Calibration device for a robot and robot

Abstract

The present disclosure relates to a calibration device for a robot and the robot, the robot comprising at least one set of two components capable of relative movement, calibration parts being arranged on the components, the calibration part on one of the two components having a zero position relative to the calibration part on the other component; the calibration device comprising a calibration structure, the calibration structure comprising a plug-in part for plugging into the calibration parts on the two components in the zero position and capable of limiting the relative movement of the two components. Through the above technical solution, the two components capable of relative movement of the robot can be quickly and conveniently calibrated and zeroed, and the zero calibration accuracy of the joint actuator of the robot can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more specifically, to a calibration device and a robot for use in robotics. Background Technology

[0002] Each joint actuator of a robot typically needs to obtain its mechanical rotation angle in real time to achieve precise control of the robot's posture. In order to reduce costs and simplify the structure, incremental encoders can be used to measure the mechanical rotation angle of the joint actuator in real time within the range of 0° to 360°. However, incremental encoders need to be recalibrated at zero position after the joint actuator is powered on again.

[0003] In related technologies, the joint actuator is usually manually rotated to a specific position, thus assuming that the rotation angle of the joint actuator has been manually zeroed (for example, with an elbow joint actuator, the upper arm and forearm are usually rotated to the same straight line to be considered that the elbow joint is at zero). This method of manually zeroing is usually based on visual inspection, resulting in poor calibration accuracy. Inaccurate zeroing can affect the control accuracy of the robot. Utility Model Content

[0004] The purpose of this disclosure is to provide a calibration device and robot for robots that can improve the zero-position calibration accuracy of robot joint actuators, thereby at least partially solving the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this disclosure, a calibration apparatus for a robot is provided, the robot comprising at least one set of two components capable of relative motion, each component being provided with a calibration part, the calibration part on one of the two components having a zero position relative to the calibration part on the other.

[0006] The calibration device includes a calibration structure, which includes a plug-in portion for plugging into each of the calibration portions located at the zero position on the two components, and is capable of restricting the relative movement of the two components.

[0007] Optionally, there may be multiple calibration structures connected together, and each calibration structure may be applicable to different groups of the two components.

[0008] Optionally, at least two of the calibration structures are detachably connected.

[0009] Optionally, the plurality of calibration structures include a first calibration structure and a second calibration structure, at least one of the first calibration structure and the second calibration structure being provided with a gripping portion, and / or at least one of the first calibration structure and the second calibration structure serving as a gripping portion of the other.

[0010] Optionally, the first calibration structure and the second calibration structure are connected along a first direction, the first calibration structure extends along the first direction, the insertion portion of the first calibration structure is located at least at one end of the first calibration structure away from the second calibration structure along the first direction, so as to be inserted into the two calibration portions opposite to each other at the zero position along the first direction, and the second calibration structure is provided with the gripping portion.

[0011] Optionally, the first calibration structure includes a rod extending along a first direction, the rod forming the insertion portion.

[0012] Optionally, the gripping part includes at least one of a hole, a slot, and a handle disposed on the second calibration structure.

[0013] Optionally, the second calibration structure has at least one of its two opposing sides along the second direction as a plug-in portion for plugging into the two calibration portions that are opposite each other at the zero position along the first direction, wherein the second direction is perpendicular to the first direction.

[0014] Optionally, the gripping part includes a hole located between two insertion parts on opposite sides of the second calibration structure along the second direction, the hole penetrating the second calibration structure along a third direction, the third direction being perpendicular to the first direction and the second direction respectively.

[0015] According to a second aspect of this disclosure, a robot is provided, comprising at least one set of two components capable of relative movement, each component having a calibration part, the calibration part on one of the two components having a zero position relative to the calibration part on the other, the calibration part including a mating part, wherein, at the zero position, each of the mating parts on the two components is capable of being jointly inserted into a mating part of a calibration device, and is limited to the zero position by the mating part.

[0016] Optionally, the mating portion includes a recess and / or a through hole recessed into the component.

[0017] Optionally, the two components are rotatable relative to each other about a pivot axis, and in the zero position, the respective mating portions on the two components are opposite each other in the extension direction of the pivot axis.

