A method for quickly finding a reference point after a robot failure or a collision

Abstract

This invention discloses a method for quickly finding a reference point after a robot arm malfunctions or is impacted. The method involves moving the malfunctioning or impacted robot arm to a calibration device for recalibration of the reference point. The calibration device includes a calibration base, a first positioning pin mounted on the calibration base and mounted on the robot arm, a second positioning pin fixedly mounted on the calibration base, and a positioning sleeve slidably sleeved around the second positioning pin. During calibration, the first positioning pin is fixed to the robot arm, and then the robot arm is moved so that the tips of the first and second positioning pins are aligned vertically. The positioning sleeve is then moved upwards until it moves smoothly to the outer periphery of the first positioning pin and its lower end is higher than the tip of the first positioning pin. This point is recorded as the reference point. This application utilizes the cooperation of the first and second positioning pins and the positioning sleeve to quickly find the reference point. The overall operation is simple and significantly reduces maintenance costs.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing technology, specifically relating to a method for quickly finding a reference point after a robot arm malfunctions or is impacted. Background Technology

[0002] my country's industrial robot production is continuously increasing, and its application areas are constantly expanding. In addition to traditional industries such as automobile manufacturing and electronics manufacturing, it has also been widely used in logistics, food processing, and medical fields. At the same time, the research and development of humanoid robots has also made some progress. Existing intelligent robots can adapt to various terrains and, in addition to conventional movements, can perform push-ups, actively lie down, and autonomously get up. After extensive deep learning and training, they can be applied in many fields such as home services and assisted medical care.

[0003] Conventional robotic arms require specialized robotic arms to readjust their positions after malfunctions or collisions, which is time-consuming and labor-intensive and urgently needs improvement. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method for quickly finding the reference point after a robot arm malfunctions or an impact.

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

[0006] A method for quickly finding the reference point after a robot arm malfunctions or is impacted involves moving the malfunctioning or impacted robot arm to a calibration device for recalibration of the reference point.

[0007] The calibration device includes a calibration base, a first positioning pin mounted on the calibration base and mounted on a robotic arm, a second positioning pin fixedly mounted on the calibration base, and a positioning sleeve slidably sleeved around the second positioning pin. The tip of the second positioning pin is facing upwards. When the positioning sleeve is in its lowest position, its upper end is lower than the tip of the second positioning pin.

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

[0009] Step 1: Move the malfunctioning or impacted robotic arm to the calibration base, and then install the first positioning pin vertically on the robotic arm with the tip of the first positioning pin facing down.

[0010] Step two: Continue moving the robotic arm until the tips of the first and second positioning pins are aligned vertically and abutted. Move the positioning sleeve upwards. When the positioning sleeve can move upwards without jamming to the outer circumference of the first positioning pin and its lower end is higher than the tip of the first positioning pin, record this point as the reference point. If the positioning sleeve jams when moving upwards, continue to fine-tune the alignment of the tips of the first and second positioning pins until the positioning sleeve can move upwards without jamming to the outer circumference of the first positioning pin and its lower end is higher than the tip of the first positioning pin.

[0011] Preferably, the top surface of the calibration 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 in its lowest position.

[0012] Preferably, the calibration device further includes a protective sleeve that can be fitted onto the upper end of the second positioning pin. The protective sleeve can be supported on the upper end of the positioning slide sleeve. When the first positioning pin is installed on the robot arm, the protective sleeve at the upper end of the second positioning pin can be removed.

[0013] Preferably, the calibration device further includes a temporary sleeve disposed on the top surface of the calibration base for placing the first positioning pin, the temporary sleeve being located on one side of the second positioning pin and forming a slot for inserting the first positioning pin.

[0014] Preferably, the robotic arm includes a robotic arm and a gripper portion disposed at the front end of the robotic arm. The gripper portion includes a gripping block disposed at the front end of the robotic arm and a first cylinder gripper and a second cylinder gripper respectively disposed at both ends of the gripping block.

[0015] Preferably, the first positioning pin includes a first positioning block and a first positioning pin rod disposed 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 disposed on the top of the first positioning pin rod that can be locked onto the clamping block and a positioning section disposed on the top of the locking section that 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 mates with the locking bolt.

