CN108044650A - A kind of Simple low-cost mechanical arm zero-bit high-precision determines method - Google Patents
A kind of Simple low-cost mechanical arm zero-bit high-precision determines method Download PDFInfo
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- CN108044650A CN108044650A CN201710719997.XA CN201710719997A CN108044650A CN 108044650 A CN108044650 A CN 108044650A CN 201710719997 A CN201710719997 A CN 201710719997A CN 108044650 A CN108044650 A CN 108044650A
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- shoulder joint
- groove
- convex platform
- mechanical arm
- shell flange
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- Engineering & Computer Science (AREA)
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Abstract
A kind of Simple low-cost mechanical arm zero-bit high-precision locating method is related to mechanical arm calibration field；Include the following steps：Step (1), the first groove of milling and the second groove；Step (2), the first shoulder joint shell flange, the first shoulder joint harmonic speed reducer and the second shoulder joint shell flange sequentially coaxially connect；Step (3) makes gauge block；Step (4), motor drive the second shoulder joint shell flange to rotate, when estimating alignment on the second groove and the first groove vertical direction, motor stalls；Gauge block is inserted by step (5) from the side wall of the first shoulder joint harmonic speed reducer, examines whether convex platform, lower convex platform match with the first groove, the second groove；If matching, mechanical arm zero-bit determine；If mismatching, step (4) and step (5) are repeated until matching；The present invention is using high-precision frock, and easy to operate, cheap, small to joint of mechanical arm damage, precision is high.
Description
Technical field
The present invention relates to a kind of mechanical arms to demarcate field, particularly a kind of Simple low-cost mechanical arm zero-bit high accuracy positioning
Method.
Background technology
, it is necessary to high-precision absolute fix precision when mechanical arm performs task.Influence the finger of mechanical arm absolute fix precision
It is exactly determining for mechanical arm zero-bit to indicate very much, important one.If the inaccuracy that mechanical arm zero-bit determines, directly results in machine
The actual DH parameters of tool arm and the DH parameters of control theory model are inconsistent, cause to control mistake.
In the searching of traditional mechanical arm zero-bit, there are many methods, for example after mechanical arm zero-bit loss, use is high-precision
The sonac of degree finds zero degree, also such as carries out Zero positioning etc. using laser tracker.Above-mentioned scaling method is more
Complexity, generally time-consuming longer, price is costly.
The content of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, it is high to provide a kind of Simple low-cost mechanical arm zero-bit
Precision positioning methods, it is easy to operate using high-precision frock, it is cheap, small, precision height is damaged to joint of mechanical arm.
The above-mentioned purpose of the present invention is achieved by following technical solution：
A kind of Simple low-cost mechanical arm zero-bit high-precision locating method, includes the following steps：
Step (1), in first shoulder joint shell flange outer circle the first groove of milling side wall；In the second shoulder joint housing method
Blue the second groove of outer circle milling side wall；
Step (2), by the first shoulder joint shell flange, the first shoulder joint harmonic speed reducer and the second shoulder joint housing method
Orchid sequentially coaxially connects；
Step (3) makes gauge block, is the handle of rectangular configuration in the middle part of gauge block, the top side wall of handle stretches out convex platform；
The bottom side wall of handle stretches out lower convex platform；The size of convex platform is corresponding with the first groove size；The size of lower convex platform and second recessed
Slot size corresponds to；
Step (4) controls driver control motor to drive the first shoulder joint harmonic speed reducer and the by the first shoulder joint
Two shoulder joint shell flanges rotate；When estimating alignment on the second groove and the first groove vertical direction；Pass through the first shoulder joint
Control driver control motor stalls；
Step (5) corresponds to the first groove according to gauge block according to convex platform, and lower convex platform corresponds to the direction of the second groove, will measure
Block is inserted into from the side wall of the first shoulder joint harmonic speed reducer；
If the convex platform of gauge block is fully inserted into the first groove and lower convex platform is fully inserted into the second groove, Current mechanical arm closes
Absolute position zero setting is saved, mechanical arm zero-bit determines；
If convex platform or lower convex platform cannot be fully inserted into, repeatedly step (4) and step (5), until convex platform is complete
It stretches into the first groove and lower convex platform is fully inserted into the second groove, mechanical arm zero-bit determines.
In a kind of above-mentioned Simple low-cost mechanical arm zero-bit high-precision locating method, the step (1), first is recessed
Slot and the second groove are cubic shaped, length of side 4.8-5.2mm；The dimensional accuracy of first groove and the second groove length of side is
0.05mm grades.
In a kind of above-mentioned Simple low-cost mechanical arm zero-bit high-precision locating method, the step (2), described
One shoulder joint shell flange is fixedly and coaxially connected with the first shoulder joint housing；First shoulder joint harmonic speed reducer and the second shoulder joint
Shell flange is fixedly connected with the output shaft of the first shoulder joint motor, realizes that the first shoulder joint motor drives the first shoulder joint harmonic wave
Retarder and the second shoulder joint shell flange rotate synchronously.
