Robotic structure and method for calibrating the same

Abstract

This disclosure belongs to the field of robotics technology, specifically relating to a robot structure and its calibration method. The robot structure may include: an arm body; an execution component including a drive mechanism and an execution axis, the execution axis being movably mounted on the arm body and connected to the drive mechanism, the drive mechanism being configured to drive the execution axis to move; and a calibration component including a calibration detection element and a calibration block, the calibration detection element being mounted on the arm body, the calibration block being fixed on the execution axis, and the calibration block having a groove; wherein, the groove, driven by the execution axis, can move to a position matching the calibration detection element, and the calibration detection element is configured to determine the coordinates of the groove when the groove moves to its matching position, thereby achieving zero-point calibration of the execution axis. Compared with manual visual calibration, this solution can improve calibration accuracy, thereby reducing the joint zero-return error of the robot structure.

Description

Technical Field

[0001] This disclosure belongs to the field of robotics technology, specifically relating to a robot structure and its calibration method. Background Technology

[0002] The end effector of a horizontal multi-joint robot (SCARA robot) is typically a cylindrical subjoint consisting of a rotational joint and a translating joint. Currently, the calibration of the rotational and translating joints in motion-coupled SCARA robots is done visually, resulting in low calibration accuracy and large errors in joint homing. Summary of the Invention

[0003] The purpose of this disclosure is to provide a robot structure and its calibration method, thereby overcoming, at least to some extent, one or more problems caused by the limitations and defects of related technologies.

[0004] The first aspect of this disclosure provides a robot structure comprising:

[0005] Arm and body;

[0006] An execution component includes a drive mechanism and an execution shaft, the execution shaft being movably mounted on the arm body and connected to the drive mechanism, the drive mechanism being configured to drive the execution shaft to move;

[0007] The calibration assembly includes a calibration detection element and a calibration block. The calibration detection element is mounted on the arm body, and the calibration block is fixed on the actuating shaft. The calibration block has grooves.

[0008] The groove can move to a position that matches the calibration detection element under the drive of the actuation shaft. The calibration detection element is configured to determine the coordinates of the groove when the groove moves to the matching position, so as to realize the zero-point calibration of the actuation shaft.

[0009] In one exemplary embodiment of this disclosure,

[0010] The calibration block is sleeved on the outer peripheral surface of the actuating shaft, and the outer peripheral surface of the calibration block is provided with the groove;

[0011] The calibration detection component has a detection end, which faces the outer peripheral surface of the actuating shaft, and the detection end is a contact detection or indirect detection.

[0012] Driven by the actuating shaft, the groove can move to a position that is radially opposite to the probe end of the calibration detection element on the actuating shaft.

[0013] In one exemplary embodiment of this disclosure,

[0014] The groove includes a first groove and a second groove, the first groove being arranged circumferentially around the actuating shaft, and the second groove extending axially on the actuating shaft;

[0015] The driving mechanism includes a first driving structure and a second driving structure; the first driving structure is connected to the actuation shaft and is configured to drive the actuation shaft to move axially, so that the first groove moves to a position opposite to the probe end of the calibration detection element in the radial direction of the actuation shaft; the second driving structure is connected to the actuation shaft and is configured to drive the actuation shaft to rotate about its own axis, so that the second groove moves to a position opposite to the probe end of the calibration detection element in the radial direction of the actuation shaft;

[0016] The calibration detection component is configured to determine the bottom coordinates of the first groove and the second groove in order to achieve zero-point calibration of the actuation axis.

[0017] In one exemplary embodiment of this disclosure,

[0018] The second groove intersects with the first groove, and the two ends of the second groove protrude relative to the first groove in the axial direction.

[0019] In one exemplary embodiment of this disclosure, the second groove is disposed through the axis.

[0020] In an exemplary embodiment of this disclosure, both the first groove and the second groove include a first groove sidewall and a second groove sidewall that are inclined, and the inclination directions of the first groove sidewall and the second groove sidewall intersect; wherein,

[0021] The first groove sidewall and the second groove sidewall are both arranged circumferentially around the actuation shaft;

[0022] The first groove sidewall and the second groove sidewall both extend axially along the actuating shaft.

