Zero-point positioning system, method and device for joint of robot

Abstract

The invention discloses a zero-point positioning system for joint of robot and a method and a device thereof, and belongs to the technical field of robot. The system comprises a travel switch, a rotation direction detecting device, a microcontroller and a zero-position stopping piece, wherein the travel switch is fixedly arranged at the joint side of a robot rod piece A; the rotation direction detecting device is connected with an electric motor; the microcontroller is connected with the travel switch and simultaneously is driven to be connected with the electric motor and the rotation direction detecting device; the zero-position stopping piece is formed by bending a thin section into a circular arc shape and is fixedly arranged at the joint side of a robot rod piece B; and the rod piece A and the rod piece B are connected with each other by a joint. The method includes: determining the rotation direction of the zero-position stopping piece according to the initial state of the travel switch; and stopping the rotation and recording the position of the joint at the moment as mechanical zero position when the state of the travel switch is changed. The device comprises a judge module and a mechanical zero-position acquisition module. The invention simplifies the system structure and reduces the cost.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot joint zero point positioning system, method and device. Background technique [0002] A robot generally realizes various motion functions by combining multiple joints. Obtaining the zero position of each joint when the robot is initially powered on is a prerequisite for the robot to perform various motions. The existing robot joint zero point positioning device usually adopts the following technical solutions: [0003] The prior art one adopts an absolute code disc. The absolute code disc is generally set at the joint of the robot, and the absolute position of the joint can be obtained by reading the output data information of the absolute code disc when the power is turned on. This solution is the most simple and direct, but after analyzing the existing technology, the inventor found that: the absolute code disk is generally large in size, complicated in connection, exp...

AI Technical Summary

Problems solved by technology

After analyzing the second prior art, the inventor found that the second prior art has at least the following disadvantages: at least two switches need to be set at the extreme positions of the range of motion of the joints to prevent the robot from randomly moving in a certain direction when it is powered on. The zero point positioning cannot be completed without the switch; in order to increase reliability, it is generally necessary to set several switches between the two extreme positions, so the second prior art usually requires more than two switches and corresponding interface circuits, and the circuit is more complicated

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