CN109048874A - Truss robot Z axis manipulator temperature compensation means and its compensation method - Google Patents
Truss robot Z axis manipulator temperature compensation means and its compensation method Download PDFInfo
- Publication number
- CN109048874A CN109048874A CN201811097518.6A CN201811097518A CN109048874A CN 109048874 A CN109048874 A CN 109048874A CN 201811097518 A CN201811097518 A CN 201811097518A CN 109048874 A CN109048874 A CN 109048874A
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- clamping jaw
- vertical beam
- driving device
- manipulator
- range sensor
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000008602 contraction Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to truss robot equipment technical fields, more particularly, to a kind of truss robot Z axis manipulator temperature compensation means and its compensation method, including crossbeam and the vertical beam being arranged on crossbeam, manipulator is provided on the vertical beam, it further include column, range sensor and processing unit, first driving device for driving the vertical beam horizontal direction displacement is set on the crossbeam, the column is installed on ground, the range sensor is arranged on the column, truss robot Z axis manipulator temperature compensation means of the present invention and its compensation method are when in use, by the way that column is arranged in the clamping jaw side of manipulator, and range sensor is set on column, the distance between clamping jaw is judged by range sensor, to the Distance Transmission that will judge to processing unit, processing unit is analyzed and controls the second driving device , so that clamping jaw is located at designated position, manipulator will not collide with machine tool fixture.
Description
Technical field
The present invention relates to truss robot equipment technical fields, more particularly, to a kind of truss robot Z axis manipulator temperature
Spend compensation device and its compensation method.
Background technique
Truss robot is same as transporting goods, and the manipulator of existing truss robot is long, by the external world
It will appear thermal expansion and contraction under the influence of temperature, one end so as to cause truss robot Z axis manipulator far from truss can be past
Side offset, so as to cause occurring error when transporting goods, influence handling precision because the general gap of high-precision fixture compared with
It is small, because truss robot is affected by temperature, when Z axis deforms, there is deviation and be easy to collide with fixture.
Summary of the invention
The technical problem to be solved by the present invention is long in order to solve the manipulator of existing truss robot, by
It will appear thermal expansion and contraction under the influence of ambient temperature, one end so as to cause truss robot Z axis manipulator far from truss
It can shift, so as to cause occurring the problem of error when transporting goods, now provide a kind of truss robot Z axis manipulator
Temperature compensation means and its compensation method.
The technical solution adopted by the present invention to solve the technical problems is: a kind of truss robot Z axis manipulator temperature benefit
Device is repaid, including crossbeam and the vertical beam being arranged on crossbeam, is provided with manipulator on the vertical beam, further includes column, distance biography
Sensor and processing unit, setting is described for driving the first driving device of the vertical beam horizontal direction displacement on the crossbeam
Column is installed on ground, and the range sensor is arranged on the column, and the manipulator includes being arranged in the vertical beam
On clamping jaw, the clamping jaw there are two and be oppositely arranged, be provided on the vertical beam for driving two clamping jaws are opposite to lean on
Hold together or the second separate driving device, the clamping jaw be oppositely arranged with the range sensor, the processing unit respectively with
The first driving device, range sensor and the connection of the second driving device.By the way that column is arranged in the clamping jaw side of manipulator,
And range sensor is set on column, the distance between clamping jaw is judged by range sensor, thus by judgement away from
From processing unit is transmitted to, the second driving device is analyzed and controlled to processing unit, so that clamping jaw is located at designated position.
In order to realize that the second driving device drives clamping jaw to slide on vertical beam, further, the second driving dress
It sets including cylinder, two clamping jaws are slidably arranged on the vertical beam, and the cylinder is fixedly connected on two clamping jaws
On one of clamping jaw, the extension end of the cylinder is arranged on another clamping jaw of two clamping jaws, the vertical beam and institute
State the position-limit mechanism being provided between clamping jaw for limiting two clamping jaw displacements.Drive clamping jaw upper in vertical beam by cylinder
It moves, the clamping jaw that cylinder stretches out vertical beam side is gradually distance from relative to other side clamping jaw, and cylinder is shunk, and clamping jaw is driven gradually to draw close.
In order to realize the limit to clamping jaw, further, the position-limit mechanism includes block, the block with it is described
The corresponding setting of clamping jaw, limited block is provided on the vertical beam, and the block is provided with described along the two sides of its direction of displacement
Limited block.By being arranged in the two sides of clamping jaw upper stopper in vertical beam limited block, to limit the displacement of clamping jaw.
