Simple calibration structure and calibration method for zero point of robot joint

Abstract

The invention discloses a robot joint zero point simple calibration structure and method, and belongs to the technical field of robotics.The structure comprises a joint fixing base and a joint rotating plate arranged at the top of the joint fixing base, a positioning block is arranged on one side of the joint rotating plate, and a calibration base is arranged below the positioning block; the calibration seat is connected with the joint fixing seat, the bottom of the calibration seat is provided with a bottom cover, the calibration seat is sleeved with a calibration shaft capable of moving up and down, the positioning block is provided with a calibration through hole, and the calibration shaft is inserted into the calibration through hole to simply calibrate the zero point of the robot joint. Through accurate matching of the calibration shaft, the calibration through hole in the positioning block and the calibration limiting groove, accurate positioning of the zero point of the joint is achieved, the structure is relatively simple, consistency is good during repeated calibration, and the operation accuracy of the robot can be effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to a simple calibration structure and method for the zero point of a robot joint, belonging to the technical field of robots. Background Art

[0002] In recent years, industrial robots and humanoid robots have been widely used in many fields such as manufacturing and service industries, and their research and development have entered a new upsurge. During the operation of a robot, the mechanical zero point calibration of the robotic arm's rotating joint is a crucial link, which directly relates to the running accuracy, stability, and reliability of the robot. At the same time, in the field of mechanical engineering, zero point calibration is also the key to ensuring the accuracy and performance of mechanical equipment.

[0003] Currently, most of the existing traditional calibration methods on the market have many defects. Some calibration methods based on high-precision measurement software can achieve relatively high precision, but they rely on complex electronic devices and software systems, with high equipment costs and high implementation costs. Moreover, the operation process is cumbersome and requires professional technical personnel to complete, making this method inapplicable to most small and medium-sized enterprises and scenarios of on-site rapid calibration. In addition, during the calibration process, such methods are easily interfered by external environmental factors such as electromagnetic interference and light changes, resulting in unsatisfactory stability and reliability of the final calibration results.

[0004] For some simple calibration methods, such as by means of scale marking or alignment, although the operation is relatively simple, in actual use, due to factors such as mechanical vibration and handling, the zero point position often gets lost or shifted. This will not only increase the motion positioning error and reduce the working accuracy of the robot, but also increase the equipment maintenance time and repair costs, bringing unnecessary economic burdens to enterprises.

[0005] In summary, the existing robot joint zero point calibration methods cannot meet the requirements of convenience, low cost, high precision, and high reliability in practical applications, and there is an urgent need for a new calibration structure and method to solve these problems. Summary of the Invention

[0006] To solve the above technical problems, the present invention provides a simple calibration structure and method for the zero point of a robot joint. By designing a simple and reliable mechanical structure, it realizes convenient, efficient, and low-cost joint zero point calibration, overcoming the disadvantages of the existing calibration methods such as relying on precision instruments, cumbersome operation, high cost, large influence by the environment, and easy interference of calibration accuracy.

[0007] The technical solution adopted by the present invention to solve its technical problems is:

[0008] A simple calibration structure for the zero point of a robot joint, including a joint fixing seat and a joint rotating plate arranged on the top of the joint fixing seat. A positioning block is arranged on one side of the joint rotating plate, a calibration seat is arranged below the positioning block, the calibration seat is connected to the joint fixing seat, a bottom cover is arranged at the bottom of the calibration seat, a calibrating shaft that can move up and down is sleeved on the calibration seat, and a calibration through hole is opened on the positioning block. The simple calibration of the zero point of the robot joint is realized by inserting the calibrating shaft into the calibration through hole.

[0009] Preferably, a free limiting groove is arranged on the lower surface of the bottom cover, and a limiting step corresponding to the free limiting groove is arranged at the bottom of the outer peripheral side of the calibrating shaft. By rotating the calibrating shaft to make the limiting step rotate, when the free limiting groove and the limiting step coincide, it is the calibration release state, and the joint fixing seat resumes free rotation.

[0010] Preferably, guiding inclined surfaces are symmetrically arranged on both sides of the lower surface of the positioning block, and the top end of the calibrating shaft is in an arc structure.

[0011] Preferably, a return spring is arranged in the positioning block, and an upward thrust is provided to the calibrating shaft through the return spring.

[0012] Preferably, a limiting ring is arranged on the upper part of the outer peripheral side of the calibrating shaft, and the limiting ring is used to limit the length of the calibrating shaft extending out of the positioning block.

[0013] Preferably, a calibration limiting groove corresponding to the limiting step is opened on the lower surface of the positioning block. When the limiting step is located in the calibration limiting groove, it is the calibration state, and the calibration of the zero point of the robot joint is realized.