[0018] Optionally, one of the two components includes an actuator, and the other includes a base rotatably connected to the actuator.

[0019] Through the above technical solution, when two relatively movable parts of the robot are in the zero position, the insertion part of the calibration structure can be inserted into each calibration part on the two parts in the zero position. Furthermore, when the insertion part is inserted into each calibration part, the relative movement of the two parts is restricted. In other words, when the insertion part can be inserted into each calibration part on the two parts, since the two parts cannot move relative to each other and are in a relatively stationary position, it can be determined that the relative position of the two parts has been zeroed, facilitating precise attitude control when the robot moves again. Therefore, this calibration device can quickly and conveniently calibrate and zero out two relatively movable parts of the robot, and can improve the zero-position calibration accuracy of the robot's joint actuators.

[0020] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0022] Figure 1 This is a schematic diagram of the overall structure of the calibration device provided in an exemplary embodiment of this disclosure;

[0023] Figure 2 This is a schematic diagram of the calibration device provided in an exemplary embodiment of the present disclosure for use with a waist actuator;

[0024] Figure 3 This is a schematic diagram of the calibration device provided in an exemplary embodiment of the present disclosure for use with a waist actuator at another angle;

[0025] Figure 4 This is a schematic diagram of the calibration device provided in an exemplary embodiment of the present disclosure for use with a waist actuator at another angle;

[0026] Figure 5 This is a schematic diagram of the calibration device provided in an exemplary embodiment of the present disclosure for use in a knee joint actuator.

[0027] Explanation of reference numerals in the attached figures

[0028] 10. Calibration device;

[0029] 1. First calibration structure; 2. Second calibration structure; 3. Insertion part; 4. Grip part; 5. Main body;

[0030] 20. First waist actuator; 30. Second waist actuator; 301. End cap; 40. Waist connector; 401. Horizontal part; 402. Vertical part; 50. Calibration part; 501. Plug-in mating part; 60. Knee joint actuator; 70. First linkage structure; 80. Knee connector. Detailed Implementation

[0031] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0032] In this disclosure, unless otherwise stated, "inner" and "outer" refer to the interior and exterior of the outline of the corresponding component; "far" and "near" refer to the distance of the corresponding component relative to another component in terms of spatial position. Furthermore, the terms "first," "second," etc., used in this disclosure are for distinguishing one element from another and do not have sequential or importance. When the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0033] In related technologies, humanoid robots obtain the rotation angle of joint actuators in real time and accurately through encoders. After the robot is powered off and then powered on again, the encoder needs to be zero-calibrated to improve the encoder's detection accuracy. Generally, the encoder's zero-calibration can be achieved by zero-calibrating the joint actuators. The inventors discovered through research that when zero-calibrating the joint actuators of humanoid robots, the joint actuators are usually manually rotated to a specific position, thus assuming that the rotation angle of the joint actuator has been manually zeroed (for example, taking the elbow joint actuator as an example, the upper arm and forearm are usually manually rotated to the same straight line, which is considered to have the elbow joint zeroed). This manual zeroing method is usually based on visual inspection, resulting in poor calibration accuracy. Inaccurate zeroing will affect the control accuracy of the robot.

[0034] To solve the aforementioned technical problems, in accordance with the first aspect of this disclosure, reference is made to... Figures 1 to 5 As shown, this disclosure provides a calibration device 10 for a robot. The robot includes at least one set of two components capable of relative movement. Each component is provided with a calibration part 50. The calibration part 50 on one of the two components has a zero position relative to the calibration part 50 on the other component.

[0035] The calibration device 10 includes a calibration structure, which includes a plug-in part 3 for inserting into each calibration part 50 on two components at the zero position, and is capable of restricting the relative movement of the two components.

[0036] Through the above technical solution, when the two relatively movable parts of the robot are in the zero position, the insertion part 3 of the calibration structure can be inserted into each calibration part 50 on the two parts in the zero position. When the insertion part 3 is inserted into each calibration part 50, it restricts the relative movement of the two parts. In other words, when the insertion part 3 can be inserted into each calibration part 50 on the two parts, since the two parts cannot move relative to each other and are in a relatively stationary position, it can be determined that the relative position of the two parts has been zeroed, facilitating precise attitude control when the robot moves again. Therefore, through this calibration device 10, the two relatively movable parts of the robot can be quickly and conveniently calibrated and zeroed, and the zero-position calibration accuracy of the robot's joint actuators can be improved.