[0023] In one exemplary embodiment of this disclosure, the first groove sidewall and the second groove sidewall are symmetrically arranged with respect to the midline between them.

[0024] In one exemplary embodiment of this disclosure, the first groove and the second groove further include a groove bottom wall, and the bottom ends of the first groove side wall and the second groove side wall are connected through the groove bottom wall;

[0025] Wherein, when the probe end of the calibration test piece is a contact probe, the contour of the bottom wall of the groove matches the contour of the probe end.

[0026] In one exemplary embodiment of this disclosure,

[0027] The first drive structure includes a first drive motor, a first synchronous belt transmission group, and a lead screw nut. The lead screw nut is sleeved on the actuating shaft. The first drive motor is connected to the lead screw nut through the first synchronous belt transmission group and is configured to drive the lead screw nut to rotate, so that the actuating shaft can move axially.

[0028] The second drive structure includes a second drive motor, a second synchronous belt drive group, and a spline nut. The spline nut is sleeved on the actuating shaft. The second drive motor is connected to the spline nut through the second synchronous belt drive group and is configured to drive the spline nut to rotate, so that the actuating shaft rotates around its own axis.

[0029] In one exemplary embodiment of this disclosure, the arm body has a mounting hole, and the calibration detection element is detachably mounted in the mounting hole.

[0030] A second aspect of this disclosure provides a calibration method for a robot structure. The robot structure includes an arm, an execution component, and a calibration component. The execution component includes a drive mechanism and an execution axis, the execution axis being movably mounted on the arm and connected to the drive mechanism. The calibration component includes a calibration detection element and a calibration block. The calibration detection element is mounted on the arm, and the calibration block is fixed to the execution axis, and the calibration block has a groove. The calibration method includes:

[0031] The drive mechanism is controlled to drive the actuation axis to move along a predetermined trajectory, so that the groove moves to a position that matches the calibration test piece, and is then used by the calibration test piece for testing;

[0032] The coordinates of the groove are determined based on the detection results of the calibration test piece to achieve zero-point calibration of the actuation axis.

[0033] In one exemplary embodiment of this disclosure, the groove includes a first groove and a second groove, the first groove being disposed circumferentially around the actuation shaft, and the second groove extending axially along the actuation shaft; the drive mechanism includes a first drive structure and a second drive structure, the first drive structure being connected to the actuation shaft, and the second drive structure being connected to the actuation shaft; wherein,

[0034] The control drive mechanism drives the execution axis to move along a predetermined trajectory, so that the groove of the calibration block on the execution axis moves to a position that matches the calibration detection piece, including:

[0035] The first drive structure is controlled to drive the actuation shaft to move axially, so that the first groove moves to a position that is radially opposite to the probe end of the calibration detection element on the actuation shaft, and is then detected by the calibration detection element.

[0036] The coordinates of the first groove are determined based on the test results of the calibration test piece;

[0037] The second drive structure is controlled to drive the actuation shaft to rotate around its own axis, so that the second groove moves to a position opposite to the probe end of the calibration detection element in the radial direction of the actuation shaft, and is then detected by the calibration detection element;

[0038] The coordinates of the second groove are determined based on the test results of the calibration test piece;

[0039] The zero-point coordinates of the actuation axis are determined based on the coordinates of the first groove and the second groove, thereby achieving zero-point calibration of the actuation axis.

[0040] In an exemplary embodiment of this disclosure, the probe end of the calibration detection element is a contact probe. Both the first groove and the second groove include an inclined first groove sidewall and a second groove sidewall. The first and second groove sidewalls of the first groove are both circumferentially arranged around the actuation shaft, and the first and second groove sidewalls of the second groove both extend axially along the actuation shaft.

[0041] During the process of the first driving structure driving the execution shaft to move axially, the probe end of the calibration detection element first slides along the first groove sidewall of the first groove to the bottom of the first groove, and then slides out of the first groove along the second groove sidewall of the first groove to determine the bottom coordinates of the first groove.

