Mechanical arm zero returning method and device and SCARA mechanical arm
A technology of mechanical arm and zero switch, which is applied in the field of mechanical arm, can solve the problem of low precision of returning to zero and achieve the effect of improving precision
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Embodiment approach 1
[0051] see figure 1 , figure 1 It is a schematic structural diagram of a Scara robot arm 100 according to an embodiment of the present invention. The Scara robot arm 100 includes a main arm 10, a support arm group 20 and a main controller. The main arm 10 is provided with a first driving mechanism J3, and the first driving mechanism J3 is used for In order to drive the arm group 20 to move up and down on the main arm 10 , the arm group 20 includes a first arm 21 , a second arm 22 and a third arm 23 . One end of the first arm 21 is connected to the first drive mechanism of the main arm 10 . J3 is connected, the first arm 21 is provided with a first rotating mechanism J1, one end of the second arm 22 is connected with the first rotating mechanism J1, the second arm 22 is provided with a second rotating mechanism J2, and the third arm 23 is connected with the second rotating mechanism J2 is connected, and the third arm 23 is provided with a third rotation mechanism J4. Generally, ...
Embodiment approach 2
[0061] see figure 2 , figure 2 The method for returning to zero of the robot arm according to the second embodiment of the present invention is used for the Scara robot arm of the above-mentioned first embodiment, and the method includes:
[0062] Step 201: Receive a start-to-zero instruction;
[0063] Optionally, the Scara robotic arm is provided with a button to turn on the zero return. Once the user operates the button, the Scara robotic arm can obtain the zero return command. Of course, in the embodiment of the present invention, the start return can also be obtained in other ways. The zero return instruction, such as the open zero return instruction issued by the host computer, will not be repeated here.
[0064] Step 202: control the robotic arm to move in the first direction close to the zero return switch;
[0065] Among them, the Scara manipulator includes a main arm and a support arm group. The main arm and the support arm group are both provided with a zero-ret...
Embodiment approach 3
[0076] see image 3 , image 3 The method for returning to zero of the robot arm according to the third embodiment of the present invention is used for the Scara robot arm of the above-mentioned first embodiment, and the method includes:
[0077] Step 301: Receive a start-to-zero instruction;
[0078] Optionally, the Scara robotic arm is provided with a button to turn on the zero return. Once the user operates the button, the Scara robotic arm can obtain the zero return command. Of course, in the embodiment of the present invention, the start return can also be obtained in other ways. The zero return instruction, such as the open zero return instruction issued by the host computer, will not be repeated here.
[0079] Step 302: control the robotic arm to move in the first direction close to the zero return switch;
[0080] Among them, the Scara manipulator includes a main arm and a support arm group. The main arm and the support arm group are both provided with a zero-return...
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