[0037] In one exemplary application scenario, refer to Figures 1 to 4 As shown, the calibration device 10 can be applied to humanoid robots. For example, the calibration device 10 can be used to calibrate the joint actuators of a humanoid robot to the zero position. The joint actuators include encoders. As is known, encoders are the core components for achieving precise motion control of robots and ensuring the motion performance of joints. Specifically, the encoder can be an absolute encoder for real-time detection of the absolute position of joint rotation or an incremental encoder for real-time detection of the relative displacement of joint rotation, so as to provide accurate position feedback for the control system.

[0038] For example, the joint actuator can be a waist actuator, wherein the waist structure of the humanoid robot can include a first waist actuator 20 and a second waist actuator 30, both of which are connected to a waist connector 40 and are rotatable relative to the waist connector 40. The waist connector 40 has a horizontal portion 401 and vertical portions 402 connected to both ends of the horizontal portion 401. The first waist actuator 20 is connected to the horizontal portion 401, and the second waist actuator 30 is connected between the two vertical portions 402.

[0039] The first waist actuator 20 and the second waist actuator 30 may include harmonic reducers for joint transmission and control. A harmonic reducer is a precision transmission device that transmits motion and power through the interaction of a flexible wheel, a rigid wheel, and a wave generator, enabling rotation of the first waist actuator 20 and the second waist actuator 30 relative to the waist connector 40. Its principle is well known in the art and will not be elaborated upon here.

[0040] Understandably, exemplarily, one of the two components can be a first waist actuator 20, and the other can be a waist connector 40. The output end of the first waist actuator 20 is fixedly connected to the waist connector 40 to drive the torso structure of the humanoid robot to rotate relative to the waist connector 40. Thus, calibration parts 50 can be respectively provided on the first waist actuator 20 and the waist connector 40 for insertion and engagement with the plug-in part 3. For example, the calibration part 50 of the first waist actuator 20 can be a first groove formed on the surface of the output end of the harmonic reducer, and the calibration part 50 of the waist connector 40 can be a second groove formed on the surface of the horizontal part 401. The first groove and the second groove have the same dimensions along the relative rotation direction. Thus, when the first groove and the second groove are misaligned, the first waist actuator 20 is not in the zero position; when the first groove and the second groove are opposite, the first waist actuator 20 is in the zero position. At this time, the plug-in part 3 can be inserted into the first groove and the second groove simultaneously to calibrate the first waist actuator 20 to the zero position and maintain the first waist actuator 20 in the zero position.

[0041] Furthermore, exemplarily, one of the two components can be a second waist actuator 30, and the other can be a waist connector 40. The harmonic reducer output end of the second waist actuator 30 is connected to one of the vertical portions 402 of the waist connector 40 to drive the waist connector 40 to rotate. The end cap 301 of the second waist actuator 30 is close to the other vertical portion 402 of the waist connector 40. The harmonic reducer output end rotates relative to the end cap 301 of the second waist actuator 30, so the end cap 301 of the second waist actuator 30 rotates relative to the waist connector 40. Thus, calibration portions 50 can be respectively provided on the second waist actuator 30 and the waist connector 40 for insertion and engagement with the insertion portion 3. For example, the calibration portion 50 of the second waist actuator 30 can be a groove formed in the end cap 301, and the calibration portion 50 of the waist connector 40 can be a through hole formed in the vertical portion 402. The radial dimensions of the groove and the through hole are the same. Therefore, when the groove and the through hole are not coaxial, the second waist actuator 30 is not in the zero position. When the groove and the through hole are coaxial, the second waist actuator 30 is in the zero position. At this time, the plug part 3 can pass through the through hole and plug into the groove to calibrate the second waist actuator 30 in the zero position and keep the second waist actuator 30 in the zero position.