[0042] During the process of the second driving structure driving the execution shaft to rotate around its own axis, the probe end of the calibration detection element first slides along the first groove sidewall of the second groove to the bottom of the second groove, and then slides out of the second groove along the second groove sidewall to determine the bottom coordinates of the second groove.

[0043] The zero-point coordinates of the actuation axis are determined based on the bottom coordinates of the first groove and the bottom coordinates of the second groove.

[0044] In one exemplary embodiment of this disclosure,

[0045] While controlling the first drive structure to drive the execution axis to move axially, the second drive structure is controlled to stop working.

[0046] While controlling the second drive structure to drive the execution shaft to rotate around its own axis, the first drive structure is controlled to stop working.

[0047] The robot structure and calibration method disclosed herein have the following beneficial effects:

[0048] In this disclosure, the actuator axis is driven by a drive structure to move so that the groove of the calibration block on the actuator axis can move to a position that matches the calibration test piece, so that the calibration test piece can determine the coordinates of the groove, thereby realizing the zero-point calibration of the actuator axis. Compared with the manual visual calibration method, this can improve the calibration accuracy and reduce the zero-return error of the robot structure joint.

[0049] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0050] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0052] Figure 1 A schematic diagram of the planar structure of a robot structure according to an embodiment of the present disclosure is shown;

[0053] Figure 2 It shows Figure 1 An enlarged structural diagram of part A shown in the figure;

[0054] Figure 3 A partial structural schematic diagram of a first groove or a second groove according to an embodiment of the present disclosure is shown;

[0055] Figure 4 A partial three-dimensional structural schematic diagram of a robot structure according to an embodiment of the present disclosure is shown;

[0056] Figure 5 A flowchart illustrating a calibration method for a robot structure according to an embodiment of this disclosure is shown.

[0057] Explanation of reference numerals in the attached figures:

[0058] 100. Arm body; 1001. Mounting hole; 101. Actuating shaft; 102. Calibration block; 1021. Groove; 1021a. First groove; 1021b. Second groove; 10211. First groove sidewall; 10212. Second groove sidewall; 10213. Groove bottom wall; 1022. Initial mark; 103. Calibration test piece. Detailed Implementation

[0059] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0060] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0061] One embodiment of this disclosure provides a robot structure, which can be a SCARA robot. (In conjunction with...) Figures 1 to 2 As shown, the robot structure may include an arm body 100, an execution component, and a calibration component. The execution component may include a drive mechanism (not shown) and an execution axis 101. The execution axis 101 is movably mounted on the arm body 100 and is connected to the drive mechanism, which is configured to drive the execution axis 101 to move. The calibration component may include a calibration detection element 103 and a calibration block 102. The calibration detection element 103 is mounted on the arm body 100, and the calibration block 102 has a groove 1021 and is fixed on the execution axis 101.

[0062] It should be understood that the "fixed" mentioned here refers to the connection between the calibration block 102 and the execution axis 101, where there is no relative rotation between them. That is, during the process of the drive mechanism driving the execution axis 101 to move, the calibration block 102 can move synchronously with the execution axis 101. This allows the groove 1021 of the calibration block 102 to move to a position matching the calibration detection element 103 under the drive of the execution axis 101. The calibration detection element 103 is configured to determine the coordinates of the groove 1021 when the groove 1021 of the calibration block 102 moves to the matching position, thereby determining the zero-point coordinates of the execution axis 101 and realizing the zero-point calibration of the execution axis 101. In other words, this application uses an electromechanical method for zero-point calibration, which can improve calibration accuracy compared to manual visual calibration, thereby reducing the zero-point return error of the robot structure joints.

[0063] For example, the calibration block 102 can be fixed to the actuator shaft 101 by screws or other locking devices, but it is not limited to this. The calibration block 102 can also be integrally formed with the actuator shaft 101, depending on the specific situation. The calibration detection component 103 is detachably connected to the arm body 100. Specifically, the arm body 100 can have a mounting hole 1001, and the calibration detection component 103 can be detachably installed in the mounting hole 1001. The calibration detection component 103 can be permanently installed in the arm body 100, or it can be removed from the arm body 100 after calibration is completed, depending on the specific situation.