In a kind of above-mentioned Simple low-cost mechanical arm zero-bit high-precision locating method, the step (3), the amount
Block is stainless steel material；Wherein, the width L1 of handle is 3-5 times of convex platform width L2；Hanging down between convex platform and lower convex platform
Directly distance L3 is longer 1-2mm than the thickness of the first shoulder joint harmonic speed reducer.
In a kind of above-mentioned Simple low-cost mechanical arm zero-bit high-precision locating method, the step (3), convex platform
For horizontal bench structure, base length L4 is protruded horizontally up as the first shoulder joint shell flange radius and the second shoulder joint shell flange
The difference of radius.
In a kind of above-mentioned Simple low-cost mechanical arm zero-bit high-precision locating method, the surface grinding accuracy of the gauge block
For 0.02mm.
In a kind of above-mentioned Simple low-cost mechanical arm zero-bit high-precision locating method, axial one end of the motor is fixed
Encoder is installed；Encoder realizes the accurate control to motor rotation angle.
The present invention has the following advantages that compared with prior art：
(1) present invention employs high-acruracy survey module, the modular shape is simple, and shape as needed is changeable, is easy to add
Work；
(2) present invention employs high-precision groove, the groove when mechanical arm housing is processed, can synchronous processing, positioning accurate
Degree is high；
(3) further groove of the present invention is relatively low to the shape need of mechanical arm housing, can cutting as long as having on connection circumference
Place.It is smaller to joint of mechanical arm Shell destruction；
(4) measuring method of the present invention is simple, should be readily appreciated that and operates, and reduces operation threshold.
Description of the drawings
Fig. 1 is present invention determine that method flow diagram；
Fig. 2 is the seven freedom mechanical arm schematic diagram that the present invention carries zero-bit groove；
Fig. 3 is high-acruracy survey block schematic diagram of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments：
It is illustrated in figure 2 the seven freedom mechanical arm schematic diagram with zero-bit groove, as seen from the figure, a kind of Simple low-cost
Mechanical arm zero-bit high-precision determining device includes：First shoulder joint housing 1, the first shoulder joint control driver 2, the first shoulder joint
Shell flange 3, the first groove 4, the second shoulder joint shell flange 5, the second shoulder joint housing 6, the second shoulder joint motor 7, second
Groove 8, the first shoulder joint harmonic speed reducer 9, the first shoulder joint motor 10, encoder 11, gauge block 12；Wherein, gauge block 12 includes
Convex platform 13, lower convex platform 14 and handle 15；
Wherein, the first shoulder joint shell flange 3 is fixedly mounted on the top of the first shoulder joint harmonic speed reducer 9；First shoulder
Joint housing 1 is fixedly mounted on 3 top of the first shoulder joint shell flange；First shoulder joint motor 10 is fixedly mounted on the first shoulder
The top of joint harmonic speed reducer 9；Encoder 11 is fixedly mounted on top the first shoulder joint control of the first shoulder joint motor 10
Driver 2 is fixedly mounted on the side wall of the first shoulder joint housing 1；It is recessed that the side wall of first shoulder joint shell flange 3 is provided with first
Slot 4；Second shoulder joint shell flange 5 is fixedly mounted on the bottom of the first shoulder joint harmonic speed reducer 9；Second shoulder joint housing method
Orchid 5 is fixedly mounted on the bottom of the first shoulder joint harmonic speed reducer 9；Second shoulder joint housing 6 is fixedly mounted on the second shoulder joint
The bottom of shell flange 5；Second shoulder joint motor 7 is fixedly mounted on the bottom of the second shoulder joint housing 6；Second shoulder joint housing
The lateral wall of flange 5 is provided with the second groove 8
It is as shown in Figure 1 definite method flow diagram, as seen from the figure, a kind of Simple low-cost mechanical arm zero-bit high accuracy positioning
Method includes the following steps：
Step (1), in 3 the first groove of outer circle milling side wall 4 of the first shoulder joint shell flange；In the second shoulder joint housing
5 the second groove of outer circle milling side wall 8 of flange；First groove 4 and the second groove 8 are cubic shaped, length of side 4.8-
5.2mm；The dimensional accuracy of 8 length of side of first groove 4 and the second groove is 0.05mm grades.
Step (2), by the first shoulder joint shell flange 3, the first shoulder joint harmonic speed reducer 9 and the second shoulder joint housing
Flange 5 sequentially coaxially connects；Wherein, the first shoulder joint shell flange 3 is fixedly and coaxially connected with the first shoulder joint housing 1；First
9 and second shoulder joint shell flange 5 of shoulder joint harmonic speed reducer is fixedly connected with the output shaft of the first shoulder joint motor 10, is realized
First shoulder joint motor 10 drives the first shoulder joint harmonic speed reducer 9 and the second shoulder joint shell flange 5 to rotate synchronously.
