Mechanical arm joint zero position device and zero return method

A technology of zero position device and mechanical arm, which is applied in the field of robot rotary joint design, can solve problems such as interference and collision, and achieve the effects of saving zero-finding time, high repeat positioning accuracy, and avoiding mutual interference and collision

Active Publication Date: 2019-04-16
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • Abstract
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  • Application Information

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Problems solved by technology

Rotate in a fixed direction after power-on, which may cause interference collision

Method used

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  • Mechanical arm joint zero position device and zero return method
  • Mechanical arm joint zero position device and zero return method

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Embodiment Construction

[0030] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0031] The invention provides a mechanical arm joint zero position device and a zero return method. The motion controller sends a motion command to the motor driver. Rotate, when the photoelectric switch 1 detects the zero position signal, it feeds back the position signal to the motion controller, and the motion controller obtains the absolute position information of the joint, and the robot joint zero return task is completed.

[0032] Such as figure 1 Shown is a schematic diagram of the zero position device of the mechanical arm joint. It can be seen from the figure that a kind of mechanical arm joint zero position device includes a photoelectric switch 1 and a stopper 2; wherein the stopper 2 is an arc-shaped sheet structure; the stopper 2 is o The point is the center of the circle for circular rotation; the photoelectric switch 1 is fixed ...

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Abstract

The invention discloses a mechanical arm joint zero position device and a zero return method, and relates to the field of robot rotation joint design. A photoelectric switch and a stop sheet are included. The stop sheet is of an arc sheet structure and does circumference rotation with the point o as the circle center. The photoelectric switch is fixedly arranged on the circumference rotation pathof the stop sheet. When the stop sheet rotates to the position where the photoelectric switch is shielded, the output signal of the photoelectric switch is 1; and when the stop sheet rotates to the position where the photoelectric switch is not shielded, the output signal of the photoelectric switch is 0. The central angle a, corresponding to the circle center point o, of the stop sheet ranges from 60 degrees to 200 degrees. The simple photoelectric switch is adopted as a sensor of the zero return scheme, the scheme is simple, and reliability is high; and meanwhile, after the mechanical arm joint zero position device is powered on, the rough area where a mechanical arm joint is located at present can be known, the zero finding direction of the joint can be judged, the zero finding time isgreatly saved, and the power-on initialization time of a mechanical arm is shortened.

Description

technical field [0001] The invention relates to the design field of a rotary joint of a robot, in particular to a zero position device and a zero return method for a mechanical arm joint. Background technique [0002] The robot joint is the basic component of the robot, and its performance directly affects the performance of the robot. There are many types of robot joints. According to the different functions of the robot, the configuration of the joints and the form of the motion system are also different. [0003] The common joint forms of robots are mobile joints and rotational joints. The most widely used robot is a multi-joint robot, which is mainly composed of multiple rotary joints and connecting rods, simulating the functions of human shoulder joints, elbow joints and wrist joints. [0004] For the robot, the robot controller will lose the position information of each joint after the power is turned on again, or the position of some joints of the robot will change ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J9/16
CPCB25J9/1628B25J13/088
Inventor 程远超王昊蔡赫李科王燕波
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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