CN119319565A - Method suitable for quickly retrieving datum point after mechanical arm faults or impacts - Google Patents
Method suitable for quickly retrieving datum point after mechanical arm faults or impacts Download PDFInfo
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- CN119319565A CN119319565A CN202411653570.0A CN202411653570A CN119319565A CN 119319565 A CN119319565 A CN 119319565A CN 202411653570 A CN202411653570 A CN 202411653570A CN 119319565 A CN119319565 A CN 119319565A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012937 correction Methods 0.000 claims abstract description 31
- 230000001681 protective effect Effects 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 230000000903 blocking effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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Abstract
The application discloses a method for quickly finding a datum point after a mechanical arm fails or is impacted, the mechanical arm after the failure or the impact is moved to a correction device to correct the datum point again, the correction device comprises a correction base, a first positioning needle arranged on the correction base and capable of being arranged on the mechanical arm, a second positioning needle fixedly arranged on the correction base and a positioning sliding sleeve slidably sleeved on the periphery of the second positioning needle, during correction, the first positioning needle is fixed on the mechanical arm, then the mechanical arm is moved to enable the tip end of the first positioning needle to be aligned and abutted up and down with the tip end of the second positioning needle, the positioning sliding sleeve is moved upwards, and when the positioning sliding sleeve can be moved upwards to the periphery of the first positioning needle without clamping and the lower end of the positioning sliding sleeve is higher than the tip end of the first positioning needle, the datum point is recorded as the datum point.
Description
Technical Field
The invention belongs to the technical field of intelligent manufacturing, and particularly relates to a method for quickly retrieving a datum point after mechanical arm faults or impacts.
Background
The industrial robot in China has continuously increased yield and continuously expands the application field, and is widely applied to the fields of logistics, food processing, medical treatment and the like besides the traditional industries of automobile manufacturing, electronic manufacturing and the like. Meanwhile, the research and development of the humanoid robot also makes a certain progress, the existing intelligent robot can adapt to various terrains, can be used for push-ups, active sleeping, autonomous climbing and the like besides conventional actions, and can be applied to multiple fields of home service, auxiliary medical treatment and the like after a large amount of deep learning and training.
The conventional manipulator needs to be subjected to point position adjustment again by a professional manipulator after the fault or the collision occurs, which is time-consuming and labor-consuming, and needs to be improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method suitable for quickly retrieving a datum point after mechanical arm faults or impacts.
The invention adopts the following technical scheme:
A method suitable for the mechanical arm to fault or hit and get back the datum point fast, move the mechanical arm after fault or hit to the correction device to correct the datum point again;
The correcting device comprises a correcting base, a first positioning needle arranged on the correcting base and capable of being arranged on a manipulator, a second positioning needle fixedly arranged on the correcting base, and a positioning sliding sleeve slidably sleeved on the periphery of the second positioning needle, wherein the tip end of the second positioning needle is upwards arranged;
the method for quickly retrieving the datum point specifically comprises the following steps:
Step one, moving a mechanical arm after fault or collision to a correction base, and then vertically arranging and installing a first positioning needle on the mechanical arm to enable the tip end of the first positioning needle to be downwards arranged;
And secondly, continuously moving the mechanical arm to enable the tip end of the first positioning needle to be aligned and offset with the tip end of the second positioning needle up and down, upwards moving the positioning sliding sleeve, recording the point position as a datum point when the positioning sliding sleeve can move up to the periphery of the first positioning needle without blocking and the lower end of the positioning sliding sleeve is higher than the tip end of the first positioning needle, and continuously finely adjusting the alignment position of the first positioning needle and the tip end of the second positioning needle when the positioning sliding sleeve moves up to the blocking phenomenon until the positioning sliding sleeve can move up to the periphery of the first positioning needle without blocking and the lower end of the positioning sliding sleeve is higher than the tip end of the first positioning needle.
Preferably, the correction base top surface is provided with the installation piece that is used for installing the second locating needle, when location sliding sleeve bottom support was at the installation piece top surface, the location sliding sleeve was in the lowest position.