Step (3) makes gauge block 12, and the surface grinding accuracy of gauge block 12 is 0.02mm.High-precision is illustrated in figure 3 to survey
Gauge block schematic diagram, as seen from the figure, wherein, 12 middle part of gauge block is the handle 15 of rectangular configuration, and the top side wall of handle 15 stretches out
Boss 13；The bottom side wall of handle 15 stretches out lower convex platform 14；The size of convex platform 13 is corresponding with 4 size of the first groove；Lower convex platform
14 size is corresponding with 8 size of the second groove；Wherein, gauge block 12 is stainless steel material；Wherein, the width L1 of handle 15 is convex
3-5 times of 13 width L2 of platform；Vertical range L3 between convex platform 13 and lower convex platform 14 is than the first shoulder joint harmonic speed reducer 9
The long 1-2mm of thickness.
Lower convex platform 14 is horizontal bench structure, and lower convex platform 14 protrudes horizontally up base length L4 as the first shoulder joint shell flange
The difference of 5 radius of 3 radiuses and the second shoulder joint shell flange.
Step (4) controls driver 2 that the first shoulder joint motor 10 is controlled to drive the first shoulder joint by the first shoulder joint
9 and second shoulder joint shell flange 5 of harmonic speed reducer rotates；It aligns when being estimated on 4 vertical direction of the second groove 8 and the first groove
When；Control driver 2 that the first shoulder joint motor 10 is controlled to stop operating by the first shoulder joint；
Step (5) corresponds to the first groove 4 according to gauge block 12 according to convex platform 13, and lower convex platform 14 corresponds to the second groove 8
Gauge block 12 is inserted by direction from the side wall of the first shoulder joint harmonic speed reducer 9；
If the convex platform 13 of gauge block 12 is fully inserted into the first groove 4 and lower convex platform 14 is fully inserted into the second groove 8, currently
The zero setting of joint of mechanical arm absolute position, mechanical arm zero-bit determine；
If convex platform 13 or lower convex platform 14 cannot be fully inserted into, repeatedly step 4 and step 5, until convex platform 13 is complete
It stretches into the first groove 4 entirely and lower convex platform 14 is fully inserted into the second groove 8, mechanical arm zero-bit determines.
Axial one end of first shoulder joint motor 10 is installed with encoder 11；Encoder 11 is realized to the first shoulder joint
The accurate control of 10 rotation angle of motor.
Present invention employs high-precision metric blocks 12, and 12 shape of gauge block is simple, and shape as needed is changeable, easy to process；Together
When employing high-precision the first groove 4 and the second groove 8, the first groove 4 and the second groove 8 when mechanical arm housing is processed,
Can synchronous processing, positioning accuracy is high；First groove 4 and the second groove 8 are relatively low to the shape need of mechanical arm housing, as long as
Connect circumference on have can cutting place.It is smaller to joint of mechanical arm Shell destruction；Measuring method of the present invention is simple, easily
In understanding and operating, operation threshold is reduced
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (7)
1. a kind of Simple low-cost mechanical arm zero-bit high-precision locating method, it is characterised in that：Include the following steps：
Step (1), in first shoulder joint shell flange (3) first groove of outer circle milling side wall (4)；In the second shoulder joint housing
Flange (5) second groove of outer circle milling side wall (8)；
Step (2), by the first shoulder joint shell flange (3), the first shoulder joint harmonic speed reducer (9) and the second shoulder joint housing
Flange (5) sequentially coaxially connects；
Step (3) makes gauge block (12), is the handle (15) of rectangular configuration in the middle part of gauge block (12), the top side wall of handle (15)
Stretch out convex platform (13)；The bottom side wall of handle (15) stretches out lower convex platform (14)；The size of convex platform (13) and the first groove (4)
Size corresponds to；The size of lower convex platform (14) is corresponding with the second groove (8) size；
Step (4) controls driver (2) that the first shoulder joint motor (10) is controlled to drive the first shoulder joint by the first shoulder joint
Harmonic speed reducer (9) and the second shoulder joint shell flange (5) rotate；When on the second groove (8) and the first groove (4) vertical direction
During range estimation alignment；Control driver (2) that the first shoulder joint motor (10) is controlled to stop operating by the first shoulder joint；
Step (5) corresponds to the first groove (4) according to gauge block (12) according to convex platform (13), and lower convex platform (14) corresponds to the second groove
(8) gauge block (12) is inserted by direction from the side wall of the first shoulder joint harmonic speed reducer (9)；
If the convex platform (13) of gauge block (12) is fully inserted into the first groove (4) and lower convex platform (14) is fully inserted into the second groove (8),
Then Current mechanical shoulder joint absolute position zero setting, mechanical arm zero-bit determine；
If convex platform (13) or lower convex platform (14) cannot be fully inserted into, repeatedly step (4) and step (5), until convex platform
(13) it is fully inserted into the first groove (4) and lower convex platform (14) is fully inserted into the second groove (8), mechanical arm zero-bit determines.
