Method suitable for quickly finding datum point after mechanical arm breaks down or is impacted

Abstract

The invention discloses a method suitable for quickly finding a datum point after a mechanical arm breaks down or is impacted. The method comprises the steps that the mechanical arm which breaks down or is impacted is moved to a correcting device for datum point correction again; the correcting device comprises a correcting base, a first positioning pin which is arranged on the correcting base and can be mounted on the manipulator, a second positioning pin which is fixedly arranged on the correcting base, and a positioning sliding sleeve which sleeves the periphery of the second positioning pin in a sliding manner; during correction, the first positioning needle is fixed to the mechanical arm, then the mechanical arm is moved to enable the tip of the first positioning needle and the tip of the second positioning needle to be vertically aligned and abut against each other, the positioning sliding sleeve is moved upwards, and when the positioning sliding sleeve can move upwards to the periphery of the first positioning needle without blockage and the lower end of the positioning sliding sleeve is higher than the tip of the first positioning needle, correction is conducted. Recording the point as a reference point; through cooperation of the first positioning pin, the second positioning pin and the positioning sliding sleeve, the reference point can be quickly found, the overall operation is simple, and the maintenance cost is greatly reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent manufacturing, and in particular relates to a method for quickly finding a reference point after a robot fails or crashes. Background Art

[0002] The output of industrial robots in my country is increasing, and their application areas are expanding. In addition to traditional industries such as automobile manufacturing and electronic manufacturing, they are also widely used in logistics, food processing, and medical fields. At the same time, the research and development of humanoid robots has also made certain progress. Existing intelligent robots can adapt to a variety of terrains. In addition to conventional movements, they can also do push-ups, actively lie down, and stand up independently. They can also be used in many fields such as home services and auxiliary medical care after a lot of deep learning and training.

[0003] Conventional manipulators require professional manipulators to readjust their positions after a failure or collision, which is time-consuming and labor-intensive and urgently needs improvement. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method suitable for quickly finding a reference point after a robot fails or crashes.

[0005] The present invention adopts the following technical solution:

[0006] A method for quickly finding a reference point after a robot fails or crashes, wherein the robot after the failure or crash is moved to a correction device to re-calibrate the reference point;

[0007] Wherein, the correction device comprises a correction base, a first positioning pin arranged on the correction base and mounted on a manipulator, a second positioning pin fixedly arranged on the correction base, and a positioning sleeve slidably sleeved on the outer periphery of the second positioning pin, wherein the tip of the second positioning pin is arranged upward; when the positioning sleeve is in the lowest position, its upper end is lower than the tip of the second positioning pin;

[0008] The method for quickly finding the reference point specifically includes the following steps:

[0009] Step 1: Move the manipulator that has failed or collided to the calibration base, and then vertically install the first positioning pin on the manipulator so that the tip of the first positioning pin faces downward;

[0010] Step two, continue to move the manipulator so that the tip of the first locating pin is aligned with the tip of the second locating pin and they are against each other, move the positioning sleeve upward, and when the positioning sleeve can move upward to the periphery of the first locating pin without jamming and its lower end is higher than the tip of the first locating pin, record this point as the reference point; when the positioning sleeve gets stuck when moving upward, continue to fine-tune the alignment position of the first locating pin and the tip of the second locating pin until the positioning sleeve can move upward to the periphery of the first locating pin without jamming and its lower end is higher than the tip of the first locating pin.

[0011] Preferably, a mounting block for mounting the second positioning pin is provided on the top surface of the correction base, and when the bottom of the positioning sleeve is supported on the top surface of the mounting block, the positioning sleeve is in the lowest position.

[0012] Preferably, the correction device also includes a protective sleeve that can be sleeved on the upper end of the second positioning pin, and the protective sleeve can be supported on the upper end of the positioning sleeve. When the first positioning pin is installed on the manipulator, the protective sleeve on the upper end of the second positioning pin can be removed.

[0013] Preferably, the correction device further comprises a temporary storage sleeve arranged on the top surface of the correction base for placing the first positioning pin, the temporary storage sleeve is located on one side of the second positioning pin and is formed with a slot for inserting the first positioning pin.

[0014] Preferably, the manipulator comprises a manipulator arm and a clamping jaw portion arranged at the front end of the manipulator arm, and the clamping jaw portion comprises a clamping block arranged at the front end of the manipulator arm and a first cylinder clamping jaw and a second cylinder clamping jaw respectively arranged at both ends of the clamping block.

[0015] Preferably, the first positioning needle comprises a first positioning block and a first positioning needle rod arranged on the first positioning block, and the clamping block is provided with a mounting groove for mounting the first positioning block.

[0016] Preferably, the first positioning block includes a locking section arranged at the top of the first positioning needle rod and can be locked on the clamping block, and a positioning section arranged at the top of the locking section and can be embedded in the mounting groove, the locking section is fixed to the clamping block by a locking bolt, and the clamping block is provided with a locking screw hole that cooperates with the locking bolt.

