Calibration method and device for mechanical arm of robot
A technology of calibration device and calibration method, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of calibration failure, hard collision, and the failure of the manipulator to reach the origin, and achieve the effect of avoiding hard bruises and manual intervention
Inactive Publication Date: 2018-11-23
塞伯睿机器人技术(南京)有限公司
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[0004] Moreover, if the mechanical arm is manually moved above the horizontal line, the mechanical arm cannot reach the origin; the mechanical arm will collide with the installation platform upwards, and a hard collision will occur that will damage the mechanical arm, resulting in calibration failure.
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[0029] The present invention will now be described in further detail in conjunction with the accompanying drawings and embodiments.
[0030] Such as Figure 1~Figure 3 , the robot of the present invention includes a support 1, a servo motor 2 installed on the support, a speed reducer 3 and a mechanical arm 4; the mechanical arm is connected with a trigger pin 41, and the support 1 is provided with a photoelectric sensor seat 11 and a photoelectric sensor 12; the support There is also a rubber block on the top, and rubber blocks are added to prevent the mechanical arm from colliding with the mounting bracket to damage the mechanical arm. At the same time, the torque feedback of the servo motor is used to judge. When the torque is greater than a certain value, it can be determined that the mechanical arm has collided with the rubber. block, the robotic arm stops immediately and moves downward to find the calibration position again.
[0031] The calibration process of the robot ...
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The invention discloses a calibration method and device for a mechanical arm of a robot. The device comprises a support provided with a photoelectric sensor, a servo motor using a relative coder, themechanical arm connected with a triggering pin, a processor and a storage; and the calibration method further comprises the following steps and procedure: the servo motor drives the mechanical arm tomove for a unit angle; the moment value fed back by the servo motor is read; when the moment value is greater than a critical value, the servo motor drives the mechanical arm to move for an angle reversely; and the above steps are repeated until the triggering pin on the mechanical arm triggers the photoelectric sensor. The procedure further comprises the step that if the accumulated movement of the mechanical arm in one direction exceeds a certain angle, the sensor is judged to fail, and the steps of the procedure is finished. The calibration device for the mechanical arm has the advantages that the whole calibration process is performed automatically, so that probability of manual interference is avoided; and meanwhile, impact damage which is possible for the mechanical arm is avoided due to rubber blocks on the support.
Description
technical field [0001] The invention relates to a mechanical arm calibration device of a robot, which includes a bracket equipped with a photoelectric sensor, a servo motor using a relative encoder, and a mechanical arm connected with a trigger pin; as well as a processor and a memory; the invention also relates to a mechanical arm of a robot Robotic arm calibration method. Background technique [0002] When the robot is turned on, the initial position of the robotic arm needs to be calibrated. The robot using the servo motor relative to the encoder needs to trigger the sensor through the trigger pin connected to the robotic arm. Existing methods for manipulator calibration are as follows: Figure 5 As shown, after starting up, the robotic arm moves up to the horizontal position (the software sets the origin position), the sensor is triggered, the robotic arm stops, and the initial position is calibrated. [0003] However, it is possible for the robotic arm to be above or b...
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IPC IPC(8): B25J19/02B25J9/16
CPCB25J9/16B25J9/1679B25J9/1692B25J19/02
Inventor 王磊黄武波洪广怀雷镇浓
Owner 塞伯睿机器人技术(南京)有限公司