CN-121989249-A - Robot and robot zero calibration method

Abstract

The invention discloses a robot and a zero calibration method thereof, which relate to the technical field of robots, wherein the robot comprises a first arm and a second arm which are rotationally connected, an interference piece is arranged on the first arm, a collision piece is arranged on the second arm, the interference piece is used for colliding the collision piece so that the robot can acquire collision reference position signals, and the outer peripheral surface of the interference piece is provided with at least one collision plane and is used for being in line contact with the collision piece. According to the technical scheme, structural complexity and collision delay are reduced, and signal precision is improved.

Inventors

• LIU CHENSI
• GUO WEIWEI
• ZHU JIAZENG
• TANG DUO
• WANG WEIBO

Assignees

• 苏州汇川控制技术有限公司

Dates

Publication Date

20260508

Application Date

20260318

Claims (10)

1. 1. The robot is characterized by comprising a first arm and a second arm which are connected in a rotating mode, wherein an interference piece is arranged on the first arm, a collision piece is arranged on the second arm and used for colliding with the collision piece so that the robot can acquire collision reference position signals, and the peripheral surface of the interference piece is provided with at least one collision plane and used for being in line contact with the collision piece.
2. 2. The robot of claim 1, wherein the interference member includes a fixing portion and a rotating portion, one end of the fixing portion is fixedly connected to the first arm, the rotating portion is sleeved on the outer periphery of the fixing portion and can rotate along the circumferential direction of the fixing portion, and the outer peripheral surface of the rotating portion has at least one collision plane for colliding with the collision member.
3. 3. The robot of claim 2, wherein the interference member further comprises a bearing disposed between the fixed portion and the rotating portion.
4. 4. The robot of claim 1, wherein the first arm has a first mounting hole, one end of the interference member is fixed in the first mounting hole, and/or the second arm has a second mounting hole, and one end of the collision member is fixed in the second mounting hole.
5. 5. The robot of claim 4, wherein a wall of the first mounting hole is provided with a first key groove, a first transmission key is arranged on the periphery of the interference member, the first transmission key is matched with the first key groove, the first transmission key part extends to the outside of the first key groove, and the collision plane is formed on the periphery of the interference member; And/or the hole wall of the second mounting hole is provided with a second key groove, the periphery of the collision piece is provided with a second transmission key, and the second transmission key is matched with the second key groove.
6. 6. The robot of claim 4, further comprising a first securing structure disposed between the aperture wall of the first mounting aperture and the interference member, and/or a second securing structure disposed between the aperture wall of the second mounting aperture and the collision member.
7. 7. The robot of claim 6, wherein the first and/or second securing structures are configured as elastomeric rubber rings.
8. 8. A robot as claimed in claim 4, characterized in that the interference member and/or the collision member is provided with an axially extending exhaust channel.
9. 9. The robot of any one of claims 1 to 8, wherein the collision member is a position sensor or a collision sensor.
10. 10. A method for zero calibration of a robot, the method comprising: Acquiring a position deviation value before zero point loss of the robot, wherein the position deviation value is configured as a difference value between an initial zero point position and a collision position before zero point loss; Rotating the second arm under the condition that the zero point of the robot is lost, so that the collision piece collides with the interference piece to acquire a collision reference position after the zero point is lost; And determining a new zero position according to the collision reference position and the position deviation value after the zero point is lost.

Description

Robot and robot zero calibration method Technical Field The invention relates to the technical field of robots, in particular to a robot and a zero calibration method of the robot. Background In the fields of industrial automation and robot application, the accuracy and stability of a position zero point are important to ensure the position accuracy of a robot, and once the phenomenon of zero point loss occurs, operation deviation, equipment collision and even safety accidents are directly caused. Therefore, how to efficiently and reliably implement the zeroing operation of the robot is always a key problem to be solved in engineering practice. At present, mechanical zeroing schemes such as hard limit zeroing, clamping groove zeroing or vernier zeroing are additionally arranged on a robot body structure in the industry, and certainly, some products are zeroed in a manner of acquiring position signals by adopting two structural point contacts for collision. However, the scheme is complex in structure, large in machining error and inconvenient in zeroing operation, or offset and collision delay are easy to occur, so that the collision precision is affected. Disclosure of Invention The invention mainly aims to provide a robot and a robot zero point calibration method, and aims to solve at least one of the technical problems. To achieve the above object, an embodiment of the present invention provides a robot, which includes a first arm and a second arm rotatably connected, wherein an interference member is provided on the first arm, a collision member is provided on the second arm, the interference member is used for colliding with the collision member so as to enable the robot to obtain a collision reference position signal, and an outer peripheral surface of the interference member has at least one collision plane and is used for making line contact with the collision member. In one embodiment, the outer circumferential surface of the interference element has at least one collision plane for colliding with the collision element. In one embodiment, the collision plane is distributed in a plurality of circumferentially spaced apart relation along the interference member. In an embodiment, the interference piece includes fixed part and rotation portion, the one end of fixed part with first arm fixed connection, rotation portion cover is located the periphery of fixed part and can follow the circumference rotation of fixed part, the outer peripheral face of rotation portion has at least one collision plane, the collision plane is used for colliding the collision piece. In one embodiment, the interference member further includes a bearing provided between the fixed portion and the rotating portion. In one embodiment, the first arm is provided with a first mounting hole, one end of the interference piece is fixed in the first mounting hole, and/or the second arm is provided with a second mounting hole, and one end of the collision piece is fixed in the second mounting hole. In an embodiment, the hole wall of the first mounting hole is provided with a first key groove, the periphery of the interference piece is provided with a first transmission key, the first transmission key is matched with the first key groove, the first transmission key part extends to the outside of the first key groove, and the collision plane is formed on the periphery of the interference piece; And/or the hole wall of the second mounting hole is provided with a second key groove, the periphery of the collision piece is provided with a second transmission key, and the second transmission key is matched with the second key groove. In one embodiment, the robot further comprises a first fixing structure arranged between the hole wall of the first mounting hole and the interference piece, and/or a second fixing structure arranged between the hole wall of the second mounting hole and the collision piece. In an embodiment, the first fixing structure and/or the second fixing structure is configured as an elastic rubber ring. In one embodiment, the interference element and/or the impact element is provided with an axially extending exhaust channel. In an embodiment, the interference element is configured as a cylindrical pin and/or the collision element is a position sensor or a collision sensor. In order to achieve the above object, an embodiment of the present invention provides a robot zero calibration method, including: Acquiring a position deviation value before zero point loss of the robot, wherein the position deviation value is configured as a difference value between an initial zero point position and a collision position before zero point loss; Rotating the second arm under the condition that the zero point of the robot is lost, so that the collision piece collides with the interference piece to acquire a collision reference position after the zero point is lost; And determining a new zero position according to the collision reference posi