[0014] A calibration method based on the simple calibration structure for the zero point of a robot joint, the specific steps include:

[0015] Move the calibrating shaft to make the limiting step on the calibrating shaft coincide with the calibration limiting groove;

[0016] When rotating the joint rotating plate and the positioning block rotates to a position close to the calibration seat, slow down the speed, and continue to rotate until the guiding inclined surface starts to contact the calibrating shaft;

[0017] When the calibrating shaft slides into the calibration through hole, the current position is set as the mechanical zero point, and the current position value is recorded;

[0018] After calibration, move the calibrating shaft to make the limiting step coincide with the free limiting groove of the bottom cover, and the joint resumes free rotation, and the calibration is completed.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] Through the precise cooperation of the calibration shaft with the calibration through holes and calibration limit grooves on the positioning block, the precise positioning of the joint zero point is achieved. The structure is relatively simple, has good consistency during multiple repeated calibrations, and can effectively ensure the running accuracy of the robot;

[0021] This calibration structure and method are applicable to the independent marking of various rotary motion joints or individual axes of a robotic arm. Whether it is an industrial robot or a humanoid robot, the technical solution of the present invention can be applied, with simple and flexible operation and not affected by external factors such as electromagnetic interference;

[0022] The entire calibration structure is compact, without the need for any complex or additional tools, and can be calibrated in any occasion and environment, which greatly reduces the calibration cost and operation difficulty. Even non-professional technicians can easily complete the calibration work. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0024] Figure 1 is a schematic structural diagram of the whole of the present invention;

[0025] Figure 2 is a schematic partial structural diagram of the present invention;

[0026] Figure 3 is Figure 2 the bottom view of the structure;

[0027] Figure 4 is a cross-sectional view of the structure at the calibration shaft of the present invention.

[0028] In the figure: 1, positioning block; 2, calibration seat; 3, bottom cover; 4, return spring; 5, calibration shaft; 6, joint rotation plate; 7, guiding inclined surface; 8, calibration through hole; 9, limiting step; 10, free limiting groove; 11, limiting ring; 12, joint fixing seat. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0030] Please refer to Figures 1-4 , the present invention provides a technical solution:

[0031] As Figure 1 and Figure 2 shown, a simple calibration structure for the zero point of a robot joint includes a joint fixing seat 12 and a joint rotating plate 6 arranged on the top of the joint fixing seat 12. The joint rotating plate 6 can rotate relative to the joint fixing seat 12. A positioning block 1 is arranged on one side of the joint rotating plate 6, and a calibration seat 2 is arranged below the positioning block 1. The calibration seat 2 is connected to the joint fixing seat 12 to ensure the stability of the calibration seat 2. A bottom cover 3 is arranged at the bottom of the calibration seat 2. A calibration shaft 5 that can move up and down is sleeved on the calibration seat 2. A calibration through hole 8 is opened on the positioning block 1. The simple calibration of the zero point of the robot joint is realized by inserting the calibration shaft 5 into the calibration through hole 8.

[0032] As Figure 3 shown, a free limit groove 10 is arranged on the lower surface of the bottom cover 3, and a limit step 9 corresponding to the free limit groove 10 is arranged at the bottom of the outer peripheral side of the calibration shaft 5. By rotating the calibration shaft 5 to make the limit step 9 rotate, when the free limit groove 10 and the limit step 9 coincide, it is the calibration release state, and the joint fixing seat 12 resumes free rotation.

[0033] Furthermore, a calibration limit groove corresponding to the limit step 9 is opened on the lower surface of the positioning block 1. When the limit step 9 is located in the calibration limit groove, it is the calibration state, realizing the calibration of the zero point of the robot joint. This design is simple and reliable. Through the cooperation of the limit step 9 and the calibration limit groove, the zero point position of the joint can be accurately determined.

[0034] Furthermore, guiding inclined surfaces 7 are symmetrically arranged on both sides of the lower surface of the positioning block 1, and the top end of the calibration shaft 5 is in an arc structure. The design of the guiding inclined surfaces 7 and the arc-shaped top end of the calibration shaft 5 can play a guiding role during the calibration process, making the calibration shaft 5 slide into the calibration through hole 8 more smoothly, improving the accuracy and efficiency of calibration.

[0035] As Figure 4 shown, a return spring 4 is arranged inside the positioning block 1, and an upward thrust is provided to the calibration shaft 5 through the return spring 4. This design ensures that in the non-calibration state, the calibration shaft 5 can be kept in a certain position, avoiding its random movement from affecting the normal rotation of the joint.

[0036] Furthermore, a limit ring 11 is arranged on the upper part of the outer peripheral side of the calibration shaft 5. The limit ring 11 is used to limit the length of the calibration shaft 5 extending out of the positioning block 1. By reasonably setting the position of the limit ring 11, the extending length of the calibration shaft 5 can be accurately controlled, ensuring the stability and consistency of the calibration process.