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

[0018] As can be seen from the above description of the present invention, compared with the prior art, the beneficial effects of the present invention are as follows: By defining the structure of the calibration device, the present application utilizes the cooperation of the first positioning pin, the second positioning pin, and the positioning sleeve to quickly determine the reference point during the robot arm debugging stage. When the robot arm changes position due to malfunction or impact during subsequent work and cannot continue to work according to the set trajectory, the operator can move the robot arm to the calibration device position and continue to quickly find the reference point through the cooperation of the first positioning pin, the second positioning pin, and the positioning sleeve, and resume production. The overall operation is simple, and there is no need for professional personnel to readjust the robot arm position, which greatly reduces maintenance costs. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the calibration device;

[0020] Figure 2 A partial structural diagram of the calibration device. Figure 1 ;

[0021] Figure 3 A partial structural diagram of the calibration device. Figure 1 ;

[0022] Figure 4 A partial structural diagram of the calibration device. Figure 1 ;

[0023] Figure 5 A partial structural diagram of the calibration device. Figure 1 ;

[0024] In the figure, 1-calibration base, 2-first positioning pin, 3-second positioning pin, 4-positioning slide sleeve, 5-protective sleeve, 6-temporary storage sleeve, 7-robotic arm, 11-mounting block, 21-first positioning block, 22-first positioning pin rod, 23-locking section, 24-positioning section, 61-slot, 71-robotic arm, 72-gripper part, 73-gripper block, 731-mounting groove, 732-locking screw hole, 74-first cylinder gripper, 75-second cylinder gripper. Detailed Implementation

[0025] The present invention will be further described below through specific embodiments.

[0026] A method for quickly finding the reference point after a robot arm malfunctions or is impacted involves moving the malfunctioning or impacted robot arm 7 to a calibration device for recalibration of the reference point. The calibration device is also used to determine the reference point during the debugging phase of the robot arm 7.

[0027] Reference Figures 1 to 5As shown, the calibration device includes a calibration base 1, a first positioning pin 2 mounted on the calibration base 1 and mounted on a robot arm 7, a second positioning pin 3 fixedly mounted on the calibration base 1, a positioning sleeve 4 slidably sleeved around the second positioning pin 3, a protective sleeve 5 sleeved on the upper end of the second positioning pin 3, and a temporary storage sleeve 6 on the top surface of the calibration base 1 for placing the first positioning pin 2. The top surface of the calibration 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 its 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 forms 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 mounted on the first positioning block 21. Further, the tip of the second positioning pin 2 is positioned upwards on the calibration base 1. When the positioning sleeve 4 is in its lowest position, its upper end is lower than the tip of the second positioning pin 2.

[0028] The robotic arm 7 includes a robotic arm 71 and a gripper portion 72 disposed at the front end of the robotic arm 71. The gripper portion 72 includes a gripping block 73 disposed at the front end of the robotic arm 71 and a first cylinder gripper 74 and a second cylinder gripper 75 disposed at both ends of the gripping block 73. The gripping block 73 is provided with a mounting groove 731 for mounting a first positioning block 21. Specifically, the first positioning block 21 includes a locking section 23 disposed at the top of the first positioning pin rod 22 that can be locked onto the gripping block 73 and a positioning section 24 disposed at the top of the locking section 23 that can be embedded into the mounting groove 731. The locking section 23 is fixed onto the gripping block 73 by a locking bolt. The gripping block 73 is provided with a locking screw hole 732 that mates with the locking bolt. Specifically, the first cylinder gripper 74 is disposed in a vertical position and the second cylinder gripper 75 is disposed in a horizontal position to meet different work requirements. Furthermore, the robotic arm 7 is a five-axis robotic arm or a six-axis robotic arm.

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

[0030] Step 1: Move the malfunctioning or impacted robotic arm 7 to the calibration base 1, and then install the first positioning pin 2 vertically on the robotic arm 7 with the tip of the first positioning pin 2 facing down. At the same time, remove the protective sleeve 5 from the upper end of the second positioning pin 3.

[0031] Step 2: Continue moving the robotic arm 7 until the tip of the first positioning pin 2 aligns with the tip of the second positioning pin 3 vertically. Move the positioning sleeve 4 upwards. When the positioning sleeve 4 can move upwards without jamming to the outer periphery of the first positioning pin 2 and its lower end is higher than the tip of the first positioning pin 2, record this point as the reference point. If the positioning sleeve 4 jams when moving upwards, continue to fine-tune the alignment of the tips of the first positioning pin 2 and the second positioning pin 3 until the positioning sleeve 4 can move upwards without jamming to the outer periphery of the first positioning pin 2 and its lower end is higher than the tip of the first positioning pin 2.