In order to realize that clamping jaw slides on vertical beam, further, it is provided with linear guide on the vertical beam, on the clamping jaw
It is provided with the sliding block to match with the linear guide, the sliding block is slidably arranged in the linear guide, described two institutes
It states and is provided with guide rail lock on clamping jaw, the guide rail lock is arranged in the linear guide.By the sliding block that is arranged on clamping jaw with
Linear guide cooperation on vertical beam, to realize that clamping jaw slides on vertical beam, and guide rail lock plays locking and pine to clamping jaw
The effect of opening.
A kind of compensation method of such as above-mentioned truss robot Z axis manipulator temperature compensation means, first by manipulator
The initial position on crossbeam is arranged in clamping jaw, drives vertical beam to be displaced by first driving device and gradually leans on to range sensor
Closely, after clamping jaw reaches designated position, it is S that manipulator, which reaches designated position institute's travel distance by initial position, at this time, is pressed from both sides simultaneously
The distance between pawl and range sensor are A1, and it is S and folder that manipulator, which is reached designated position institute's travel distance by initial position,
The distance between pawl and range sensor are that A1 is set as referential data, and is input to the databases storage of processing unit；
When practical operation, the initial position on crossbeam is arranged in the clamping jaw of manipulator, is driven by first driving device perpendicular
Liang Sicheng is simultaneously moved closer to range sensor, when institute's travel distance is S to manipulator on crossbeam, processing unit control first
Driving device is out of service, detects the spacing A2 between clamping jaw and range sensor by range sensor again at this time, and pass through
The numerical value for calculating A1-A2, when A1-A2 is positive number, processing unit controls the second driving device, and the second driving device drives clamping jaw
Gradually drawn close to range sensor, until A1-A2 is zero, when A1-A2 is negative, processing unit controls the second driving device,
Second driving device drives clamping jaw to be gradually distance from range sensor, until A1-A2 is zero, when A1-A2 is zero, processing unit is not
Execute any movement.By the S of manipulator institute's travel distance on crossbeam, to come so that range sensor measures and clamping jaw
Between spacing A2, and the data of measurement are transferred to processing unit, processing unit calculates the numerical value of reference value A 1-A2, thus
Third driving device is controlled, and realizes the close or separate of clamping jaw relative distance sensor.
The beneficial effects of the present invention are: truss robot Z axis manipulator temperature compensation means of the present invention and its compensation method
When in use, by the way that column is arranged in the clamping jaw side of manipulator, and range sensor is set on column, by Distance-sensing
Device judges the distance between clamping jaw, so that processing unit is analyzed and controls by the Distance Transmission of judgement to processing unit
Two driving devices guarantee that the manipulator on adjacent two vertical beam will not collide so that clamping jaw is located at designated position,
The manipulator for avoiding existing truss robot is long, will appear thermal expansion and contraction under the influence of by ambient temperature,
One end so as to cause truss robot Z axis manipulator far from truss can be deviated toward side, so as to cause when transporting goods
Existing error, influences handling precision, because the general gap of high-precision fixture is smaller, because truss robot is affected by temperature, and Z axis hair
When the shape that changes, there is deviation and be easy to collide with fixture.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is main view of the invention；
Fig. 2 is the partial enlarged view of A in Fig. 1；
Fig. 3 is the rearview between central post of the present invention, range sensor, manipulator and vertical beam.
In figure: 1, crossbeam, 2, vertical beam, 3, column, 4, range sensor, 5, processing unit, 6, first driving device, 7,
Two driving devices, 8, clamping jaw, 9, block, 10, limited block, 11, linear guide, 12, sliding block, 13, guide rail lock.
Specific embodiment
Presently in connection with attached drawing, the present invention will be further described in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment
As shown in Figure 1-3, a kind of truss robot Z axis manipulator temperature compensation means, including crossbeam 1 and setting are in crossbeam
Vertical beam 2 on 1 is provided with manipulator on the vertical beam 2, further includes column 3, range sensor 4 and processing unit 5, the cross
First driving device 6 for driving 2 horizontal direction of the vertical beam displacement is set on beam 1, the column 3 is installed on ground,
The range sensor 4 is arranged on the column 3, and the manipulator includes the clamping jaw 8 being arranged on the vertical beam 2, described
Clamping jaw 8 there are two and be oppositely arranged, be provided on the vertical beam 2 for driving two clamping jaws 8 are opposite to draw close or separate
The second driving device 7, the clamping jaw 8 is oppositely arranged with the range sensor 4, and the processing unit 5 is respectively with described
One driving device 6, range sensor 4 and the connection of the second driving device 7.It is provided in first driving device 6 for driving vertical beam 2
The third driving device being displaced along the vertical direction, first driving device 6 and third driving device are by servo motor cooperating teeth roller box
Frame directive wheel, thus by displacement of the directive wheel on crossbeam 1, thus realize displacement of the vertical beam 2 on crossbeam 1, certain first
Driving device 6 and third driving device are also possible to servo motor mate gear rackwork, to realize vertical beam 2 in crossbeam 1
Upper displacement, certain first driving device 6 and third driving device will also can be realized vertical beam 2 and be displaced on crossbeam 1.