[0042] It is understood that the above-mentioned insertion of the plug-in part 3 and the calibration part 50 is that the plug-in part 3 is inserted into the calibration part 50. This arrangement can reduce the influence of the calibration part 50 on the relative movement of the components. In some other embodiments, for example, the calibration part 50 of the first waist actuator 20 may be a first protrusion formed on the output end surface of the harmonic reducer, and the calibration part 50 of the waist connector 40 may be a second protrusion formed on the surface of the horizontal part 401. When the first protrusion and the second protrusion are collinear in the height direction, the first waist actuator 20 is in the zero position. At this time, a groove can be formed on the plug-in part 3 for the first protrusion and the second protrusion to be inserted, so as to calibrate the first waist actuator 20 in the zero position and keep the first waist actuator 20 in the zero position.

[0043] Furthermore, by way of example, the calibration part 50 of the second waist actuator 30 may be a third protrusion formed on the end cap 301, and the calibration part 50 of the waist connector 40 may be a through hole formed on the vertical part 402. When the third protrusion and the through hole are not coaxial, the second waist actuator 30 is not in the zero position. When the third protrusion and the through hole are coaxial, the second waist actuator 30 is in the zero position. At this time, the insertion part 3 may pass through the through hole and allow the third protrusion to be inserted to calibrate the second waist actuator 30 in the zero position and keep the second waist actuator 30 in the zero position.

[0044] Therefore, the description of the construction of the above-mentioned plug-in part 3 and calibration part 50 in this disclosure is merely exemplary. The plug-in part 3 and calibration part 50 can be constructed in any suitable manner according to actual needs. Zero-position calibration of the joint actuator can be achieved simply by plugging and mating. This disclosure is not limited thereto.

[0045] In some embodiments, reference Figures 1 to 4 As shown, there can be multiple calibration structures connected together, and the connector 3 of each calibration structure has a different structure, thus each calibration structure is suitable for two components in different groups. In this way, the calibration device 10 can integrate and connect multiple calibration structures to improve applicability, enabling calibration of two components in different groups or at different positions. For example, the calibration structure may include a first calibration structure 1 and a second calibration structure 2, with the connector 3 of the first calibration structure 1 and the connector 3 of the second calibration structure 2 being different. It is understood that in the above exemplary application scenario, the first waist actuator 20 and the waist connector 40, and the second waist actuator 30 and the waist connector 40 are two groups of components from different groups. The structures of the calibration sections 50 of the two groups of components are different, and therefore the calibration methods suitable for zero-position calibration are different. Thus, the second waist actuator 30 can be zero-position calibrated using the first calibration structure 1, and the first waist actuator 20 can be zero-position calibrated using the second calibration structure 2.

[0046] In some embodiments, reference Figures 1 to 4As shown, at least two calibration structures are detachably connected, allowing for the combination and disassembly of multiple calibration structures to suit different calibration scenarios. For example, during zero-position calibration of the second waist actuator 30, since the calibration section 50 of the second waist actuator 30 and the calibration section 50 of the waist connector 40 are relatively far apart, the first calibration structure 1 and the second calibration structure 2 can be connected to increase the volume of the calibration device 10. For instance, the operator can hold the second calibration structure 2 to easily insert the insertion part 3 of the first calibration structure 1 into the second waist actuator 30 and the waist connector 40, making the insertion process less strenuous.

[0047] Furthermore, when performing zero-position calibration on the first waist actuator 20, since the calibration part 50 of the first waist actuator 20 and the calibration part 50 of the waist connector 40 are adjacent, the second calibration structure 2 can be disassembled and separated from the first calibration structure 1 to reduce the space occupied by the calibration device 10 during the calibration process, thereby reducing the possibility that the first calibration structure 1 may hinder the normal function of the second calibration structure 2.

[0048] It is understood that the detachable connection of the above-mentioned at least two calibration structures can adopt any suitable structure. For example, the two calibration structures can be implemented by means of threaded connection, elastic snap-fit, or binding connection. This disclosure is not limited thereto.