[0064] The robot structure of the present disclosure embodiment will be described in detail below with reference to the accompanying drawings.

[0065] In some embodiments, combined with Figure 1 , Figure 2 and Figure 4 As shown, the calibration block 102 can be sleeved on the outer peripheral surface of the execution shaft 101, and the outer peripheral surface of the calibration block 102 is provided with a groove 1021; while the calibration detection element 103 can have a detection end, the detection end facing the outer peripheral surface of the execution shaft 101. That is to say, under the drive of the execution shaft 101, the groove 1021 of the calibration block 102 can move to a position that is radially opposite to the detection end of the calibration detection element 103 on the execution shaft 101, so that the calibration detection element 103 can perform detection. This design reduces the space occupied in the axial direction and facilitates the calibration detection element 103 to perform detection, thereby improving the detection accuracy of the calibration detection element 103.

[0066] For example, the probe end of the calibration detection element 103 can be a contact probe, that is, the probe end of the calibration detection element 103 needs to contact the groove 1021 to identify the coordinates of the groove 1021, such as a dial indicator; but it is not limited to this, the probe end of the calibration detection element 103 can also be an indirect probe, that is, the probe end of the calibration detection element 103 can identify the coordinates of the groove 1021 without contacting the groove 1021, such as a laser sensor, vision inspection, etc.

[0067] It should be noted that the calibration and detection component 103 of this embodiment is not limited to the aforementioned structures, as long as it can identify the coordinates of the groove 1021.

[0068] In some embodiments, combined with Figure 2 and Figure 4 As shown, the groove 1021 of the calibration block 102 may include a first groove 1021a and a second groove 1021b. The first groove 1021a is arranged circumferentially around the execution shaft 101, and the second groove 1021b extends axially on the execution shaft 101. The drive mechanism may include a first drive structure and a second drive structure. The first drive structure may be connected to the execution shaft 101 and is configured to drive the execution shaft 101 to move axially, so that the first groove 1021a moves to a position radially opposite to the probe end of the calibration detection element 103 on the execution shaft 101. The second drive structure may be connected to the execution shaft 101 and is configured to drive the execution shaft 101 to rotate about its own axis, so that the second groove 1021b moves to a position radially opposite to the probe end of the calibration detection element 103 on the execution shaft 101.

[0069] In the embodiments of this disclosure, the calibration detection component 103 can determine the bottom coordinates of the first groove 1021a and the second groove 1021b to achieve zero-point calibration of the execution axis 101. That is, the embodiments of this disclosure determine the zero-point coordinates of the execution axis 101 through two dimensions, one is the axial dimension and the other is the radial dimension. This makes the zero-point calibration more accurate, thereby reducing the zero-point return error of the robot structure joint.

[0070] It should be noted that the first drive structure and the second drive structure in this embodiment of the present disclosure can be installed inside the arm body 100, but are not limited thereto.

[0071] Optionally, such as Figure 2As shown, the second groove 1021b intersects with the first groove 1021a, and the two ends of the second groove 1021b in the axial direction protrude relative to the first groove 1021a. This design allows for zero-point calibration by first detecting the coordinates of the first groove 1021a and then the second groove 1021b, or by first detecting the coordinates of the second groove 1021b and then the first groove 1021a. In other words, this design enables the robot structure to have multiple calibration methods to match different design requirements.

[0072] Furthermore, the second groove 1021b is arranged to be through the axis of the execution shaft 101. This design reduces the design difficulty of the groove 1021. On the other hand, due to the certain delay in the detection process, after the first groove 1021a is detected, the execution shaft 101 will continue to move axially. After the calibration detection component 103 determines the coordinates of the first groove 1021a, the execution shaft 101 is driven to rotate to detect the coordinates of the second groove 1021b. Therefore, when the robot structure adopts the calibration method of detecting the first groove 1021a first and then the second groove 1021b, by designing the second groove 1021b to be through the axis, the situation where there is no second groove 1021b to be detected after the first groove 1021a is detected can be avoided. This ensures the continuity of the first groove 1021a and the second groove 1021b in the detection process, thereby ensuring the accuracy of the calibration.

