A calibration structure and robot therefor

Abstract

The application discloses a calibration structure and a robot thereof, and belongs to the technical field of robots.The calibration structure comprises a zero line, a first-order scale line, a first-order identification disc and a first-order zero identification on the first-order identification disc; specifically, the zero line is arranged on a first mechanical arm; the first-order scale line is arranged on a second mechanical arm; the first-order identification disc is provided with the first-order zero identification, and the first-order identification disc is connected with a driving speed regulation mechanism between the first mechanical arm and the second mechanical arm, so that the included angle between the first mechanical arm and the second mechanical arm can be amplified through the driving speed regulation mechanism between the first mechanical arm and the second mechanical arm.The calibration structure of the application introduces the first-order identification disc and the first-order zero identification, connects the first-order identification disc with the driving speed regulation mechanism, amplifies the included angle between the first mechanical arm and the second mechanical arm through the driving speed regulation mechanism between the first mechanical arm and the second mechanical arm, and can ensure the accuracy of the robot through manual adjustment.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a calibration structure and robot thereof. Background Technology

[0002] During the use of SCARA (Single-Artificial Joint) industrial robots, problems such as untimely replacement of coded batteries or control system malfunctions often occur, leading to the loss of the robot's zero position. When the robot's zero position is lost, it needs to be recalibrated to ensure its accuracy.

[0003] Robot zero-point calibration can be performed using equipment such as laser trackers, simple tooling, or zero-point markings on the robot itself. However, calibration using high-precision equipment like laser trackers is time-consuming and labor-intensive. When using simple tooling, the robot's accuracy cannot be guaranteed after calibration due to issues with tooling precision and the precision of the tooling-robot assembly. Zero-point markings on the robot itself cannot guarantee the robot's accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide a calibration structure and its robot, which aims to solve the technical problem that the zero-position marking on the existing robot body cannot guarantee the accuracy of the robot.

[0005] To address the aforementioned problems, according to one aspect of this application, an embodiment of the present invention provides a calibration structure applied to a robot. The robot includes a base, a first robotic arm, and a second robotic arm. The first robotic arm is mounted on the base, and the second robotic arm is connected to the first robotic arm via a drive speed regulating mechanism. The calibration structure includes:

[0006] The zero-position line is set on the first robotic arm;

[0007] The first-level scale line is set on the second robotic arm;

[0008] A primary indicator panel is provided, which is connected to the drive speed control mechanism to amplify the angle between the first robotic arm and the second robotic arm.

[0009] When the zero line, the first-level scale line, and the first-level zero mark are collinear, the angle between the first robotic arm and the second robotic arm is 0° or 180°.

[0010] In some embodiments, the drive speed regulating mechanism includes a drive motor and a reducer. The reducer is mounted on a first robotic arm, the drive motor is mounted on a second robotic arm, the drive shaft of the drive motor is connected to the input end of the reducer, and a primary indicator disk is connected to the drive shaft.

[0011] In some embodiments, the drive speed regulating mechanism includes a drive motor and a reducer. The reducer is mounted on the second robotic arm, the drive motor is mounted on the first robotic arm, the drive shaft of the drive motor is connected to the input end of the reducer, and the primary indicator disk is connected to the output end of the reducer.

[0012] In some embodiments, the calibration structure further includes a support, which includes a connected connecting portion and a base plate. The connecting portion is connected to the second robotic arm and is located at the end of the first robotic arm away from the base. The base plate is located on the side of the first robotic arm away from the second robotic arm. The first-level scale line is located on the side of the base plate away from the first robotic arm, and the zero-level line is located on the side of the first robotic arm facing the support.

[0013] In some implementations, the primary indicator disk is rotatably mounted on the support, and the primary zero-position indicator is located on the side of the primary indicator disk away from the first robotic arm.

[0014] In some embodiments, the calibration structure further includes a secondary label disk and a secondary amplification component. The secondary label disk is provided with a secondary zero mark, and the secondary amplification component is disposed between the secondary label disk and the primary label disk to amplify the included angle between the first robotic arm and the second robotic arm. When the zero line, the primary scale line, the primary zero mark, and the secondary zero mark are collinear, the included angle between the first robotic arm and the second robotic arm is 0° or 180°.