[0017] Preferably, the first cylinder clamp is arranged in a vertical state, and the second cylinder clamp is arranged in a horizontal state.

[0018] From the above description of the present invention, it can be seen that compared with the prior art, the beneficial effects of the present invention are as follows: the present application limits the structure of the correction device, and in the debugging stage of the manipulator, utilizes the cooperation of the first positioning pin, the second positioning pin and the positioning sleeve to quickly determine the reference point. When the manipulator changes its position due to a fault or collision during subsequent work and cannot continue to work according to the set trajectory, the operator can move the manipulator to the position of the correction device, and continue to use the cooperation of the first positioning pin, the second positioning pin and the positioning sleeve to quickly find the reference point and re-enter production. The overall operation is simple, and there is no need for professionals to readjust the manipulator position, thereby greatly reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the correction device;

[0020] Figure 2 A schematic diagram of the partial structure of the calibration device Figure 1 ;

[0021] Figure 3 A schematic diagram of the partial structure of the calibration device Figure 1 ;

[0022] Figure 4 A schematic diagram of the partial structure of the calibration device Figure 1 ;

[0023] Figure 5 A schematic diagram of the partial structure of the calibration device Figure 1 ;

[0024] In the figure, 1-correction base, 2-first positioning pin, 3-second positioning pin, 4-positioning sleeve, 5-protective sleeve, 6-temporary storage sleeve, 7-manipulator, 11-mounting block, 21-first positioning block, 22-first positioning needle rod, 23-locking section, 24-positioning section, 61-slot, 71-manipulator arm, 72-clamping claw part, 73-clamping block, 731-mounting groove, 732-locking screw hole, 74-first cylinder clamping claw, 75-second cylinder clamping claw. DETAILED DESCRIPTION

[0025] The present invention is further described below through specific implementation modes.

[0026] A method for quickly finding a reference point after a robot malfunction or collision, wherein the robot 7 after the malfunction or collision is moved to a calibration device to recalibrate the reference point, wherein the calibration device is also used to determine the reference point during the debugging phase of the robot 7.

[0027] Reference Figures 1 to 5As shown, the correction device includes a correction base 1, a first positioning pin 2 arranged on the correction base 1 and mountable on a manipulator 7, a second positioning pin 3 fixedly arranged on the correction base 1, a positioning sleeve 4 slidably mounted on the outer periphery of the second positioning pin 3, a protective sleeve 5 which can be mounted on the upper end of the second positioning pin 3 and a temporary storage sleeve 6 arranged on the top surface of the correction base 1 for placing the first positioning pin 2, wherein the top surface of the correction base 1 is provided with a mounting block 11 for mounting the second positioning pin 3; when the bottom of the positioning sleeve 4 is supported on the top surface of the mounting block 11, the positioning sleeve 4 is in the lowest position; the protective sleeve 5 can be supported on the upper end of the positioning sleeve 4; the temporary storage sleeve 6 is located on one side of the second positioning pin 3, and is formed with a slot 61 for inserting the first positioning pin 2; specifically, the first positioning pin 2 includes a first positioning block 21 and a first positioning pin rod 22 arranged on the first positioning block 21; further, the tip of the second positioning pin 2 is arranged upward on the correction base 1; when the positioning sleeve 4 is in the lowest position, its upper end is lower than the tip of the second positioning pin 2.

[0028] The robot 7 includes a robot arm 71 and a clamping jaw portion 72 arranged at the front end of the robot arm 71, wherein the clamping jaw portion 72 includes a clamping block 73 arranged at the front end of the robot arm 71 and a first cylinder clamping jaw 74 and a second cylinder clamping jaw 75 respectively arranged at both ends of the clamping block 73, and a mounting groove 731 for mounting the first positioning block 21 is arranged on the clamping block 73. Specifically, the first positioning block 21 includes a locking section 23 arranged at the top of the first positioning needle rod 22 and can be locked on the clamping block 73, and a positioning section 24 arranged at the top of the locking section 23 and can be embedded in the mounting groove 731. The locking section 23 is fixed to the clamping block 73 by a locking bolt, and the clamping block 73 is provided with a locking screw hole 732 that cooperates with the locking bolt; specifically, the first cylinder clamping jaw 74 is arranged in a vertical state, and the second cylinder clamping jaw 75 is arranged in a horizontal state to meet different work requirements; further, the robot 7 adopts a five-axis robot or a six-axis robot.