[0049] In some embodiments, reference Figure 1 As shown, the plurality of calibration structures may include a first calibration structure 1 and a second calibration structure 2. At least one of the first calibration structure 1 and the second calibration structure 2 is provided with a gripping part 4, so that the gripping part 4 can facilitate the operator to hold the calibration device 10 to calibrate the robot's components at zero position through the first calibration structure 1 and the second calibration structure 2. In this disclosure, the gripping part 4 is provided on the second calibration structure 2 so that the operator can use the gripping part 4 to drive the insertion part 3 of the second calibration structure 2 to insert into the calibration part 50 of the component.

[0050] It is understood that in some other embodiments, at least one of the first calibration structure 1 and the second calibration structure 2 is used as the gripping part 4 of the other, so that by connecting the first calibration structure 1 and the second calibration structure 2, one of the first calibration structure 1 and the second calibration structure 2 is used as the gripping part 4 of the other.

[0051] In some embodiments, reference Figures 1 to 4As shown, the first calibration structure 1 and the second calibration structure 2 are connected along a first direction. The first calibration structure 1 can extend along the first direction. The insertion portion 3 of the first calibration structure 1 is located at least at the end of the first calibration structure 1 away from the second calibration structure 2 along the first direction, so that the second calibration structure 2 can avoid the insertion portion 3 of the first calibration structure 1, so that the insertion portion 3 of the first calibration structure 1 can be inserted and mated with the two components. In addition, a gripping portion 4 is provided on the second calibration structure 2, which facilitates the insertion of the insertion portion 3 of the first calibration structure 1 into the two components. Furthermore, the first calibration structure 1 and the second calibration structure 2 are connected along the first direction, and the first calibration structure 1 can extend along the first direction, which can increase the size of the calibration device in the first direction, making it easier to grip the second calibration structure 2 and allowing the first calibration structure 1 to be inserted into the calibration portion 50 on the two components along the first direction.

[0052] The insertion portion 3 of the first calibration structure 1 is used to insert into two calibration portions 50 located opposite each other in the first direction at the zero position. The first direction, as well as the second and third directions described below, are relative to the calibration device, or are based on the calibration device. For example, as shown below... Figure 1 As shown, the first direction (i.e., the X direction) is the extension direction of the rod of the first calibration structure 1 (described below), and the second direction (i.e., the Y direction) and the third direction (i.e., the Z direction) are perpendicular to each other and both perpendicular to the first direction.

[0053] Therefore, taking the second waist actuator 30 and the waist connector 40 as examples, at the zero position, the insertion part 3 of the first calibration structure 1 can pass through the calibration part 50 of the waist connector 40 along the first direction and be inserted into the calibration part 50 of the second waist actuator 30 for zero-position calibration of the second waist actuator 30. At this time, along the first direction of the calibration device, the calibration part 50 of the second waist actuator 30 and the calibration part 50 of the waist connector 40 are coaxially opposite each other in the first direction.

[0054] In some embodiments, reference Figures 1 to 4As shown, the first calibration structure 1 may include a rod extending along a first direction, the rod forming a plug-in portion 3. Thus, by inserting the rod into the calibration portions 50 of the two components, zero-position calibration of the two relatively moving components can be achieved. Taking the second waist actuator 30 and the waist connector 40 as examples, in the zero-position position, the calibration portions 50 of the second waist actuator 30 and the waist connector 40 are coaxially opposite. The calibration portion 50 of the second waist actuator 30 may be a groove formed in the end cap 301, and the calibration portion 50 of the waist connector 40 may be a through hole formed in the vertical portion 402. When the groove and the through hole are coaxial, the second waist actuator 30 is in the zero position. At this time, the rod can pass through the through hole and be inserted into the groove to calibrate the second waist actuator 30 at the zero position and maintain the second waist actuator 30 at the zero position.

[0055] In some other possible embodiments, the calibration portion 50 of the second waist actuator 30 may be a third protrusion formed on the end cap 301, and the calibration portion 50 of the waist connector 40 may be a through hole formed on the vertical portion 402. When the third protrusion and the through hole are coaxial, the second waist actuator 30 is in the zero position. At this time, a insertion groove is formed on the end of the rod away from the second calibration structure 2 along the first direction. The rod can pass through the through hole, and the insertion groove on the rod is used for the third protrusion to be inserted, so as to calibrate the second waist actuator 30 in the zero position and keep the second waist actuator 30 in the zero position. This disclosure is not limited thereto.