[0015] In some implementations, the secondary marker disk is rotatably mounted on the support, and the secondary zero-position marker is located on the side of the secondary marker disk away from the first robotic arm.

[0016] In some embodiments, a secondary scale line is also provided on the substrate, and the primary scale line and the secondary scale line are collinear.

[0017] In some implementations, the secondary amplification component includes gear drives, belt drives, or speed reducers.

[0018] According to another aspect of this application, embodiments of the present invention also provide a robot, the robot including the calibration structure described above.

[0019] Compared with the prior art, the calibration structure of the present invention has at least the following beneficial effects:

[0020] This invention discloses a calibration structure specifically applied to a robot. The robot includes a base, a first robotic arm, and a second robotic arm. The first robotic arm is mounted on the base, and the second robotic arm is connected to the first robotic arm via a drive speed adjustment mechanism. Specifically, this drive speed adjustment mechanism is installed between the first and second robotic arms. The calibration structure includes a zero-position line, a primary scale line, a primary indicator disk, and a primary zero-position indicator on the primary indicator disk. Specifically, the zero-position line is located on the first robotic arm; the primary scale line is located on the second robotic arm; the primary indicator disk has a primary zero-position indicator, and the primary indicator disk is connected to the drive speed adjustment mechanism between the first and second robotic arms. The drive speed adjustment mechanism between the first and second robotic arms can amplify the angle between them.

[0021] When the zero line, the first-level scale line, and the first-level zero mark are collinear, the angle between the first robotic arm and the second robotic arm is 0° or 180°.

[0022] The calibration structure of this invention introduces a primary indicator disk and a primary zero-position indicator, connects the primary indicator disk to the drive speed adjustment mechanism, and uses the drive speed adjustment mechanism between the first and second robotic arms to amplify the angle between the first and second robotic arms. The accuracy of the robot can be ensured by manual adjustment.

[0023] Compared to calibration using high-precision equipment such as laser trackers, the calibration structure of this invention is easier to operate and simpler to use.

[0024] Compared to calibration using simple tooling, the calibration structure of this invention eliminates the installation steps, is easy to operate, and is simple and quick. At the same time, it avoids calibration errors caused by tooling accuracy issues and the accuracy of tooling assembly with the robot.

[0025] Compared to calibration using zero-position markers on the robot body, the calibration structure of this invention can ensure the accuracy of the robot.

[0026] In another aspect, the robot provided by the present invention is manufactured based on the above-mentioned calibration structure, and its beneficial effects are the same as those of the above-mentioned calibration structure, which will not be repeated here.

[0027] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the robot provided in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the calibration structure provided in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of an existing robot.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Machine base; 11. First motor; 12. First reducer;

[0034] 2. First robotic arm; 21. Zero-position line;

[0035] 3. Second robotic arm; 31. Third motor; 32. Fourth motor; 33. Ball spline screw;

[0036] 4. Primary indicator panel; 41. Primary zero position indicator;

[0037] 5. Drive motor; 51. Drive shaft;

[0038] 6. Speed ​​reducer;

[0039] 7. Support; 71. Connecting part; 72. Base plate; 721. Primary scale line; 722. Secondary scale line

[0040] 8. Secondary indicator panel; 81. Secondary zero position indicator;

[0041] 9. Secondary amplification component. Detailed Implementation

[0042] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the specific embodiments, structures, features, and effects according to the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0043] In the description of this invention, it should be clearly stated that the terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence; the terms "vertical," "lateral," "longitudinal," "front," "rear," "left," "right," "up," "down," "horizontal," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are merely for the convenience of describing this invention, and do not mean that the device or element referred to must have a specific orientation or position, and therefore should not be construed as a limitation of this invention.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] Example 1

[0046] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a calibration structure applied to a robot. The robot includes a base 1, a first robotic arm 2, and a second robotic arm 3. The first robotic arm 2 is mounted on the base 1, and the second robotic arm 3 is connected to the first robotic arm 2 via a drive speed regulating mechanism. The calibration structure includes:

[0047] Zero line 21 is set on the first robotic arm 2;

[0048] The first-level scale line 721 is set on the second robotic arm 3;

[0049] A primary indicator disk 4 is provided with a primary zero position indicator 41 connected to the drive speed regulation mechanism to amplify the included angle between the first robotic arm 2 and the second robotic arm 3.

