead-center position caliberating device and calibration side
Method.
Background technique
At present in the industrial production, it requires to use robot, but when using robot, robot can be because extraneous
The contact repeatedly of object, the position that will lead to robot gradually deviate, although this offset is more subtle, always exist, if
Reseting precision is turned down, this will lead to robot and the situation resetted continuously emerges, if reseting precision is turned up, when robot offset is excessive
When, will lead to robot can not work normally, and traditional robot Zero calibration device is merely able to when robot starts,
Dead-center position is demarcated, when robot shifts, traditional robot Zero calibration device be will be unable to dead-center position
Carry out real-time calibration, it is therefore desirable to which a kind of robot dead-center position caliberating device and scaling method are set, to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of robot dead-center position caliberating device and scaling methods, to solve above-mentioned back
The current robot Zero calibration device proposed in scape technology is difficult to carry out real-time calibration, and the offset meeting that robot is subtle
Robot is caused to can not work normally problem.
To achieve the above object, the invention provides the following technical scheme: a kind of robot dead-center position caliberating device, including
Robot body, intermediate plate and pedestal, processor is provided in the robot body, and the lower end surface of the robot body is solid
Surely there is the first RF transmitter, the upper surface of the intermediate plate is fixed with the first sensor group, the lower end surface of the intermediate plate
Be fixed with the second RF transmitter, the upper surface of the pedestal is fixed with the second sensor group, first sensor group with
Second sensor group is arranged in a mutually vertical manner in level, and the rear end of the intermediate plate and pedestal is respectively fixed with the first electric pushrod
With the second electric pushrod, the lower end two sides of the robot body and intermediate plate are fixed with fixture block, on the intermediate plate and pedestal
The two sides of end face are respectively fixed with first pressure inductor and second pressure inductor, and the processor is red by conducting wire and first
Outside line transmitter, the second RF transmitter, the first sensor group, the second sensor group, first pressure inductor and the second pressure
The connection of power inductor.
Preferably, the two sides of the intermediate plate and pedestal upper surface offer card slot, the intermediate plate and pedestal upper end
Card slot it is parallel with the second sensor group with the first sensor group respectively, the fixture block is arranged in card slot.
Preferably, second sensor group, first pressure inductor are separately fixed at two side bayonet slot of intermediate plate and pedestal
Both ends.
Preferably, the lower end surface of the robot body and intermediate plate is fixed with bar shaped sliding block, the intermediate plate and pedestal
Upper surface offer sliding slot, the bar shaped sliding block is arranged in sliding slot, and the sliding slot, bar shaped sliding block are parallel with card slot.
Preferably, the Corner Strapped of the pedestal has threaded hole.
Preferably, the top of first electric pushrod and the second electric pushrod is respectively and fixedly provided with L-type connecting rod.
Preferably, the robot body is mutually bonded with intermediate plate, intermediate plate with pedestal, and binding face is disposed as
Shiny surface.
Preferably, first sensor group and the second sensor group use infrared inductor, and are provided with several,
Mutual close-packed arrays.
A kind of robot dead-center position scaling method, specific scaling method are as follows:
A, by the way that intermediate plate and robot body to be sequentially arranged on pedestal, pass through the first RF transmitter and first
Sensor group demarcates the lateral position of robot body, passes through the second RF transmitter and the second sensor group pair
The lengthwise position of robot body is demarcated；
B, at work, robot body causes robot body to occur thin under the action of itself or external forces
Micro- offset passes through the first RF transmitter and the first sensor group, the second RF transmitter and the second inductor grouping machine
The position of device human agent is determined in real time, to carry out real-time calibration to dead-center position, guarantees the work of robot body, when
It is displaced to fixture block and when first pressure inductor, second pressure inductor, illustrates to deviate excessive, resetted, pass through place
Device processing is managed, makes the first electric pushrod, the work of the second electric pushrod, robot body position is resetted.
Compared with prior art, the beneficial effects of the present invention are:
1, the first RF transmitter and the first sensor group, the second RF transmitter and the second sensor group two are set
A sensor and sensor group, and the two is arranged in a mutually vertical manner in level, in robot work, with workpiece or other and
When other equal external objects contacts, it may occur that constantly offset passes through two two sensors for the normal operation for guaranteeing robot
With sensor group, real-time calibration can be carried out to robot body on laterally and longitudinally, avoid robot body from working and occur
Error.