[0029] The method for quickly finding the reference point specifically includes the following steps:

[0030] Step 1: Move the manipulator 7 after the failure or collision to the correction base 1, and then install the first positioning pin 2 on the manipulator 7 in a vertical arrangement, so that the tip of the first positioning pin 2 is set downward, and at the same time, remove the protective cover 5 on the upper end of the second positioning pin 3;

[0031] Step 2, continue to move the manipulator 7 so that the tip of the first positioning pin 2 is aligned with the tip of the second positioning pin 3 and they are against each other, and move the positioning sleeve 4 upward. When the positioning sleeve 4 can move upward to the periphery of the first positioning pin 2 without jamming and its lower end is higher than the tip of the first positioning pin 2, record the point at this time as the reference point; when the positioning sleeve 4 gets stuck when moving upward, continue to fine-tune the alignment position of the first positioning pin 2 and the tip of the second positioning pin 3 until the positioning sleeve 4 can move upward to the periphery of the first positioning pin 2 without jamming and its lower end is higher than the tip of the first positioning pin 2.

[0032] The present application limits the structure of the correction device, and during the debugging stage of the manipulator 7, utilizes the cooperation of the first positioning pin 2, the second positioning pin 3 and the positioning sleeve 4 to quickly determine the reference point. When the manipulator 7 changes its position due to a fault or collision during subsequent work and cannot continue to work according to the set trajectory, the operator can move the manipulator 7 to the position of the correction device, and continue to use the cooperation of the first positioning pin 2, the second positioning pin 3 and the positioning sleeve 4 to quickly find the reference point and re-enter production. The overall operation is simple, and there is no need for professionals to readjust the manipulator position, which greatly reduces maintenance costs.

[0033] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of implementation of the present invention. That is, equivalent changes and modifications made according to the application scope of the present invention and the contents of the specification should still fall within the scope of the present invention.

Claims

1. A method for quickly finding a reference point after a robot fails or crashes, characterized in that: Move the robot after failure or collision to the calibration device to recalibrate the reference point; Wherein, the correction device comprises a correction base, a first positioning pin arranged on the correction base and mounted on a manipulator, a second positioning pin fixedly arranged on the correction base, and a positioning sleeve slidably sleeved on the outer periphery of the second positioning pin, wherein the tip of the second positioning pin is arranged upward; when the positioning sleeve is in the lowest position, its upper end is lower than the tip of the second positioning pin; The method for quickly finding the reference point specifically includes the following steps: Step 1: Move the manipulator that has failed or collided to the calibration base, and then vertically install the first positioning pin on the manipulator so that the tip of the first positioning pin faces downward; Step two, continue to move the manipulator so that the tip of the first locating pin is aligned with the tip of the second locating pin and they are against each other, move the positioning sleeve upward, and when the positioning sleeve can move upward to the periphery of the first locating pin without jamming and its lower end is higher than the tip of the first locating pin, record this point as the reference point; when the positioning sleeve gets stuck when moving upward, continue to fine-tune the alignment position of the first locating pin and the tip of the second locating pin until the positioning sleeve can move upward to the periphery of the first locating pin without jamming and its lower end is higher than the tip of the first locating pin.

2. A method for quickly finding a reference point after a robot failure or collision according to claim 1, characterized in that: The top surface of the correction base is provided with a mounting block for mounting the second positioning pin, and when the bottom of the positioning sleeve is supported on the top surface of the mounting block, the positioning sleeve is at the lowest position.

3. A method for quickly finding a reference point after a robot failure or collision according to claim 1, characterized in that: The correction device also includes a protective sleeve that can be sleeved on the upper end of the second positioning pin, and the protective sleeve can be supported on the upper end of the positioning sleeve. When the first positioning pin is installed on the manipulator, the protective sleeve on the upper end of the second positioning pin can be removed.

4. A method for quickly finding a reference point after a robot failure or collision according to claim 1, characterized in that: The correction device also includes a temporary storage sleeve arranged on the top surface of the correction base for placing the first positioning pin, and the temporary storage sleeve is located on one side of the second positioning pin and is formed with a slot for the first positioning pin to be inserted.

5. A method for quickly finding a reference point after a robot failure or collision according to claim 1, characterized in that: The manipulator comprises a mechanical arm and a clamping claw part arranged at the front end of the mechanical arm, and the clamping claw part comprises a clamping block arranged at the front end of the mechanical arm and a first cylinder clamping claw and a second cylinder clamping claw respectively arranged at two ends of the clamping block.

6. A method for quickly finding a reference point after a robot failure or collision according to claim 5, characterized in that: The first positioning needle comprises a first positioning block and a first positioning needle rod arranged on the first positioning block, and the clamping block is provided with a mounting groove for mounting the first positioning block.

7. A method for quickly finding a reference point after a robot failure or collision according to claim 6, characterized in that: The first positioning block includes a locking section arranged at the top of the first positioning needle rod and can be locked on the clamping block, and a positioning section arranged at the top of the locking section and can be embedded in the installation groove. The locking section is fixed to the clamping block by a locking bolt, and the clamping block is provided with a locking screw hole that cooperates with the locking bolt.

8. A method for quickly finding a reference point after a robot failure or collision according to claim 5, characterized in that: The first cylinder clamp is arranged in a vertical state, and the second cylinder clamp is arranged in a horizontal state.

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