[0073] For example, combined Figure 2 and Figure 3 As shown, both the first groove 1021a and the second groove 1021b can include a first groove sidewall 10211 and a second groove sidewall 10212 that are inclined. The inclination directions of the first groove sidewall 10211 and the second groove sidewall 10212 intersect. Compared with the scheme where the first groove sidewall 10211 and the second groove sidewall 10212 are parallel, this design can appropriately reduce the groove bottom area while keeping the groove opening size unchanged, thereby improving the detection accuracy of the calibration detection component 103 when detecting the groove bottom coordinates. It should be understood that the first groove sidewall 10211 and the second groove sidewall 10212 of the first groove 1021a are both arranged circumferentially around the execution shaft 101; the first groove sidewall 10211 and the second groove sidewall 10212 of the second groove 1021b both extend axially on the execution shaft 101.

[0074] Optionally, the first groove sidewall 10211 and the second groove sidewall 10212 are symmetrically arranged with respect to the midline between them. This design can reduce the processing difficulty of the first groove 1021a and the second groove 1021b on the one hand, and facilitate the calibration and testing component 103 to accurately detect the coordinates of the first groove 1021a and the second groove 1021b on the other hand, thereby ensuring the accuracy of zero-point calibration.

[0075] The bottom ends of the first groove sidewall 10211 and the second groove sidewall 10212 can be directly connected, meaning the overall cross-sectional shape of the first groove 1021a and the second groove 1021b can be V-shaped, but not limited to this. The bottom ends of the first groove sidewall 10211 and the second groove sidewall 10212 may not be directly connected. Specifically, for example... Figure 3 As shown, the first groove 1021a and the second groove 1021b may also include a groove bottom wall 10213, and the bottom ends of the first groove side wall 10211 and the second groove side wall 10212 can be connected through the groove bottom wall 10213.

[0076] For example, when the probe end of the calibration test piece 103 is a contact probe, the contour of the bottom wall 10213 of the groove can match the contour of the probe end. For example, when the contact end face of the probe end is an arc surface, the inner surface of the bottom wall 10213 of the groove can also be an arc surface. When the probe end of the calibration test piece 103 moves to the bottom of the groove, the contact end face of the probe end can be completely fitted with the bottom wall 10213 of the groove to ensure the detection accuracy of the groove bottom coordinates.

[0077] In some embodiments, the aforementioned execution component may be a ball spline screw assembly. Specifically, the first drive structure may include a first drive motor, a first synchronous belt transmission group, and a screw nut. The screw nut is sleeved on the execution shaft 101. The first drive motor is connected to the screw nut through the first synchronous belt transmission group and is configured to drive the screw nut to rotate, so that the execution shaft 101 can move axially. That is, this can be understood as the third joint of the SCARA robot. The second drive structure may include a second drive motor, a second synchronous belt transmission group, and a spline nut. The spline nut is sleeved on the execution shaft 101. The second drive motor is connected to the spline nut through the second synchronous belt transmission group and is configured to drive the spline nut to rotate, so that the execution shaft 101 can rotate around its own axis. That is, this can be understood as the fourth joint of the SCARA robot. In other words, the calibration method of the embodiments of this disclosure can be used for the third and fourth joints of the SCARA robot.

[0078] It should be noted that the robot structure of this embodiment is not limited to the components mentioned above, but may also include a motherboard and other joints, which will not be described here.

[0079] This disclosure also provides an embodiment of a robot structure calibration method, which can be referred to the foregoing description, specifically, in conjunction with... Figures 1 to 4As shown, the robot structure may include an arm body 100, an execution component, and a calibration component. The execution component includes a drive mechanism and an execution axis 101. The execution axis 101 is movably mounted on the arm body 100 and connected to the drive mechanism. The calibration component includes a calibration detection element 103 and a calibration block 102. The calibration detection element 103 is mounted on the arm body 100, and the calibration block 102 is fixed on the execution axis 101. The calibration block 102 has a groove 1021. Based on this robot structure, such as... Figure 5 As shown, the corresponding calibration methods may include:

[0080] In step S500, the control drive mechanism drives the execution shaft 101 to move along a predetermined trajectory so that the groove 1021 moves to a position that matches the calibration test piece 103, and is then used by the calibration test piece 103 for testing.

