Self-zeroing method of robot
A robot and automatic technology, applied in the direction of electrical program control, digital control, etc., can solve the problems of inconvenient use, loss of the origin of the motor code disc, and inability to realize it conveniently, so as to facilitate manufacturing and assembly, simplify structural design, and operate simple effect
Active Publication Date: 2011-07-20
KUSN HUAHENG ENG TECH CENT
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Problems solved by technology
Part of the absolute code disc of this type of motor needs an external battery to save the origin, which is inconvenient to use and often causes the origin of the motor code disc to be lost, thus affecting the motion accuracy and safety of the robot
Moreover, for the 6-joint serial robot, if the incremental servo is used, the zero return device needs to be installed, and the absolute servo motor does not need to install the zero return device. Installation of mechanical or electronic zero return devices cannot be easily achieved
Method used
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Embodiment Construction
[0017] The present invention will be further described below in conjunction with the figures.
[0018] figure 1 It is a structural schematic diagram of the absolute code disc of the servo motor in the present invention; the absolute code disc of the absolute servo motor is composed of a single-turn absolute code disc and a multi-turn code disc data counter. Among them, the multi-turn code disc data counter needs external battery power to save data for a long time. If the battery voltage is too low, its data will be lost. The single-turn absolute code disc adopts a rotating grating, so the single-turn position of the motor is unique and will not be lost due to low battery voltage.
[0019] After the robot origin calibration is completed, the multi-turn code disc data of the motor needs to be cleared. According to the mechanical reduction ratio of each axis of the robot, it can be obtained that the motor rotates one circle and the angle of the external joint rotation. Scale m...
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The invention discloses a self-zeroing method of a robot, which comprises the following steps of (1), calibrating an original point of the robot; (2), eliminating data of a plurality of circles of coded discs of a servo motor; (3), obtaining an angle of rotation of an external joint when the motor is rotated for 1 circle according to mechanical reduction ratio of shafts of the robot, marking scales at two sides of a motion pair of the robot to enable the scales to be in the middle of the range of the angle corresponding to the single-circle rotation of the servo motor; (4), recording data of one circle of coded disc of the servo motor and storing; (5), when the voltage of the external power supply of the coded discs of the servo motor is overlow, operating the scales of the shafts of the robot to be within the range of the angle corresponding to the rotation of one ring of coded disc, eliminating values of the coded discs; (6), computing the difference value of the value of one circleof coded disc and the data stored in the step 4; and (7), operating the coded discs of the servo motor according to the difference value, i.e. the robot arrives at the original point. The invention simplifies the structural design of the robot without depending on machinery or electronic sensors, and is convenient for manufacture and assembly of the robot body.
Description
technical field [0001] The invention relates to a method for automatically returning to zero for a robot, and belongs to the technical field of mechanical automatic control. Background technique [0002] Many robots now use absolute servo motors as drive units. Some absolute code discs of this type of motor require an external battery to save the origin, which is inconvenient to use and often causes the origin of the motor code disc to be lost, thus affecting the motion accuracy and safety of the robot. Moreover, for the 6-joint serial robot, if the incremental servo is used, the zero return device needs to be installed, and the absolute servo motor does not need to install the zero return device. Installing mechanical or electronic zero return devices cannot be easily achieved. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a method for the robot to automatically return to zero. By this method, the situation ...
Claims
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IPC IPC(8): G05B19/18
Inventor 张弢朱伟
Owner KUSN HUAHENG ENG TECH CENT