Preferably, the correcting device further comprises a protective sleeve sleeved at the upper end of the second positioning thimble, the protective sleeve can be supported at the upper end of the positioning sliding sleeve, and when the first positioning needle is mounted on the manipulator, the protective sleeve at the upper end of the second positioning needle can be removed.
Preferably, the correcting device further comprises a temporary storage sleeve arranged on the top surface of the correcting base and used for placing the first positioning needle, the temporary storage sleeve is located on one side of the second positioning needle, and a slot for the first positioning needle to be inserted is formed in the temporary storage sleeve.
Preferably, the manipulator comprises a mechanical arm and a clamping jaw part arranged at the front end of the mechanical arm, wherein the clamping jaw part comprises a clamping block arranged at the front end of the mechanical arm, and a first cylinder clamping jaw and a second cylinder clamping jaw which are respectively arranged at two ends of the clamping block.
Preferably, the first positioning needle comprises a first positioning block and a first positioning needle rod arranged on the first positioning block, and the clamping block is provided with an installation groove for installing the first positioning block.
Preferably, the first positioning block comprises a locking section arranged at the top of the first positioning needle rod and capable of being locked on the clamping block and a positioning section arranged at the top of the locking section and capable of being embedded into the mounting groove, the locking section is fixed on the clamping block through a locking bolt, and a locking screw hole matched with the locking bolt is formed in the clamping block.
Preferably, the first cylinder clamping jaw is arranged in a vertical state, and the second cylinder clamping jaw is arranged in a horizontal state.
Compared with the prior art, the application has the beneficial effects that the structure of the correction device is limited, the first positioning needle and the second positioning needle are matched with the positioning sliding sleeve in the debugging stage of the manipulator so as to quickly determine the datum point, when the manipulator cannot continuously work according to the set track due to position change caused by faults or impacts in the subsequent working process, the manipulator can be moved to the position of the correction device by an operator, the datum point can be quickly retrieved through the matching of the first positioning needle and the second positioning needle with the positioning sliding sleeve, the production is restarted, the whole operation is simple, the professional personnel is not required to readjust the position of the manipulator, and the maintenance cost is greatly reduced.
Drawings
FIG. 1 is a schematic diagram of a calibration device;
FIG. 2 is a schematic diagram of a portion of a calibration device;
FIG. 3 is a schematic diagram of a portion of a calibration device;
FIG. 4 is a schematic diagram of a portion of a calibration device;
FIG. 5 is a schematic diagram of a portion of a calibration device;
In the figure, the base is rectified to 1-, 2-first locating needle, 3-second locating needle, 4-location sliding sleeve, 5-protective sheath, 6-cover of keeping in, 7-manipulator, 11-installation piece, 21-first locating piece, 22-first locating needle pole, 23-locking section, 24-location section, 61-slot, 71-arm, 72-clamping claw portion, 73-clamp piece, 731-mounting groove, 732-locking screw, 74-first cylinder clamping jaw, 75-second cylinder clamping jaw.
Detailed Description
The invention is further described below by means of specific embodiments.
A method for quickly retrieving a reference point after a mechanical arm fault or impact is suitable for moving the mechanical arm 7 after the fault or impact to a correction device to correct the reference point again, wherein the correction device is also used for determining the reference point in the debugging stage of the mechanical arm 7.
Referring to fig. 1 to 5, the correction device comprises a correction base 1, a first positioning needle 2 arranged on the correction base 1 and capable of being mounted on a manipulator 7, a second positioning needle 3 fixedly arranged on the correction base 1, a positioning sliding sleeve 4 slidably sleeved on the periphery of the second positioning needle 3, a protective sleeve 5 sleeved on the upper end of the second positioning thimble 3 and a temporary storage sleeve 6 arranged on the top surface of the correction base 1 and used for placing the first positioning needle 2, wherein the top surface of the correction base 1 is provided with a mounting block 11 used for mounting the second positioning needle 3, the positioning sliding sleeve 4 is at the lowest position when the bottom of the positioning sliding sleeve 4 is supported on the top surface of the mounting block 11, the protective sleeve 5 can be supported on the upper end of the positioning sliding sleeve 4, the temporary storage sleeve 6 is positioned on one side of the second positioning needle 3 and is provided with a slot 61 for inserting the first positioning needle 2, and concretely, the first positioning needle 2 comprises a first positioning block 21 and a first positioning needle rod 22 arranged on the first positioning block 21, further, the tip of the second positioning needle 2 is arranged on the correction base 1 upwards, and the positioning sliding sleeve 4 is positioned at the lower tip of the second positioning needle 2 when the positioning sliding sleeve 4 is positioned at the lowest end.