[0050] When the zero-position line 21, the first-level scale line 721, and the first-level zero-position mark 41 are collinear, the included angle between the first robotic arm 2 and the second robotic arm 3 is 0° or 180°.

[0051] like Figure 3 As shown, this is an existing SCARA robot, which includes a base 1, a first motor 11, a first reducer 12, a first robotic arm 2, a reducer 6, a drive motor 5, a second robotic arm 3, a third motor 31, a fourth motor 32, a lead screw shaft, a lead screw nut assembly, and a spline nut assembly.

[0052] like Figure 3 As shown, the first motor 11 is fixed on the base 1; the output shaft of the first motor 11 is connected to the first reducer 12; the input end of the reducer 6 is connected to the drive shaft 51 of the drive motor 5, and the output end of the reducer 6 is connected to the first robotic arm 2; one end of the first robotic arm 2 is connected to the output end of the first reducer 12. Under the deceleration action of the first reducer 12, the first motor 11 drives the first robotic arm 2 and the components mounted on it to rotate around the J1 axis. Since the first reducer 12 and the first motor 11 are installed between the base 1 and the first robotic arm 2, the first reducer 12 and the first motor 11 constitute the drive speed regulation mechanism between the base 1 and the first robotic arm 2.

[0053] like Figure 3 As shown, the drive motor 5 is mounted on the second robotic arm 3. The input end of the reducer 6 is connected to the drive shaft 51 of the drive motor 5, and the output end of the reducer 6 is connected to the first robotic arm 2. Under the deceleration action of the reducer 6, the drive motor 5 drives the second robotic arm 3 and the components mounted on it to rotate around the J2 axis. Since the drive motor 5 and the reducer 6 are installed between the first robotic arm 2 and the second robotic arm 3, the drive motor 5 and the reducer 6 constitute the drive speed regulation mechanism between the first robotic arm 2 and the second robotic arm 3.

[0054] like Figure 3 As shown, the third motor 31 and the fourth motor 32 are mounted on the second robotic arm 3. The third motor 31 and the fourth motor 32 can work together to drive the ball spline screw 33 to move up and down (J3 axis) or rotate (J4 axis).

[0055] The current SCARA robot calibration details are as follows:

[0056] The calibration of a SCARA robot typically includes the reduction ratios of the J1, J2, J3, and J4 axes, the link lengths L1 (the distance between the J1 and J2 axes), L2 (the distance between the J2 and J4 axes), and the angle between the first robotic arm 2 and the second robotic arm 3. After robot calibration, the reducers for the four axes (J1, J2, J3, and J4) and the link lengths L1 and L2 are known parameters.

[0057] The ideal angle between the first robotic arm 2 and the second robotic arm 3 is 180° or 0°. Calibration aims to bring this angle as close to 180° or 0° as possible. This angle is typically recorded by an encoder; however, if the encoder malfunctions, the angle will be lost. Calibration using high-precision equipment such as laser trackers is time-consuming and labor-intensive. When using simple fixtures for calibration, the robot's accuracy cannot be guaranteed after calibration due to issues with the fixture's precision and the precision of its assembly with the robot. Manual adjustment using the zero-position marker on the robot itself is also difficult to guarantee in terms of accuracy, thus compromising the robot's overall accuracy.

[0058] In this embodiment, the calibration structure is specifically applied to a robot, which includes a base 1, a first robotic arm 2, and a second robotic arm 3. The first robotic arm 2 is rotatably mounted on the base 1, and the second robotic arm 3 is rotatably connected to the first robotic arm 2 via a drive speed adjustment mechanism. This drive speed adjustment mechanism is specifically installed between the first robotic arm 2 and the second robotic arm 3. The calibration structure in this embodiment includes a zero-position line 21, a first-level scale line 721, a first-level indicator disk 4, and a first-level zero-position indicator 41 on the first-level indicator disk 4. Specifically, the zero-position line 21 is located on the first robotic arm 2; the first-level scale line 721 is located on the second robotic arm 3; and the first-level indicator disk 4 is provided with a first-level zero-position indicator 41. The first-level indicator disk 4 is connected to the drive speed adjustment mechanism between the first robotic arm 2 and the second robotic arm 3, which can amplify the included angle between the first robotic arm 2 and the second robotic arm 3.