[0056] In some embodiments, reference Figure 1 As shown, the gripping part 4 may include at least one of a hole, a slot, and a handle provided on the second calibration structure 2. In this way, when using the second calibration structure 2, the operator can hold the handle, pass his fingers through the hole, or insert his fingers into the slot to grip the second calibration structure 2, which facilitates the insertion part 3 of the second calibration structure 2 to be inserted and engaged with the calibration part 50 of the component.

[0057] It is understandable that when the second calibration structure 2 and the first calibration structure 1 are connected, the insertion part 3 of the first calibration structure 1 and the calibration part 50 of the component can be easily inserted and cooperated through the second calibration structure 2 and the gripping part 4.

[0058] In some embodiments, reference Figures 1 to 4As shown, at least one of the two opposing sides of the second calibration structure 2 along the second direction is provided with a plug-in portion 3 for plugging into two calibration portions 50 that are opposite each other at the zero position along the second direction, the second direction being perpendicular to the first direction. Taking the first waist actuator 20 and the waist connector 40 as examples, the calibration portion 50 of the first waist actuator 20 can be a first groove formed on the outer peripheral surface of the harmonic reducer, and the calibration portion 50 of the waist connector 40 can be a second groove formed on the surface of the horizontal portion 401. At the zero position, the first groove and the second groove are opposite each other. When using the calibration device, the calibration device is inserted into the first groove and the second groove along the second direction. Wherein, when the calibration device is inserted into the first groove and the second groove, the first groove and the second groove can, exemplarily, be opposite each other along the first direction. In this embodiment, the plug-in portion 3 can be configured as a plug-in block so that the first groove and the second groove can be inserted simultaneously to calibrate the first waist actuator 20 at the zero position and keep the first waist actuator 20 at the zero position.

[0059] In other embodiments, the calibration portion 50 of the first waist actuator 20 may be a first protrusion formed on the outer peripheral surface of the harmonic reducer, and the calibration portion 50 of the waist connector 40 may be a second protrusion formed on the surface of the horizontal portion 401. When the first protrusion and the second protrusion are opposite to each other, the first waist actuator 20 is in the zero position. At this time, the insertion portion 3 may include an insertion slot for the first protrusion and the second protrusion to be inserted to calibrate the first waist actuator 20 in the zero position and keep the first waist actuator 20 in the zero position.

[0060] In some embodiments, reference Figure 1 As shown, the gripping part 4 may include a hole located between two insertion parts 3 on opposite sides of the second calibration structure 2 along the second direction. The hole penetrates the second calibration structure 2 along a third direction, which is perpendicular to the first and second directions, respectively. Exemplarily, the second calibration structure 2 may include a main body 5 and insertion parts 3. The gripping part 4 with the hole described above is formed on the main body 5. Thus, during calibration, the operator's fingers can pass through the hole and grasp the main body 5 of the second calibration structure 2, facilitating zero-position calibration of the corresponding components through the insertion parts 3 of the second calibration structure 2 and the insertion engagement of the calibration part 50.

[0061] Understandably, by way of example, the first calibration structure 1 can be connected to the second calibration structure 2 via a threaded connection. For example, a threaded hole can be provided on the main body 5, and the insertion part 3 of the first calibration structure 1 can be constructed as a rod, which can be threaded into the threaded hole, so that the first calibration structure 1 can be detachably connected to the second calibration structure 2. At this time, the gripping of the second calibration structure 2 and the holding part 4 facilitates the zero-position calibration of the corresponding component using the first calibration structure 1.

[0062] According to a second aspect of this disclosure, a robot is provided, comprising at least one set of two components capable of relative movement. Each component is provided with a calibration section 50. The calibration section 50 on one of the components has a zero position relative to the calibration section 50 on the other. Each calibration section 50 includes a mating portion 501. In the zero position, each mating portion 501 on both components can be mutually inserted into by a mating portion 3 of a calibration device 10, and is limited to the zero position by the mating portion 3. Thus, zero-position calibration of the two components can be achieved through the mating of the calibration device 10 with the two components, i.e., the mating of the mating portion 3 and the mating portion 501.