2. a kind of Simple low-cost mechanical arm zero-bit high-precision locating method according to claim 1, it is characterised in that：Institute
It states in step (1), the first groove (4) and the second groove (8) are cubic shaped, length of side 4.8-5.2mm；First groove
(4) and the dimensional accuracy of the second groove (8) length of side is 0.05mm grades.
3. a kind of Simple low-cost mechanical arm zero-bit high-precision locating method according to claim 1, it is characterised in that：Institute
It states in step (2), the first shoulder joint shell flange (3) is fixedly and coaxially connected with the first shoulder joint housing (1)；First shoulder
Joint harmonic speed reducer (9) and the second shoulder joint shell flange (5) are fixedly connected with the output shaft of the first shoulder joint motor (10),
Realize that the first shoulder joint motor (10) drives the first shoulder joint harmonic speed reducer (9) synchronous with the second shoulder joint shell flange (5)
It rotates.
4. a kind of Simple low-cost mechanical arm zero-bit high-precision locating method according to claim 1, it is characterised in that：Institute
It states in step (3), the gauge block (12) is stainless steel material；Wherein, the width L1 of handle (15) is convex platform (13) width L2
3-5 times；Vertical range L3 between convex platform (13) and lower convex platform (14) is than the thickness of the first shoulder joint harmonic speed reducer (9)
Long 1-2mm.
5. a kind of Simple low-cost mechanical arm zero-bit high-precision locating method according to claim 4, it is characterised in that：Institute
It states in step (3), lower convex platform (14) is horizontal bench structure, protrudes horizontally up base length L4 as the first shoulder joint shell flange
(3) difference of radius and second shoulder joint shell flange (5) radius.
6. a kind of Simple low-cost mechanical arm zero-bit high-precision locating method according to claim 5, it is characterised in that：Institute
The surface grinding accuracy for stating gauge block (12) is 0.02mm.
7. a kind of Simple low-cost mechanical arm zero-bit high-precision locating method according to claim 1, it is characterised in that：Institute
The axial one end for stating the first shoulder joint motor (10) is installed with encoder (11)；Encoder (11) is realized to the first shoulder joint
The accurate control of motor (10) rotation angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719997.XA CN108044650B (en) | 2017-08-21 | 2017-08-21 | High-precision determination method for zero position of mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719997.XA CN108044650B (en) | 2017-08-21 | 2017-08-21 | High-precision determination method for zero position of mechanical arm |
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| Publication Number | Publication Date |
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| CN108044650A true CN108044650A (en) | 2018-05-18 |
| CN108044650B CN108044650B (en) | 2019-12-20 |
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| CN201710719997.XA Active CN108044650B (en) | 2017-08-21 | 2017-08-21 | High-precision determination method for zero position of mechanical arm |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5665897A (en) * | 1996-08-09 | 1997-09-09 | Delco Electronics Corporation | Method of calibrating and zeroing stepper motor gauges |
| CN103395073A (en) * | 2013-08-22 | 2013-11-20 | 中国船舶重工集团公司第七一六研究所 | Zero calibration method of six-axis industrial robot |
| CN205254992U (en) * | 2015-08-31 | 2016-05-25 | 常州汉迪机器人科技有限公司 | Six arms |
| CN105690423A (en) * | 2014-11-11 | 2016-06-22 | 沈阳新松机器人自动化股份有限公司 | Robot zero position calibrating device and method |
| CN106239509A (en) * | 2016-08-18 | 2016-12-21 | 佛山智能装备技术研究院 | A kind of precision machinery people |
-
2017
- 2017-08-21 CN CN201710719997.XA patent/CN108044650B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5665897A (en) * | 1996-08-09 | 1997-09-09 | Delco Electronics Corporation | Method of calibrating and zeroing stepper motor gauges |
| CN103395073A (en) * | 2013-08-22 | 2013-11-20 | 中国船舶重工集团公司第七一六研究所 | Zero calibration method of six-axis industrial robot |
| CN105690423A (en) * | 2014-11-11 | 2016-06-22 | 沈阳新松机器人自动化股份有限公司 | Robot zero position calibrating device and method |
| CN205254992U (en) * | 2015-08-31 | 2016-05-25 | 常州汉迪机器人科技有限公司 | Six arms |
| CN106239509A (en) * | 2016-08-18 | 2016-12-21 | 佛山智能装备技术研究院 | A kind of precision machinery people |
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|---|---|
| CN108044650B (en) | 2019-12-20 |
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