Second driving device 7 includes cylinder, and two clamping jaws 8 are slidably arranged on the vertical beam 2, the cylinder
It is fixedly connected on one of clamping jaw 8 of two clamping jaws 8, the extension end of the cylinder is arranged in two clamping jaws 8
Another clamping jaw 8 on, the limit being displaced for limiting two clamping jaws 8 is provided between the vertical beam 2 and the clamping jaw 8
Mechanism.
The position-limit mechanism includes block 9, the block 9 setting corresponding with the clamping jaw 8, is arranged on the vertical beam 2
There is limited block 10, the block 9 is provided with the limited block 10 along the two sides of its direction of displacement.
It is provided with linear guide 11 on the vertical beam 2, is provided on the clamping jaw 8 and matches with the linear guide 11
Sliding block 12, the sliding block 12 are slidably arranged in the linear guide 11, and guide rail lock is provided on described two clamping jaws 8
13, the guide rail lock 13 is arranged in the linear guide 11.
A kind of compensation method of above-mentioned truss robot Z axis manipulator temperature compensation means, it is characterised in that: first will
The initial position on crossbeam 1 is arranged in the clamping jaw 8 of manipulator, drives the displacement of vertical beam 2 by first driving device 6 and passes to distance
Sensor 4 moves closer to, when clamping jaw 8 reach designated position after, at this time manipulator by initial position reach designated position walk away from
From for S, while the distance between clamping jaw 8 and range sensor 4 are A1, and manipulator is reached designated position by initial position and is gone
Walking distance is S and the distance between clamping jaw 8 and range sensor 4 are that A1 is set as referential data, and is input to processing unit 5
Databases storage；
When practical operation, the initial position on crossbeam 1 is arranged in the clamping jaw 8 of manipulator, is driven by first driving device 6
Vertical beam 2 is moved closer to along 1 axial displacement of crossbeam and to range sensor 4, when institute's travel distance is S to manipulator on crossbeam 1,
The control of processing unit 5 first driving device 6 is out of service, detects clamping jaw 8 and range sensor by range sensor 4 again at this time
Spacing A2 between 4, and the numerical value by calculating A1-A2, when A1-A2 is positive number, processing unit 5 controls the second driving device
7, the second driving device 7 drives clamping jaw 8 gradually to draw close to range sensor 4, until A1-A2 is zero, when A1-A2 is negative,
Processing unit 5 controls the second driving device 7, and the second driving device 7 drives clamping jaw 8 to be gradually distance from range sensor 4, until A1-
A2 is zero, and when A1-A2 is zero, processing unit 5 does not execute any movement.The servo motor of first driving device 6, the second driving
The cylinder of device 7 and the servo motor of third driving device are connected by cable and processing unit 5, and processing unit 5, first
The motor of driving device 6 and third driving device is connect with external power supply, and cylinder is connect with external gas source.
Above-mentioned truss robot Z axis manipulator temperature compensation means is in compensation, first driving of the control of first processing unit 5
Servo motor at device 6 drives the lateral displacement on crossbeam 1 of vertical beam 2, so that the clamping jaw 8 of manipulator is gradually to vertical on vertical beam 2
Range sensor 4 on column 3 is drawn close, when travel distance of the vertical beam 2 on crossbeam 1 is S, first driving of the control of processing unit 5
The servo motor of device 6 is out of service, measures the distance between clamping jaw 8 and range sensor 4 A2 by range sensor 4, and
The numerical value A2 of measurement is sent to processing unit 5, processing unit 5 is analyzed, by calculating the numerical value of A1-A2, when A1-A2 is
When positive number, processing unit 5 controls the cylinder of the second driving device 7, and cylinder drives clamping jaw 8 to be displaced on vertical beam 2 gradually to distance
Sensor 4 is drawn close, until A1-A2 is zero, when A1-A2 is negative, processing unit 5 controls the cylinder of the second driving device 7, gas
Cylinder drives clamping jaw 8 to be displaced on vertical beam 2 and is gradually distance from range sensor 4, until A1-A2 is zero, when A1-A2 is zero, processing
Unit 5 does not execute any movement.