[0063] It is understood that the robot may be a humanoid robot. For example, when the robot is a humanoid robot, one of the two components may include an actuator and the other may include a base that is rotatably connected to the actuator. The actuator may be the waist actuator described above, and the base may be the waist connector 40 described above.

[0064] In addition, refer to Figure 5 As shown, the actuator can also be a knee joint actuator 60, and the base can be a knee connector 80. The knee joint actuator 60 is connected to the knee connector 80 through a first linkage structure 70. The knee joint actuator 60 rotates relative to the knee connector 80 through the first linkage structure 70. Thus, the knee joint actuator 60 can be zero-position calibrated by inserting the insertion part 3 of the first calibration structure 1 into the first linkage structure 70 and the knee connector 80. The calibration part 50 of the first linkage structure 70 can be formed as a through hole, and the calibration part 50 of the knee connector 80 can be formed as a groove. When the through hole and the groove are coaxial, the first calibration structure 1 can pass through the through hole and be inserted into the groove, at which point the knee joint actuator 60 is in the zero position.

[0065] In some embodiments, reference Figures 2 to 4 As shown, the insertion mating part 501 may include a groove and / or a through hole recessed into the component for insertion of the insertion part 3, thereby realizing the insertion mating of the calibration device 10 and the component. It is understood that in some other embodiments, the insertion mating part 501 may also be a protrusion protruding from the component. Taking the first waist actuator 20 and the waist connector 40 as examples, the calibration part 50 of the first waist actuator 20 may be a first protrusion formed on the outer peripheral surface of the harmonic reducer, and the calibration part 50 of the waist connector 40 may be a second protrusion formed on the surface of the horizontal part 401. When the first protrusion and the second protrusion are collinear along the axial direction of the reducer, the first waist actuator 20 is in the zero position. At this time, the insertion part 3 may have an insertion groove formed on the main body 5 of the second calibration structure 2 for insertion of the first protrusion and the second protrusion to calibrate the first waist actuator 20 in the zero position and keep the first waist actuator 20 in the zero position.

[0066] Furthermore, taking the second waist actuator 30 and the waist connector 40 as examples, the calibration part 50 of the second waist actuator 30 can be a third protrusion formed on the end cap 301, and the calibration part 50 of the waist connector 40 can be a through hole formed on the vertical part 402. When the third protrusion and the through hole are coaxial, the second waist actuator 30 is in the zero position. At this time, the insertion part 3 can pass through the through hole and allow the third protrusion to be inserted, so as to calibrate the second waist actuator 30 in the zero position and keep the second waist actuator 30 in the zero position. This disclosure is not limited to this.

[0067] In some embodiments, reference Figures 2 to 5 As shown, the two components can rotate relative to each other around the pivot axis. At the zero position, the insertion and mating parts 501 on the two components are opposite each other in the extension direction of the pivot axis, so as to be suitable for the insertion parts 3 of the first calibration structure 1 and the second calibration structure 2 to be inserted, and at the same time, the insertion parts 3 of the first calibration structure 1 and the second calibration structure 2 can be simplified.

[0068] Taking the first waist actuator 20 and the waist connector 40 as examples, the calibration part 50 of the first waist actuator 20 can be a first groove formed on the outer peripheral surface of the harmonic reducer, and the calibration part 50 of the waist connector 40 can be a second groove formed on the surface of the horizontal part 401. The first waist actuator 20 can rotate relative to the waist connector 40 around the first pivot axis. At the zero position, the first groove and the second groove are opposite each other along the first pivot axis. At this time, the first waist actuator 20 is at the zero position. The insertion part 3 can be inserted into the first groove and the second groove at the same time to calibrate the first waist actuator 20 at the zero position and keep the first waist actuator 20 at the zero position.