[0059] When the SCARA robot is in zero position, the first robotic arm 2 and the second robotic arm 3 are collinear, that is, the joint angle value of the J2 joint is 0°.

[0060] The zero-position line 21 of the first robotic arm 2 is aligned with the first-level scale line 721, indicating that the first robotic arm 2 and the second robotic arm 3 are collinear. Generally, in situations where robot accuracy requirements are not high, the robot can be considered to be in the zero-position posture by manually pushing the robotic arm or manually running the robot to adjust the alignment of the two lines (observed by the human eye as being in an aligned state).

[0061] However, human eye observation has a large margin of error. Therefore, a primary indicator disk 4 and a primary zero position indicator 41 are introduced. The drive speed regulation mechanism between the first robotic arm 2 and the second robotic arm 3 can be enlarged to a reducer 6 and a drive motor 5. Of course, the reducer 6 can also be replaced with other types of reduction mechanisms, and the drive motor 5 can be replaced with other types of drive mechanisms. The reducer and drive mechanism can be combined to achieve the drive and speed regulation between the first robotic arm 2 and the second robotic arm 3.

[0062] This embodiment uses the reducer 6 and drive motor 5 as examples for illustration. The primary indicator disk 4 is fixed together with the drive shaft 51 of the drive motor 5. Assuming the reduction ratio of the reducer 6 is 50, due to the action of the reducer 6, the drive motor 5 rotates 360°, resulting in a 7.2° offset between the primary zero-position indicator 41 and the primary scale line 721. Therefore, when manually aligning the primary zero-position indicator 41 and the primary scale line 721, a 1° error occurs, which is reflected in an angular error of only 0.02° between the zero line 21 and the primary scale line 721 of the first robotic arm 2.

[0063] In addition, before aligning the first-level zero mark 41 and the first-level scale line 721, it is necessary to align the zero line 21 and the first-level scale line 721 as much as possible, and then align the first-level zero mark 41 of the first-level mark disk 4 with the zero line 21 and the first-level scale line 721.

[0064] When the zero line 21, the first-level scale line 721, and the first-level zero mark 41 are collinear, the angle between the first robotic arm 2 and the second robotic arm 3 is 0° or 180°.

[0065] The calibration structure in this embodiment introduces a primary indicator disk 4 and a primary zero-position indicator 41, connects the primary indicator disk 4 to the drive speed adjustment mechanism, and uses the drive speed adjustment mechanism between the first robotic arm 2 and the second robotic arm 3 to amplify the included angle between the first robotic arm 2 and the second robotic arm 3. The accuracy of the robot can be ensured by manual adjustment.

[0066] Compared to calibration using high-precision equipment such as laser trackers, the calibration structure in this embodiment is easier to operate and simpler to use.

[0067] Compared to calibration using simple tooling, the calibration structure in this embodiment eliminates the installation steps, is easy to operate, and is quick and simple. It also avoids calibration errors caused by tooling accuracy issues and the accuracy of tooling assembly with the robot.

[0068] Compared to calibration using zero-position markers on the robot itself, the calibration structure in this embodiment can ensure the accuracy of the robot.

[0069] In some embodiments, the drive speed regulating mechanism includes a drive motor 5 and a reducer 6. The reducer 6 is mounted on the first robotic arm 2, and the drive motor 5 is mounted on the second robotic arm 3. The drive shaft 51 of the drive motor 5 is connected to the input end of the reducer 6, and the primary identification disk 4 is connected to the drive shaft 51.