[0081] Step S502: Determine the coordinates of the groove 1021 based on the detection results of the calibration test piece 103, so as to realize the zero-point calibration of the actuation axis 101.

[0082] Optionally, such as Figure 2 and Figure 4 As shown, the groove 1021 includes the aforementioned first groove 1021a and second groove 1021b. The first groove 1021a is arranged circumferentially around the execution shaft 101, and the second groove 1021b extends axially on the execution shaft 101. The drive mechanism includes a first drive structure and a second drive structure. The first drive structure is connected to the execution shaft 101, and the second drive structure is connected to the execution shaft 101. Specifically, step S500 may include:

[0083] Step S5001: Control the first drive structure to drive the execution shaft 101 to move axially, so that the first groove 1021a moves to a position that is radially opposite to the probe end of the calibration detection element 103 on the execution shaft 101, and is detected by the calibration detection element 103.

[0084] Step S5003: Determine the coordinates of the first groove 1021a based on the detection results of the calibration test piece 103;

[0085] Step S5005: Control the second drive structure to drive the execution shaft 101 to rotate around its own axis, so that the second groove 1021b moves to a position that is radially opposite to the probe end of the calibration detection element 103 on the execution shaft 101, and is then detected by the calibration detection element 103.

[0086] Step S5007: Determine the coordinates of the second groove 1021b based on the detection results of the calibration test piece 103;

[0087] Step S5009: Determine the zero point coordinates of the actuation axis 101 based on the coordinates of the first groove 1021a and the second groove 1021b, thereby achieving zero point calibration of the actuation axis 101.

[0088] It should be noted that step S5001 can be executed before step S5005. That is, in this embodiment of the present disclosure, the coordinate detection of the first groove 1021a can be performed first, and then the coordinate detection of the second groove 1021b can be performed. However, it is not limited to this. Alternatively, step S5005 can be executed before step S5001. That is, in this embodiment of the present disclosure, the coordinate detection of the second groove 1021b can be performed first, and then the coordinate detection of the first groove 1021a can be performed.

[0089] Furthermore, it should be understood that while controlling the first drive structure to drive the execution shaft 101 to move axially, the second drive structure is controlled to stop working; while controlling the second drive structure to drive the execution shaft 101 to rotate around its own axis, the first drive structure is controlled to stop working. In other words, the axial movement and rotation of the execution shaft 101 are not synchronized, but are performed sequentially. This ensures that the coordinates of the first groove 1021a and the second groove 1021b are determined sequentially, avoiding the situation where the probe end of the calibration detection element 103 moves directly to the junction of the first groove 1021a and the second groove 1021b during the detection process, which would prevent the coordinates of the first groove 1021a and the second groove 1021b from being accurately determined later. This improves the calibration accuracy.

[0090] After detecting the first groove 1021a and the second groove 1021b, the actuator 101 can be stopped by controlling the drive structure to complete the entire calibration.

[0091] Furthermore, when both the first groove 1021a and the second groove 1021b include an inclined first groove sidewall 10211 and a second groove sidewall 10212, and the probe end of the calibration detection element 103 is a contact probe; wherein, during the axial movement of the actuator shaft 101 driven by the first drive structure, the probe end of the calibration detection element 103 can first slide along the first groove sidewall 10211 of the first groove 1021a to the bottom of the first groove 1021a, and then slide out of the first groove 1021a along the second groove sidewall 10212 of the first groove 1021a. To determine the bottom coordinates of the first groove 1021a; during the process of the second drive structure driving the execution shaft 101 to rotate around its own axis, the probe end of the calibration detection element 103 first slides along the first groove sidewall 10211 of the second groove 1021b to the bottom of the second groove 1021b, and then slides out of the second groove 1021b along the second groove sidewall 10212 of the second groove 1021b, so as to determine the bottom coordinates of the second groove 1021b; based on the bottom coordinates of the first groove 1021a and the bottom coordinates of the second groove 1021b, the zero point coordinates of the execution shaft 101 are determined.