[0069] Furthermore, taking the second waist actuator 30 and the waist connector 40 as examples, the output end of the harmonic reducer of the second waist actuator 30 is connected to one of the vertical parts 402 of the waist connector 40 to drive the waist connector 40 to rotate. The end cap 301 of the second waist actuator 30 is close to the other vertical part 402 of the waist connector 40. The output end of the harmonic reducer rotates relative to the end cap 301 of the second waist actuator 30. Therefore, the end cap 301 of the second waist actuator 30 and the waist connector 40 rotate relative to each other around the second pivot axis. For example, the calibration part 50 of the second waist actuator 30 can be a groove formed in the end cap 301, and the calibration part 50 of the waist connector 40 can be a through hole formed in the vertical part 402. In the zero position, the groove and the through hole are coaxial along the second pivot axis. At this time, the second waist actuator 30 is in the zero position. The insertion part 3 can pass through the through hole and be inserted into the groove to calibrate the second waist actuator 30 in the zero position and keep the second waist actuator 30 in the zero position.

[0070] Furthermore, this robot can also be, for example, an industrial assembly robot or a medical surgical robot. The lower part of the robot can be fixed, while the upper structure can rotate relative to the lower part through joint-like actuators. The actuator can be a joint actuator, and the base can be a base. The joint actuator can drive the upper structure to rotate relative to the base, and the upper structure can be, for example, a robotic arm. Thus, zero-position calibration of the joint actuator can be achieved through the insertion and cooperation of the first calibration structure 1 and the second calibration structure 2 with the joint actuator and the base. It is understood that the calibration process can be similar to that of the waist actuator of the humanoid robot described above, and this disclosure will not elaborate further.

[0071] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0072] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0073] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A calibration device for a robot, characterized in that, The robot includes at least one set of two components capable of relative motion, each component being provided with a calibration part, and the calibration part on one of the two components having a zero position relative to the calibration part on the other component. The calibration device includes a calibration structure, which includes a plug-in portion for plugging into each of the calibration portions located at the zero position on the two components, and is capable of restricting the relative movement of the two components.

2. The calibration device according to claim 1, characterized in that, The number of calibration structures is multiple, and the multiple calibration structures are connected together. Each calibration structure is applicable to two components in different groups.

3. The calibration device according to claim 2, characterized in that, At least two of the calibration structures are detachably connected.

4. The calibration device according to claim 2, characterized in that, The plurality of calibration structures include a first calibration structure and a second calibration structure, at least one of the first calibration structure and the second calibration structure being provided with a gripping portion, and / or at least one of the first calibration structure and the second calibration structure serving as a gripping portion of the other.

5. The calibration device according to claim 4, characterized in that, The first calibration structure and the second calibration structure are connected along a first direction. The first calibration structure extends along the first direction. The insertion portion of the first calibration structure is located at least at one end of the first calibration structure away from the second calibration structure along the first direction, so as to be inserted into the two calibration portions opposite each other at the zero position along the first direction. The second calibration structure is provided with the gripping portion.

6. The calibration apparatus according to claim 5, characterized in that, The first calibration structure includes a rod extending along a first direction, the rod forming the insertion portion.

7. The calibration apparatus according to claim 5, characterized in that, The gripping part includes at least one of a hole, a slot, and a handle disposed on the second calibration structure.

8. The calibration apparatus according to claim 5, characterized in that, The second calibration structure has at least one of the two opposing sides along the second direction for insertion into the two calibration parts opposite each other at the zero position along the second direction, the second direction being perpendicular to the first direction.

9. The calibration apparatus according to claim 8, characterized in that, The gripping part includes a hole located between two insertion parts on opposite sides of the second calibration structure along the second direction. The hole penetrates the second calibration structure along a third direction, which is perpendicular to the first direction and the second direction, respectively.

10. A robot, characterized in that, It includes at least one set of two components that can move relative to each other. Each component is provided with a calibration part. The calibration part on one of the two components has a zero position relative to the calibration part on the other component. The calibration part includes a plug-in mating part. At the zero position, each of the plug-in mating parts on the two components can be inserted into the plug-in part of the calibration device and is limited to the zero position by the plug-in part.

11. The robot according to claim 10, characterized in that, The mating part includes a groove and / or a through hole recessed into the component.

12. The robot according to claim 10, characterized in that, The two components are rotatable relative to each other about a pivot axis, and at the zero position, the respective mating parts on the two components are opposite each other in the extension direction of the pivot axis.

13. The robot according to any one of claims 10-12, characterized in that, One of the two components includes an actuator, and the other includes a base rotatably connected to the actuator.

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