[0070] In this embodiment, the drive speed adjustment mechanism includes a drive motor 5 and a reducer 6. The reducer 6 is mounted on the first robotic arm 2 and fixed by the first robotic arm 2, that is, the output end of the reducer 6 is connected to the first robotic arm 2. The drive motor 5 is mounted on the second robotic arm 3 and fixed by the second robotic arm 3, that is, the stator of the drive motor 5 is fixedly connected to the second robotic arm 3. The drive shaft 51 of the drive motor 5 is connected to the input end of the reducer 6. The drive motor 5 and the reducer 6 realize the driving and deceleration between the first robotic arm 2 and the second robotic arm 3. In this embodiment, by connecting the primary marking disk 4 to the drive shaft 51, the drive speed adjustment mechanism between the first robotic arm 2 and the second robotic arm 3 is used to amplify the included angle between the first robotic arm 2 and the second robotic arm 3. The accuracy of the robot can be ensured by manual adjustment.

[0071] In some embodiments, the drive speed regulating mechanism includes a drive motor 5 and a reducer 6. The reducer 6 is mounted on the second robotic arm 3, the drive motor 5 is mounted on the first robotic arm 2, the drive shaft 51 of the drive motor 5 is connected to the input end of the reducer 6, and the primary identification disk 4 is connected to the output end of the reducer 6.

[0072] In this embodiment, the drive speed adjustment mechanism includes a drive motor 5 and a reducer 6. The reducer 6 is mounted on the second robotic arm 3 and fixed by the second robotic arm 3, that is, the output end of the reducer 6 is connected to the second robotic arm 3. The drive motor 5 is mounted on the first robotic arm 2 and fixed by the first robotic arm 2, that is, the stator of the drive motor 5 is fixedly connected to the first robotic arm 2. The drive shaft 51 of the drive motor 5 is connected to the input end of the reducer 6. In this embodiment, by connecting the first-level marking disk 4 to the output end of the reducer 6, the drive speed adjustment mechanism between the first robotic arm 2 and the second robotic arm 3 is also used to amplify the angle between the first robotic arm 2 and the second robotic arm 3. The accuracy of the robot can be ensured by manual adjustment.

[0073] In some embodiments, the calibration structure further includes a support 7, which includes a connecting portion 71 and a base plate 72 connected together. The connecting portion 71 is connected to the second robotic arm 3 and is located at the end of the first robotic arm 2 away from the base 1. The base plate 72 is located on the side of the first robotic arm 2 away from the second robotic arm 3. The first-level scale line 721 is disposed on the side of the base plate 72 away from the first robotic arm 2, and the zero-position line 21 is disposed on the side of the first robotic arm 2 facing the support 7.

[0074] In this embodiment, as Figure 1 and 2As shown, the calibration structure also includes a support 7, which includes a connecting part 71 and a base plate 72. The connecting part 71 is connected to the second robotic arm 3 and is located at the end of the first robotic arm 2 away from the base 1. The position of the connecting part 71 can avoid interference between the connecting part 71 and the first robotic arm 2 when the first robotic arm 2 and the second robotic arm 3 rotate relative to each other. The base plate 72 is located on the side of the first robotic arm 2 away from the second robotic arm 3. The first-level scale line 721 is set on the side of the base plate 72 away from the first robotic arm 2, and the zero-position line 21 is set on the side of the first robotic arm 2 facing the support 7. This structure can make the first-level scale line 721 and the zero-position line 21 on the same side, which is convenient for observation. In addition, the first-level scale line 721 and the zero-position line 21 are as close as possible to facilitate observation and alignment of the first-level scale line 721 and the zero-position line 21, thereby improving the accuracy of zero-position calibration.

[0075] In some embodiments, the primary indicator disk 4 is rotatably mounted on the bracket 7, the rotation axis of the primary indicator disk 4 is collinear with the drive shaft 51, and the primary zero position indicator 41 is located on the side of the primary indicator disk 4 away from the first robotic arm 2.

[0076] In this embodiment, the primary indicator disk 4 is rotatably mounted on the bracket 7, and its integration into the bracket 7 facilitates observation and modular production. The rotation axis of the primary indicator disk 4 is collinear with the drive shaft 51. The primary zero-position indicator 41 is located on the side of the primary indicator disk 4 away from the first robotic arm 2, which allows the primary zero-position indicator 41, the primary scale line 721, and the zero-position line 21 to be located on the same side, making observation easier. In addition, the primary zero-position indicator 41, the primary scale line 721, and the zero-position line 21 are as close as possible to facilitate observation of their alignment, thereby improving the accuracy of zero-position calibration.

