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Anti-winding locating device for 360-degree rotary joint of robot

A technology of robot joints and positioning devices, which is applied in the direction of manipulators, program-controlled manipulators, joints, etc., which can solve the problems of low precision, joint working space less than 360 degrees, and inability to solve joint electrical wiring, etc., to improve zero positioning Accuracy and automation, and the effect of reducing the chance of electrical wires being entangled in mechanical joints

Inactive Publication Date: 2012-12-26
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

However, the Hall switch has a certain response range, so the zero position determined by it has a lower precision than the photoelectric switch.
Moreover, for robot joints with a working space of 360 degrees, the response range of the Hall switch will make the joint working space less than 360 degrees
At the same time, this method cannot solve the problem that the joints are constrained by electrical wiring during zero positioning or normal movement

Method used

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  • Anti-winding locating device for 360-degree rotary joint of robot
  • Anti-winding locating device for 360-degree rotary joint of robot
  • Anti-winding locating device for 360-degree rotary joint of robot

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Embodiment Construction

[0044] Such as figure 1 As shown, the positioning device includes: zero Hall switch, limit Hall switch, and magnetic steel. Among them, the zero Hall switch, the limit Hall switch and the auxiliary circuit are made into a ring circuit according to the size of the joint, which is called a Hall plate, such as image 3 shown. At the same time, the incremental encoder and the controller at the joint of the robot are required to cooperate. The system composition is as follows: Figure 4 shown. The joint controller determines the motion and position of the joint through the feedback signal of the Hall switch and the incremental encoder. Figure 5 It is a system structure diagram, in which the joint connects the first connecting rod 4 and the second connecting rod 5, and the motor realizes the movement of the second connecting rod 5 by driving the joint rotation; the encoder is connected with the motor shaft, accurately records the rotation angle of the motor and feeds it back to ...

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Abstract

The invention discloses an anti-winding locating device for a 360-degree rotary joint of a robot. Locating of the joint is achieved by an edge signal of a zero Hall switch, a Z-pulse signal of an incremental encoder and an edge signal of a limiting Hall switch on the basis of the zero Hall switch and the limiting Hall switch. Thus, on one hand, the precision and the automatic degree are improved when the robot carries out zero locating, and the problem that an electric lead is wound on a mechanical joint is solved; on the other hand, the problem that the electric lead is wound when the joint normally moves is solved under the situation that a work space is 360 degrees. The anti-winding locating device has the advantages of low cost, simple structure, ease in operation and high precision.

Description

technical field [0001] The invention relates to a positioning device for a 360-degree rotating joint of a robot, in particular to a robot joint anti-winding positioning device capable of precise and automatic zero position positioning. Background technique [0002] When the robot is working, the controller needs to obtain the angle information of each joint of the robot in real time for trajectory planning and motion control, and the angle of each joint of the robot needs to be compared and determined relative to the position determined before the robot moves. This position is the zero position of each joint of the robot, which is equivalent to the zero point in the coordinate system, and all movements of the robot must be relative to this zero position. As the benchmark of the robot movement, the determination of the zero position is not only the prerequisite for the normal operation of the robot, but also greatly affects the positioning accuracy of the robot movement. [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J17/00B25J13/00
Inventor 段星光刘天博陈悦赵洪华郭庆波
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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