[0092] In some embodiments, before calibration begins, the actuation axis 101 can be moved to a predetermined initial position, and then the drive mechanism can be controlled to drive the actuation axis 101 to move, thereby moving the calibration block 102 on the actuation axis 101 to a position that matches the calibration detection element 103, thus completing the calibration. To ensure that a predetermined initial position is reached, such as... Figure 2 and Figure 4 As shown, an initial mark 1022 can be set in the calibration block 102 to assist the operator in visually judging whether the calibration block 102 of the actuator axis 101 has reached the set initial position. If the set initial position is reached, calibration will begin. This design can appropriately shorten the calibration stroke and also ensure the effectiveness of subsequent calibration and testing.

[0093] It should be noted that, as Figure 2 As shown, the initial mark 1022 can be a through groove extending axially along the actuating shaft 101. Its cross-sectional shape may be different from that of the second groove 1021b. For example, the cross-sectional shape of the second groove 1021b is generally V-shaped, while the cross-sectional shape of the initial mark 1022 is generally arc-shaped. By designing the initial mark 1022 differently from the second groove 1021b, the operator can distinguish which one is used for calibration and which one is used for matching the initial position.

[0094] In addition, when the initial mark 1022 is the aforementioned groove, this disclosure preferably detects the first groove 1021a first and then the second groove 1021b, so as to avoid the initial mark 1022 affecting the zero point calibration of the actuation axis 101.

[0095] In this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0096] In this disclosure, unless otherwise expressly specified and limited, the term "connection" and other such terms should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0097] In the description of this specification, references to terms such as "some embodiments," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0098] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure. Therefore, any changes or modifications made in accordance with the claims and description of the present disclosure should fall within the scope of the patent coverage of the present disclosure.

Claims

1. A robot structure, characterized in that, The robot structure comprises: an arm body; an execution assembly comprising a driving mechanism and an execution shaft, the execution shaft being movably mounted on the arm body, the driving mechanism comprising a first driving structure and a second driving structure; the first driving structure being connected with the execution shaft, and the second driving structure being connected with the execution shaft; a calibration assembly comprising a calibration detection member and a calibration block, the calibration detection member being mounted on the arm body, the calibration block being sleeved on the outer circumferential surface of the execution shaft, and the outer circumferential surface of the calibration block being provided with a notch, the notch comprising a first notch and a second notch, the first notch being arranged in a circumferential direction around the execution shaft, and the second notch extending in an axial direction of the execution shaft, the calibration detection member having a detection end, the detection end being directed towards the outer circumferential surface of the execution shaft, and the detection end being a contact type detection or an indirect type detection; wherein the first driving structure is configured to drive the execution shaft to move in the axial direction, so that the first notch moves to a position opposite to the detection end of the calibration detection member in a radial direction of the execution shaft, the second driving structure is configured to drive the execution shaft to rotate around its own axis, so that the second notch moves to a position opposite to the detection end of the calibration detection member in the radial direction of the execution shaft, and the calibration detection member is configured to determine the coordinates of the bottom of the first notch and the second notch, so as to realize zero point calibration of the execution shaft.

2. The robotic structure of claim 1, wherein, The second notch is arranged intersecting the first notch, and the two ends of the second notch in the axial direction are arranged protruding relative to the first notch.

3. The robotic structure of claim 2, wherein, The second notch is arranged through in the axial direction.

4. The robotic structure of claim 1, wherein, The first notch and the second notch each comprise a first notch side wall and a second notch side wall arranged in an inclined manner, and the inclined directions of the first notch side wall and the second notch side wall intersect each other; wherein the first notch side wall and the second notch side wall of the first notch are arranged in a circumferential direction around the execution shaft; the first notch side wall and the second notch side wall of the second notch extend in the axial direction of the execution shaft.