2, as robot body because constantly offset, when so that robot body's location error becoming larger, fixture block can be with
First pressure inductor, the contact of second pressure inductor, are handled information by processor, so that the first electric pushrod,
The work of second electric pushrod, automatically resets to robot body, avoids error from continuing to expand, robot body is caused to work
There is error.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the embodiment of the present invention；
Fig. 2 is schematic diagram of base structure of the embodiment of the present invention；
Fig. 3 is intermediate plate of embodiment of the present invention upper end surface structure schematic diagram；
Fig. 4 is intermediate plate of embodiment of the present invention lower end surface structural schematic diagram；
Fig. 5 is robot body of embodiment of the present invention structural schematic diagram.
In figure: 1, robot body；2, processor；3, the first RF transmitter；4, the first sensor group；5, the first pressure
Power inductor；6, sliding slot；7, L-type connecting rod；8, intermediate plate；9, the first electric pushrod；10, threaded hole；11, card slot；12, fixture block；
13, pedestal；14, second pressure inductor；15, the second electric pushrod；16, the second sensor group；17, the second infrared ray emits
Device；18, bar shaped sliding block.
Specific embodiment
The embodiment of the present application solves current machine by providing a kind of robot dead-center position caliberating device and scaling method
Device people's dead-center position caliberating device, which is difficult to the offset subtle to dead-center position progress real-time calibration and robot, will lead to machine
The problem of people can not work normally.
Technical solution in the embodiment of the present application is to solve the problems, such as above-mentioned crosstalk, and general thought is as follows:
First RF transmitter and the first sensor group, the second RF transmitter and the second sensor group two are set
Sensor and sensor group, and the two is arranged in a mutually vertical manner in level, in robot work, with workpiece or other and its
When his equal external objects contact, it may occur that constantly offset, for the normal operation for guaranteeing robot, by two two sensors with
Sensor group can carry out real-time calibration to robot body on laterally and longitudinally, and robot body's work is avoided to miss
Difference.
As robot body because of constantly offset, when so that robot body's location error becoming larger, fixture block can be with the
One pressure inductor, the contact of second pressure inductor, are handled information by processor, so that the first electric pushrod, the
The work of two electric pushrods, automatically resets to robot body, avoids error from continuing to expand, robot body is caused to work out
Existing error.
It is clearly and completely described below in conjunction with the technical solution in the embodiment of the present invention, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff every other embodiment obtained without making creative work belongs to what the present invention protected
Range.
Embodiment one
A kind of robot dead-center position caliberating device and scaling method, including robot body 1, intermediate plate 8 and pedestal 13,
Processor 2 is provided in robot body 1, the lower end surface of robot body 1 is fixed with the first RF transmitter 3, intermediate plate 8
Upper surface be fixed with the first sensor group 4, the lower end surface of intermediate plate 8 is fixed with the second RF transmitter 17, pedestal 13
Upper surface is fixed with the second sensor group 16, and the first sensor group 4 is arranged in a mutually vertical manner in level with the second sensor group 16,
The rear end of intermediate plate 8 and pedestal 13 is respectively fixed with the first electric pushrod 9 and the second electric pushrod 15, and robot body 1 is in
Between the lower end two sides of plate 8 be fixed with fixture block 12, the two sides of intermediate plate 8 and 13 upper surface of pedestal are respectively fixed with first pressure induction
Device 5 and second pressure inductor 14, processor 2 by conducting wire and the first RF transmitter 3, the second RF transmitter 17,
First sensor group 4, the second sensor group 16, first pressure inductor 5 and second pressure inductor 14 connect.