[0077] In some embodiments, the calibration structure further includes a secondary label disk 8 and a secondary amplification component 9. The secondary label disk 8 is provided with a secondary zero mark 81, and the secondary amplification component 9 is disposed between the secondary label disk 8 and the primary label disk 4 to amplify the included angle between the first robotic arm 2 and the second robotic arm 3. When the zero line 21, the primary scale line 721, the primary zero mark 41 and the secondary zero mark 81 are collinear, the included angle between the first robotic arm 2 and the second robotic arm 3 is 0° or 180°.

[0078] In this embodiment, the calibration structure also includes a secondary label disk 8 and a secondary amplification component 9. In this embodiment, a secondary zero mark 81 is provided on the secondary label disk 8, and the secondary amplification component 9 is placed between the secondary label disk 8 and the primary label disk 4. The secondary amplification component 9 can amplify the included angle between the first robotic arm 2 and the second robotic arm 3. When the zero line 21, the primary scale line 721, the primary zero mark 41 and the secondary zero mark 81 are collinear, the included angle between the first robotic arm 2 and the second robotic arm 3 is 0° or 180°.

[0079] Specifically, in order to further improve calibration accuracy, this embodiment introduces a secondary label disk 8, a secondary amplification component 9, and a secondary zero-position label 81 located on the secondary label disk 8.

[0080] The principle is similar. Assuming the reduction ratio of the secondary amplification component 9 is 20, the drive shaft 51 of the drive motor 5 rotates by 1°, and the angular deviation between the secondary zero position mark 81 and the primary scale line 721 is 20 degrees.

[0081] Going back, if there is a 1° deviation between the secondary zero position mark 81 and the primary scale line 721, then there is a 0.05° deviation between the primary zero position mark 41 and the primary scale line 721, while the angular error between the zero position line 21 and the primary scale line 721 of the first robotic arm 2 is only 0.001 degrees.

[0082] Of course, before aligning the secondary zero mark 81 with the primary scale line 721, it is necessary to align the primary zero mark 41 and the primary scale line 721, the zero line 21 and the primary scale line 721 as much as possible, and then align the secondary zero mark 81 on the secondary mark disk 8 with the primary zero mark 41, the zero line 21 and the primary scale line 721 on the primary mark disk 4.

[0083] This embodiment further improves calibration accuracy by introducing a secondary label disk 8, a secondary amplification component 9, and a secondary zero-position label 81 located on the secondary label disk 8.

[0084] Compared to calibration using high-precision equipment such as laser trackers, the calibration structure in this embodiment is easier to operate and simpler to use.

[0085] Compared to calibration using simple tooling, the calibration structure in this embodiment eliminates the installation steps, is easy to operate, and is quick and simple. It also avoids calibration errors caused by tooling accuracy issues and the accuracy of tooling assembly with the robot.

[0086] Compared to calibration using zero-position markers on the robot itself, the calibration structure in this embodiment can ensure the accuracy of the robot.

[0087] In some embodiments, the secondary marking disk 8 is rotatably mounted on the bracket 7, and the secondary zero-position mark 81 is located on the side of the secondary marking disk 8 away from the first robotic arm 2.

[0088] In this embodiment, by rotatably mounting the secondary indicator disk 8 on the bracket 7 and mounting the secondary zero position indicator 81 on the side of the secondary indicator disk 8 away from the first robotic arm 2, this structure allows the secondary zero position indicator 81 to be located on the same side as the primary scale line 721, the zero position line 21 and the primary zero position indicator 41, which is convenient for observation.

[0089] In addition, the secondary zero mark 81, the primary scale line 721, the zero line 21, and the primary zero mark 41 should be as close as possible to facilitate observation of their alignment and improve the accuracy of zero-position calibration.

[0090] In some embodiments, the substrate 72 is further provided with the secondary scale line 722, and the primary scale line 721 and the secondary scale line 722 are collinear.

[0091] In this embodiment, a secondary scale line 722 is also provided on the substrate 72. The primary scale line 721 and the secondary scale line 722 are collinear. When the distance between the secondary indicator disk 8 and the primary indicator disk 4 is far, the secondary zero position indicator 81 on the secondary indicator disk 8 is aligned with the secondary scale line 722 to perform zero position calibration, which is convenient for observation and improves the accuracy of zero position calibration.