The manipulator 7 comprises a mechanical arm 71 and a clamping jaw portion 72 arranged at the front end of the mechanical arm 71, wherein the clamping jaw portion 72 comprises a clamping block 73 arranged at the front end of the mechanical arm 71, a first cylinder clamping jaw 74 and a second cylinder clamping jaw 75 which are respectively arranged at two ends of the clamping block 73, a mounting groove 731 for mounting the first positioning block 21 is formed in the clamping block 73, the first positioning block 21 comprises a locking section 23 which is arranged at the top of a first positioning needle rod 22 and can be locked on the clamping block 73 and a positioning section 24 which is arranged at the top of the locking section 23 and can be embedded in the mounting groove 731, the locking section 23 is fixed on the clamping block 73 through a locking bolt, a locking screw hole 732 matched with the locking bolt is formed in the clamping block 73, the first cylinder clamping jaw 74 is arranged in a vertical state, the second cylinder clamping jaw 75 is arranged in a horizontal state so as to meet different working requirements, and the manipulator 7 adopts a five-axis manipulator or a six-axis manipulator.
The method for quickly retrieving the datum point specifically comprises the following steps:
Firstly, moving a mechanical arm 7 after faults or impacts to a correction base 1, vertically arranging and installing a first positioning needle 2 on the mechanical arm 7, enabling the tip end of the first positioning needle 2 to be downwards arranged, and simultaneously, taking down a protective sleeve 5 at the upper end of a second positioning needle 3;
And secondly, continuously moving the manipulator 7 to enable the tip end of the first positioning needle 2 to be aligned and offset with the tip end of the second positioning needle 3 up and down, upwards moving the positioning sliding sleeve 4, recording the point position as a datum point when the positioning sliding sleeve 4 can move upwards to the periphery of the first positioning needle 2 without blocking and the lower end of the positioning sliding sleeve is higher than the tip end of the first positioning needle 2, and continuously finely adjusting the alignment positions of the first positioning needle 2 and the tip end of the second positioning needle 3 until the positioning sliding sleeve 4 can move upwards to the periphery of the first positioning needle 2 without blocking and the lower end of the positioning sliding sleeve is higher than the tip end of the first positioning needle 2 when the positioning sliding sleeve 4 moves upwards to generate blocking phenomenon.
According to the application, through limiting the structure of the correction device, in the debugging stage of the manipulator 7, the first positioning needle 2, the second positioning needle 3 and the positioning sliding sleeve 4 are matched to quickly determine the datum point, when the manipulator 7 cannot continuously work according to the set track due to position change caused by faults or impacts in the subsequent working process, an operator can move the manipulator 7 to the position of the correction device, and the datum point can be quickly retrieved through the matching of the first positioning needle 2, the second positioning needle 3 and the positioning sliding sleeve 4, so that the production is restarted, the whole operation is simple, the professional is not required to readjust the manipulator position, and the maintenance cost is greatly reduced.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, i.e., the invention is not limited to the specific embodiments described herein, but is intended to cover all modifications and equivalent arrangements included within the scope of the invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411653570.0A CN119319565A (en) | 2024-11-19 | 2024-11-19 | Method suitable for quickly retrieving datum point after mechanical arm faults or impacts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411653570.0A CN119319565A (en) | 2024-11-19 | 2024-11-19 | Method suitable for quickly retrieving datum point after mechanical arm faults or impacts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119319565A true CN119319565A (en) | 2025-01-17 |
Family
ID=94230700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411653570.0A Pending CN119319565A (en) | 2024-11-19 | 2024-11-19 | Method suitable for quickly retrieving datum point after mechanical arm faults or impacts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119319565A (en) |
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2024
- 2024-11-19 CN CN202411653570.0A patent/CN119319565A/en active Pending
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