Above-mentioned desirable embodiment according to the present invention is enlightenment, and through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (5)
1. a kind of truss robot Z axis manipulator temperature compensation means, including crossbeam (1) and the vertical beam being arranged on crossbeam (1)
(2), manipulator is provided on the vertical beam (2), it is characterised in that: further include that column (3), range sensor (4) and processing are single
First (5), first driving device (6) of the setting for driving the vertical beam (2) horizontal direction to be displaced on the crossbeam (1) are described
Column (3) is installed on ground, and the range sensor (4) is arranged on the column (3), and the manipulator includes that setting exists
Clamping jaw (8) on the vertical beam (2), there are two the clamping jaws (8) and is oppositely arranged, and is provided on the vertical beam (2) for driving
Dynamic two clamping jaws (8) are drawn close relatively or separate the second driving device (7), the clamping jaw (8) and the Distance-sensing
Device (4) is oppositely arranged, and the processing unit (5) is driven with the first driving device (6), range sensor (4) and second respectively
Dynamic device (7) connection.
2. truss robot Z axis manipulator temperature compensation means according to claim 1, it is characterised in that: described second
Driving device (7) includes cylinder, and two clamping jaws (8) are slidably arranged on the vertical beam (2), and the cylinder is fixedly connected on
On one of clamping jaw (8) of two clamping jaws (8), the setting of the extension end of the cylinder is another two clamping jaws (8)
On one clamping jaw (8), it is provided between the vertical beam (2) and the clamping jaw (8) for limiting two clamping jaw (8) displacements
Position-limit mechanism.
3. truss robot Z axis manipulator temperature compensation means according to claim 2, it is characterised in that: the limit
Mechanism includes block (9), block (9) setting corresponding with the clamping jaw (8), is provided with limited block on the vertical beam (2)
(10), the block (9) is provided with the limited block (10) along the two sides of its direction of displacement.
4. truss robot Z axis manipulator temperature compensation means according to claim 2 or 3, it is characterised in that: described perpendicular
It is provided on beam (2) linear guide (11), is provided with the sliding block to match with the linear guide (11) on the clamping jaw (8)
(12), the sliding block (12) is slidably arranged on the linear guide (11), is provided with and leads on described two clamping jaws (8)
Rail locks (13), and the guide rail lock (13) is arranged on the linear guide (11).
5. a kind of compensation method of truss robot Z axis manipulator temperature compensation means according to any one of claims 1-4,
It is characterized by: the initial position that the clamping jaw of manipulator (8) are arranged on crossbeam (1) first, passes through first driving device (6)
Drive vertical beam (2) be displaced simultaneously moved closer to range sensor (4), when clamping jaw (8) reach designated position after, at this time manipulator by
It is S that initial position, which reaches designated position institute's travel distance, while the distance between clamping jaw (8) and range sensor (4) are A1, will
Manipulator is S by initial position arrival designated position institute travel distance and the distance between clamping jaw (8) and range sensor (4) are
A1 is set as referential data, and is input to the databases storage of processing unit (5)；
When practical operation, the initial position that the clamping jaw (8) of manipulator is arranged on crossbeam (1) passes through first driving device (6) band
Dynamic vertical beam (2) are displaced and move closer to range sensor (4), when institute's travel distance is S to manipulator on crossbeam (1), place
It is out of service to manage unit (5) control first driving device (6), passes through range sensor (4) detection clamping jaw (8) and distance again at this time
Spacing A2 between sensor (4), and the numerical value by calculating A1-A2, when A1-A2 is positive number, processing unit (5) control the
Two driving devices (7), the second driving device (7) drive clamping jaw (8) gradually to draw close to range sensor (4), until A1-A2 is
Zero, when A1-A2 is negative, processing unit (5) controls the second driving device (7), and the second driving device (7) drives clamping jaw (8)
Range sensor (4) are gradually distance from, until A1-A2 is zero, when A1-A2 is zero, processing unit (5) does not execute any movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097518.6A CN109048874B (en) | 2018-09-20 | 2018-09-20 | Truss robot Z-axis manipulator temperature compensation device and compensation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097518.6A CN109048874B (en) | 2018-09-20 | 2018-09-20 | Truss robot Z-axis manipulator temperature compensation device and compensation method thereof |
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| Publication Number | Publication Date |
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| CN109048874A true CN109048874A (en) | 2018-12-21 |
| CN109048874B CN109048874B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811097518.6A Active CN109048874B (en) | 2018-09-20 | 2018-09-20 | Truss robot Z-axis manipulator temperature compensation device and compensation method thereof |
Country Status (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113282018A (en) * | 2021-05-14 | 2021-08-20 | 广东智源机器人科技有限公司 | Movement control method and device, electronic equipment and cooking system |
| CN113386161A (en) * | 2021-07-05 | 2021-09-14 | 四川中科彭成机器人技术有限公司 | Creep-resistant rope-driven mechanical finger |
| CN113910275A (en) * | 2021-10-28 | 2022-01-11 | 宁夏共享机床辅机有限公司 | Two-shaft transfer device with clamping jaws |
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| Publication number | Publication date |
|---|---|
| CN109048874B (en) | 2024-04-02 |
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