[0092] The secondary zero mark 81 and the secondary scale line 722 on the secondary mark dial 8 should be as close as possible to facilitate observation of the alignment of the secondary zero mark 81 and the secondary scale line 722, thereby improving the accuracy of zero-point calibration.

[0093] In some embodiments, the secondary amplification component 9 includes a gear drive, a belt drive, or a speed reducer.

[0094] In this embodiment, the secondary amplification component 9 can be a speed regulation mechanism such as a gear drive, belt drive, or speed reducer. Of course, it can also be other types of speed regulation mechanisms, as long as the secondary amplification component 9 is positioned between the secondary indicator disk 8 and the primary indicator disk 4 and can amplify the included angle between the first robotic arm 2 and the second robotic arm 3. When the secondary amplification component 9 is a speed reducer, it can be connected to the input and output ends of the speed reducer through the secondary indicator disk 8 and the primary indicator disk 4, thereby amplifying the included angle between the first robotic arm 2 and the second robotic arm 3.

[0095] Example 2

[0096] This invention also provides a robot that includes the calibration structure of embodiment 1.

[0097] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0098] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A calibration structure applied to a robot, the robot comprising a base, a first robotic arm, and a second robotic arm, the first robotic arm being mounted on the base, and the second robotic arm being connected to the first robotic arm via a drive speed regulating mechanism, characterized in that... The calibration structure includes: The zero-position line is set on the first robotic arm; The first-level scale line is set on the second robotic arm; A primary indicator disk is provided with a primary zero position indicator connected to the drive speed regulation mechanism to amplify the angle between the first robotic arm and the second robotic arm; When the zero line, the first-level scale line and the first-level zero mark are collinear, the angle between the first robotic arm and the second robotic arm is 0° or 180°. The calibration structure also includes a secondary label disk and a secondary amplification component. The secondary label disk is provided with a secondary zero position mark. The secondary amplification component is disposed between the secondary label disk and the primary label disk to amplify the angle between the first robotic arm and the second robotic arm. When the zero position line, the primary scale line, the primary zero position mark, and the secondary zero position mark are collinear, the angle between the first robotic arm and the second robotic arm is 0° or 180°. The calibration structure further includes a support, which includes a connecting part and a base plate. The connecting part is connected to the second robotic arm and is located at the end of the first robotic arm away from the base. The base plate is located on the side of the first robotic arm away from the second robotic arm. The secondary label disk is rotatably mounted on the bracket.

2. The calibration structure according to claim 1, characterized in that, The drive speed regulation mechanism includes a drive motor and a reducer. The reducer is mounted on the first robotic arm, and the drive motor is mounted on the second robotic arm. The drive shaft of the drive motor is connected to the input end of the reducer, and the primary indicator disk is connected to the drive shaft.

3. The calibration structure according to claim 1, characterized in that, The drive speed regulation mechanism includes a drive motor and a reducer. The reducer is mounted on the second robotic arm, and the drive motor is mounted on the first robotic arm. The drive shaft of the drive motor is connected to the input end of the reducer, and the primary indicator disk is connected to the output end of the reducer.

4. The calibration structure according to claim 2 or 3, characterized in that, The first-level scale line is located on the side of the substrate away from the first robotic arm, and the zero-level line is located on the side of the first robotic arm facing the bracket.

5. The calibration structure according to claim 4, characterized in that, The primary indicator disk is rotatably mounted on the bracket, and the primary zero-position indicator is located on the side of the primary indicator disk away from the first robotic arm.

6. The calibration structure according to claim 5, characterized in that, The secondary zero-position marker is located on the side of the secondary marker disk away from the first robotic arm.

7. The calibration structure according to claim 6, characterized in that, The substrate is also provided with secondary scale lines, and the primary scale lines and the secondary scale lines are collinear.

8. The calibration structure according to claim 7, characterized in that, The secondary amplification component includes gear drive, belt drive, or speed reducer.

9. A robot, characterized in that, The robot includes the calibration structure as described in any one of claims 1-8.

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