5. The robotic structure of claim 4, wherein, The first notch side wall and the second notch side wall are symmetrically arranged with a middle line therebetween.

6. The robotic structure of claim 4, wherein, The first notch and the second notch further comprise a notch bottom wall, and the bottom ends of the first notch side wall and the second notch side wall are connected through the notch bottom wall; wherein when the detection end of the calibration detection member is a contact type detection, the profile of the notch bottom wall matches the profile of the detection end.

7. The robot structure according to claim 1, wherein the first driving structure comprises a first driving motor, a first synchronous belt transmission set and a screw nut, the screw nut being sleeved on the execution shaft, the first driving motor being connected with the screw nut through the first synchronous belt transmission set and being configured to drive the screw nut to rotate, so that the execution shaft moves in the axial direction; the second driving structure comprises a second driving motor, a second synchronous belt transmission set and a spline nut, the spline nut being sleeved on the execution shaft, the second driving motor being connected with the spline nut through the second synchronous belt transmission set and being configured to drive the spline nut to rotate, so that the execution shaft rotates around its own axis.

8. The robotic structure of claim 1, wherein, The arm body is provided with a mounting hole, and the calibration detection member is detachably mounted in the mounting hole.

9. A method of calibrating a robot structure, characterized by, The robot structure comprises an arm body, an execution assembly and a calibration assembly. The execution assembly comprises a driving mechanism and an execution shaft. The execution shaft is movably mounted on the arm body, and the execution shaft is connected with the driving mechanism. The calibration assembly comprises a calibration detection member and a calibration block. The calibration detection member is mounted on the arm body, and the calibration block is fixed on the execution shaft. The calibration block is provided with a notch. The notch comprises a first notch and a second notch. The first notch is circumferentially arranged around the execution shaft. The second notch extends in the axial direction of the execution shaft. The driving mechanism comprises a first driving structure and a second driving structure. The first driving structure is connected with the execution shaft. The second driving structure is connected with the execution shaft. The calibration method comprises the following steps: controlling the first driving structure to drive the execution shaft to move axially, so that the first notch moves to a position opposite to the detection end of the calibration detection member in the radial direction of the execution shaft, and the calibration detection member is used for detection; determining the coordinates of the first notch based on the detection result of the calibration detection member; controlling the second driving structure to drive the execution shaft to rotate around the axis of the execution shaft, so that the second notch moves to a position opposite to the detection end of the calibration detection member in the radial direction of the execution shaft, and the calibration detection member is used for detection; determining the coordinates of the second notch based on the detection result of the calibration detection member; determining the zero point coordinates of the execution shaft according to the coordinates of the first notch and the coordinates of the second notch, and realizing the zero point calibration of the execution shaft.

10. The calibration method of claim 9, wherein, The detection end of the calibration detection member is a contact type detection. The first notch and the second notch each comprise a first notch side wall and a second notch side wall arranged obliquely. The first notch side wall and the second notch side wall of the first notch are circumferentially arranged around the execution shaft. The first notch side wall and the second notch side wall of the second notch extend in the axial direction of the execution shaft. In the process of controlling the first driving structure to drive the execution shaft to move axially, in the process of controlling the first driving structure to drive the execution shaft to move axially, the detection end of the calibration detection member first slides along the first notch side wall of the first notch to the bottom of the first notch, and then slides out of the first notch along the second notch side wall of the first notch, so as to determine the bottom coordinates of the first notch; in the process of controlling the second driving structure to drive the execution shaft to rotate around the axis of the execution shaft, the detection end of the calibration detection member first slides along the first notch side wall of the second notch to the bottom of the second notch, and then slides out of the second notch along the second notch side wall of the second notch, so as to determine the bottom coordinates of the second notch; determining the zero point coordinates of the execution shaft according to the bottom coordinates of the first notch and the bottom coordinates of the second notch.

11. The calibration method according to claim 9, wherein while controlling the first driving structure to drive the execution shaft to move axially, the second driving structure is controlled to stop working. controlling the second driving structure to stop working while controlling the first driving structure to drive the execution shaft to rotate around its own axis.

Images