In the present embodiment, it when robot body 1 works, can constantly be contacted with other robot, thus constantly
By the active force of workpiece and other robot, robot body 1 is caused constantly to deviate, if robot body 1 is fixed on work
Make region, this will lead under workpiece and the active force of other robot, cause 1 support zone of robot body gradually curved
Song, connecting portion gradually loosen, therefore robot body 1 is slidably mounted on working region, this is just in extraneous active force
Under, result in that 1 support zone of robot body is gradually curved and connecting portion gradually loosens；
In robot body 1 in continuous and subtle offset, the running parameter of adjacent machines people can be gradually influenced, by the
One RF transmitter 3 and the first sensor group 4 can carry out real-time calibration, by the to the lateral position of robot body 1
Two RF transmitters 17 and the second sensor group 16 can carry out real-time calibration to the longitudinal position of robot body 1, and will
Obtained cross, lengthwise position are labeled as dead-center position again, in order to which the operating parameter to adjacent machines people is adjusted, thus
Guarantee that robot body's 1 is working properly；
When robot body 1 deviates for a long time, cause 1 deviation post of robot body excessive, so that adjacent machines people
When can not adjust the job requirement to meet robot body 1 by itself, the fixture block 12 of 1 lower end of robot body is slided with offset
It is dynamic, it is contacted with first pressure inductor 5 or the fixture block 12 of 8 lower end of intermediate plate is with offset slide, connect with second pressure inductor 14
Touching, first pressure inductor 5 and second pressure inductor 14 receive information, and information is passed to processor 2, by processor 2
Processing, is passed to the first electric pushrod 9 and the second electric pushrod 15, the first electric pushrod 9 and the second electric pushrod 15 for information
Work, in the lateral or vertical direction resets robot body 1；
Wherein, the concrete model of processor 2 is S7-130, the first RF transmitter 3 and the second RF transmitter 17
Concrete model be OS137-2-MA, the first sensor group 4 and the second sensor group 16 for the first RF transmitter 3, the
The matched infrared inductor group of two RF transmitter 17, concrete model GB-40-B, first pressure inductor 5 and
Two pressure inductors, 14 concrete model is AP-C31C, and the concrete model of the first electric pushrod 9 and the second electric pushrod 15 is ANT-
52。
A kind of robot dead-center position scaling method, specific scaling method are as follows:
A, by the way that intermediate plate 8 and robot body 1 to be sequentially arranged on pedestal 13, pass through the first RF transmitter 3
With the first sensor group 4, the lateral position of robot body 1 is demarcated, passes through the second RF transmitter 17 and second
Sensor group 16 demarcates the lengthwise position of robot body 1；
B, at work, robot body 1 causes robot body 1 to occur under the action of itself or external forces
Subtle offset passes through the first RF transmitter 3 and the first sensor group 4, the second RF transmitter 17 and the second inductor
The position of 16 couples of robot bodies 1 of group is determined in real time, to carry out real-time calibration to dead-center position, guarantees robot body
1 work illustrates to deviate excessive when being displaced to fixture block 12 and when first pressure inductor 5, second pressure inductor 14, needs
It is resetted, is handled by processor 2, make the first electric pushrod 9, the work of the second electric pushrod 15, to 1 position of robot body
It is resetted.
Embodiment 2
The two sides of intermediate plate 8 and 13 upper surface of pedestal offer card slot 11, the card slot 11 of intermediate plate 8 and 13 upper end of pedestal
Parallel with the second sensor group 16 with the first sensor group 4 respectively, fixture block 12 is arranged in card slot 11；Second sensor group 16,
First pressure inductor 5 is separately fixed at the both ends of intermediate plate 8 Yu 13 liang of side bayonet slots 11 of pedestal；Robot body 1 and intermediate plate 8
Lower end surface be fixed with bar shaped sliding block 18, the upper surface of intermediate plate 8 and pedestal 13 offers sliding slot 6, and the setting of bar shaped sliding block 18 exists
In sliding slot 6, and sliding slot 6, bar shaped sliding block 18 are parallel with card slot 11；The Corner Strapped of pedestal 13 has threaded hole 10；First is electronic
The top of push rod 9 and the second electric pushrod 15 is respectively and fixedly provided with L-type connecting rod 7；Robot body 1 and intermediate plate 8, intermediate plate 8 and bottom
Seat 13 is mutually bonded, and binding face is disposed as shiny surface；First sensor group 4 and the second sensor group 16 use infrared ray
Inductor, and several are provided with, mutual close-packed arrays.
In the present embodiment, be arranged card slot 11, convenient for slidably reciprocating for fixture block 12, and enable fixture block 12 with 11 liang of card slot
First sensor group 4 on side or the contact of the second sensor group 16；
Bar shaped sliding block 18 and sliding slot 6 are set, the offset direction of robot body 1 and intermediate plate 8 are limited, so that the two can only
Enough 6 directions along the chute are slided, convenient for the first RF transmitter 3 and the first sensor group 4 and the second RF transmitter 17 and
The offset data of second sensor group 16 reads the real-time calibration with zero point, while being also convenient for fixture block 12 and first pressure inductor
5 or second pressure inductor 14 contact；
Threaded hole 10 is set, pedestal 13 can be fixed on working region, and then working region is fixed on to single unit system
It is interior；
In L-type connecting rod 7, robot body 1 and intermediate plate 8 are attached convenient for the first electric pushrod 9, convenient for the second electricity
Intermediate plate 8 and pedestal 13 are attached by dynamic push rod 15, consequently facilitating the work of the first electric pushrod 9 and the second electric pushrod 15
Make；
Robot body 1 and intermediate plate 8, intermediate plate 8 and pedestal 13 are disposed as being bonded to each other, and binding face is light
Sliding surface slides convenient for robot body 1 in 8 upper end of intermediate plate, slides convenient for intermediate plate 8 in 13 upper end of pedestal；
First sensor group 4 and the second sensor group 16 are provided with several, and mutual close-packed arrays, improve the first sense
It answers device group 4 and the second sensor group 16 to the induction section of the first RF transmitter 3 and the second RF transmitter 17, and mentions
High induction precision, convenient for the real-time calibration of zero point.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of robot dead-center position caliberating device, including robot body (1), intermediate plate (8) and pedestal (13), feature
It is: is provided with processor (2) in the robot body (1), it is red that the lower end surface of the robot body (1) is fixed with first
The upper surface of outside line transmitter (3), the intermediate plate (8) is fixed with the first sensor group (4), the lower end of the intermediate plate (8)
Face is fixed with the second RF transmitter (17), and the upper surface of the pedestal (13) is fixed with the second sensor group (16), described
First sensor group (4) is arranged in a mutually vertical manner in level with the second sensor group (16), the intermediate plate (8) and pedestal (13)
Rear end be respectively fixed with the first electric pushrod (9) and the second electric pushrod (15), the robot body (1) and intermediate plate
(8) lower end two sides are fixed with fixture block (12), and the two sides of the intermediate plate (8) and pedestal (13) upper surface are respectively fixed with first
Pressure inductor (5) and second pressure inductor (14), the processor (2) by conducting wire and the first RF transmitter (3),
Second RF transmitter (17), the first sensor group (4), the second sensor group (16), first pressure inductor (5) and second
Pressure inductor (14) connection.