[0037] A calibration method based on the simple calibration structure for the zero point of a robot joint specifically includes the following steps:

[0038] Move the calibration shaft 5 so that the limit step 9 on the calibration shaft 5 coincides with the calibration limit groove, preparing for calibration;

[0039] When the rotating joint rotating plate 6 rotates to make the positioning block 1 approach the calibration seat 2, slow down the speed and continue to rotate until the guiding inclined surface 7 starts to contact the calibration shaft 5. In this process, slow rotation can ensure that the calibration shaft 5 can accurately contact the guiding inclined surface 7, avoiding calibration errors caused by too fast speed;

[0040] When the calibration shaft 5 slides into the calibration through hole 8, the current position is set as the mechanical zero point, and the current position value is recorded. At this time, the zero point position of the robot joint is accurately determined;

[0041] After calibration, move the calibration shaft 5 to make the limit step 9 coincide with the free limit groove 10 of the bottom cover 3, and the joint resumes free rotation. Calibration is completed. This step returns the robot joint to the normal working state and does not affect subsequent operations.

[0042] The working process of this embodiment is as follows: When the zero point calibration of the robot joint is required, first move the calibration shaft 5 to make the limit step 9 coincide with the calibration limit groove. At this time, the joint rotating plate 6 is in a rotatable state. Slowly rotate the joint rotating plate 6 to drive the positioning block 1 to gradually approach the calibration seat 2. When the guiding inclined surface 7 on the lower surface of the positioning block 1 starts to contact the calibration shaft 5, continue to rotate slowly. Under the guiding action of the guiding inclined surface 7, the calibration shaft 5 gradually slides into the calibration through hole 8. When the calibration shaft 5 completely slides into the calibration through hole 8, the position where the joint rotating plate 6 is located at this time is the mechanical zero point, and record the current position value to complete the zero point calibration;

[0043] After calibration, to make the joint resume free rotation for the normal operation of the robot, move the calibration shaft 5 to make the limit step 9 rotate to coincide with the free limit groove 10 on the lower surface of the bottom cover 3. In this process, the return spring 4 provides an upward thrust to the calibration shaft 5 to assist the calibration shaft 5 to reset and ensure the stability of the entire structure;

[0044] In the actual operation process, due to the guiding inclined surfaces 7 symmetrically arranged on both sides of the lower surface of the positioning block 1 and the arc structure at the top of the calibration shaft 5, the calibration shaft 5 can smoothly slide into the calibration through hole 8, improving the success rate and accuracy of calibration. Moreover, this structural design is simple, easy to manufacture and install, reducing the production cost.

[0045] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A simple calibration structure for the zero point of a robot joint, comprising a joint fixing base (12) and a joint rotating plate (6) arranged on the top of the joint fixing base (12), characterized in that, A positioning block (1) is provided on one side of the joint rotation plate (6). A calibration seat (2) is provided below the positioning block (1). The calibration seat (2) is connected to the joint fixed seat (12). A bottom cover (3) is provided at the bottom of the calibration seat (2). A calibrating shaft (5) that can move up and down is sleeved on the calibration seat (2). A calibration through hole (8) is provided on the positioning block (1). By inserting the calibrating shaft (5) into the calibration through hole (8), simple calibration of the zero point of the robot joint is achieved.

2. The simple zero-point calibration structure of a robot joint according to claim 1, wherein A free limiting groove (10) is provided on the lower surface of the bottom cover (3). A limiting step (9) corresponding to the free limiting groove (10) is provided at the bottom of the outer peripheral side of the calibrating shaft (5). By rotating the calibrating shaft (5) to make the limiting step (9) rotate, when the free limiting groove (10) and the limiting step (9) coincide, it is the calibration release state, and the joint fixed seat (12) resumes free rotation.

3. The simple zero-point calibration structure for a robot joint according to claim 1, wherein, Guide slopes (7) are symmetrically provided on both sides of the lower surface of the positioning block (1). The top end of the calibrating shaft (5) is in an arc structure.

4. The simple zero-point calibration structure of a robot joint according to claim 1, wherein, A return spring (4) is provided inside the positioning block (1). The return spring (4) provides an upward thrust to the calibrating shaft (5).

5. A simple zero-point calibration structure for a robot joint according to claim 1, characterized in that, A limiting ring (11) is provided on the upper part of the outer peripheral side of the calibrating shaft (5). The limiting ring (11) is used to limit the length of the calibrating shaft (5) extending out of the positioning block (1).

6. The simple zero-point calibration structure for a robot joint according to claim 2, characterized in that A calibration limiting groove corresponding to the limiting step (9) is provided on the lower surface of the positioning block (1). When the limiting step (9) is located in the calibration limiting groove, it is the calibration state, and calibration of the zero point of the robot joint is achieved.

7. A calibration method for the simple calibration structure of the robot joint zero point according to any one of claims 1-6, characterized in that, The specific steps include: Moving the calibrating shaft (5) so that the limiting step (9) on the calibrating shaft (5) coincides with the calibration limiting groove; When rotating the joint rotation plate (6) to make the positioning block (1) rotate to a position close to the calibration seat (2), slow down the speed and continue to rotate until the guide slope (7) starts to contact the calibrating shaft (5); When the calibrating shaft (5) slides into the calibration through hole (8), the current position is set as the mechanical zero point, and the current position value is recorded; After calibration, move the calibrating shaft (5) to make the limiting step (9) coincide with the free limiting groove (10) of the bottom cover (3), and the joint resumes free rotation, and the calibration is completed.

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