[0032] This application, by defining the structure of the calibration device, utilizes the cooperation of the first positioning pin 2, the second positioning pin 3, and the positioning sleeve 4 during the debugging phase of the robot arm 7 to quickly determine the reference point. When the robot arm 7 changes position due to malfunction or impact during subsequent work and cannot continue to work according to the set trajectory, the operator can move the robot arm 7 to the calibration device position and continue to quickly find the reference point through the cooperation of the first positioning pin 2, the second positioning pin 3, and the positioning sleeve 4, and resume production. The overall operation is simple, and there is no need for professional personnel to readjust the robot arm position, which greatly reduces maintenance costs.

[0033] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the 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 retrieving a reference point after a robot arm malfunctions or impacts, characterized in that: Move the malfunctioning or impacted robotic arm to the calibration device for recalibration of the reference point. The calibration device includes a calibration base, a first positioning pin mounted on the calibration base and mounted on a robotic arm, a second positioning pin fixedly mounted on the calibration base, and a positioning sleeve slidably sleeved around the second positioning pin. The tip of the second positioning pin is facing upwards. When the positioning sleeve is in its lowest position, its upper end is lower than the tip of the second positioning pin. The method for quickly finding the reference point includes the following steps: Step 1: Move the malfunctioning or impacted robotic arm to the calibration base, and then install the first positioning pin vertically on the robotic arm with the tip of the first positioning pin facing down. Step two: Continue moving the robotic arm until the tips of the first and second positioning pins are aligned vertically and abutted. Move the positioning sleeve upwards. When the positioning sleeve can move upwards without jamming to the outer circumference of the first positioning pin and its lower end is higher than the tip of the first positioning pin, record this point as the reference point. If the positioning sleeve jams when moving upwards, continue to fine-tune the alignment of the tips of the first and second positioning pins until the positioning sleeve can move upwards without jamming to the outer circumference of the first positioning pin and its lower end is higher than the tip of the first positioning pin.

2. The method for quickly finding a reference point after a robot arm malfunction or impact, as described in claim 1, is characterized in that: The top surface of the calibration base is provided with a mounting block for installing the second positioning pin. When the bottom of the positioning sleeve is supported on the top surface of the mounting block, the positioning sleeve is in its lowest position.

3. The method for quickly finding a reference point after a robot arm malfunction or impact, as described in claim 1, is characterized in that: The calibration device also includes a protective sleeve that can be fitted onto the upper end of the second positioning pin. The protective sleeve can be supported on the upper end of the positioning slide sleeve. When the first positioning pin is installed on the robot arm, the protective sleeve at the upper end of the second positioning pin can be removed.

4. The method for quickly finding a reference point after a robot arm malfunction or impact, as described in claim 1, is characterized in that: The calibration device also includes a temporary sleeve disposed on the top surface of the calibration base for placing the first positioning pin. The temporary sleeve is located on one side of the second positioning pin and forms a slot for inserting the first positioning pin.

5. The method for quickly finding a reference point after a robot arm malfunction or impact, as described in claim 1, is characterized in that: The robotic arm includes a robotic arm and a gripper portion disposed at the front end of the robotic arm. The gripper portion includes a gripping block disposed at the front end of the robotic arm and a first cylinder gripper and a second cylinder gripper disposed at both ends of the gripping block.

6. The method for quickly finding a reference point after a robot arm malfunction or impact, as described in claim 5, is characterized in that: The first positioning pin includes a first positioning block and a first positioning pin rod disposed on the first positioning block, and the clamping block is provided with a mounting groove for mounting the first positioning block.

7. The method for quickly finding a reference point after a robot arm malfunction or impact, as described in claim 6, is characterized in that: The first positioning block includes a locking section that can be locked onto the clamping block at the top of the first positioning pin rod and a positioning section that can be embedded into the mounting groove at the top of the locking section. The locking section is fixed onto the clamping block by a locking bolt, and the clamping block is provided with a locking screw hole that mates with the locking bolt.

8. The method for quickly finding a reference point after a robot arm malfunction or impact, as described in claim 5, is characterized in that: The first cylinder gripper is set in a vertical position, and the second cylinder gripper is set in a horizontal position.

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