2. a kind of robot dead-center position caliberating device according to claim 1, it is characterised in that: the intermediate plate (8)
It is offered card slot (11) with the two sides of pedestal (13) upper surface, the card slot (11) of the intermediate plate (8) and pedestal (13) upper end
Parallel with the second sensor group (16) with the first sensor group (4) respectively, fixture block (12) setting is in card slot (11).
3. a kind of robot dead-center position caliberating device according to claim 2, it is characterised in that: second inductor
Group (16), first pressure inductor (5) are separately fixed at the both ends of intermediate plate (8) Yu (13) two side bayonet slot (11) of pedestal.
4. a kind of robot dead-center position caliberating device according to claim 2, it is characterised in that: the robot body
(1) it is fixed with bar shaped sliding block (18) with the lower end surface of intermediate plate (8), the intermediate plate (8) and the upper surface of pedestal (13) open up
Have sliding slot (6), the bar shaped sliding block (18) setting is in sliding slot (6), and the sliding slot (6), bar shaped sliding block (18) are and card slot
(11) parallel.
5. a kind of robot dead-center position caliberating device according to claim 1, it is characterised in that: the pedestal (13)
Corner Strapped has threaded hole (10).
6. a kind of robot dead-center position caliberating device according to claim 1, it is characterised in that: described first electronic pushes away
The top of bar (9) and the second electric pushrod (15) is respectively and fixedly provided with L-type connecting rod (7).
7. a kind of robot dead-center position caliberating device according to claim 1, it is characterised in that: the robot body
(1) it is mutually bonded with intermediate plate (8), intermediate plate (8) with pedestal (13), and binding face is disposed as shiny surface.
8. a kind of robot dead-center position caliberating device according to claim 1, it is characterised in that: first inductor
Group (4) and the second sensor group (16) use infrared inductor, and are provided with several, mutual close-packed arrays.
9. a kind of robot dead-center position caliberating device according to claim 1, scaling method are as follows:
A, by the way that intermediate plate (8) and robot body (1) are sequentially arranged on pedestal (13), pass through the first RF transmitter
(3) with the first sensor group (4), the lateral position of robot body (1) is demarcated, the second RF transmitter is passed through
(17) it is demarcated with lengthwise position of the second sensor group (16) to robot body (1)；
B, at work, robot body (1) causes robot body (1) to occur under the action of itself or external forces
Subtle offset passes through the first RF transmitter (3) and the first sensor group (4), the second RF transmitter (17) and second
Sensor group (16) determines the position of robot body (1) in real time, to carry out real-time calibration to dead-center position, guarantees
The work of robot body (1), when being displaced to fixture block (12) and first pressure inductor (5), second pressure inductor (14),
Illustrate to deviate excessive, resetted, is handled by processor (2), make the first electric pushrod (9), the second electric pushrod
(15) it works, robot body (1) position is resetted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910086322.5A CN109746927B (en) | 2019-01-29 | 2019-01-29 | Robot zero point position calibration device and calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910086322.5A CN109746927B (en) | 2019-01-29 | 2019-01-29 | Robot zero point position calibration device and calibration method |
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| CN109746927A true CN109746927A (en) | 2019-05-14 |
| CN109746927B CN109746927B (en) | 2022-07-22 |
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ID=66407135
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|---|---|
| CN109746927B (en) | 2022-07-22 |
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