Servo manipulator and mechanical original point resetting method thereof

Abstract

The invention relates to a servo manipulator and a mechanical original point resetting method thereof. The servo manipulator comprises a fixed support, a stop block, an abutting connection block, a servo motor and a controller. The stop block is arranged on the fixed support. The abutting connection block can be in abutting contact with the stop block. The servo motor is used for providing power.The controller is electrically connected with the servo motor, and is used for controlling the servo motor, so that the servo motor drives the abutting connection block to move in the direction closeto the stop block till the abutting connection block abuts against the stop block; a torque value of the servo motor is controlled to increase to a preset torque value, and the torque value of the servo motor is enabled to continue to increase by a preset time period; and the servo motor is controlled to drive the abutting connection block to move by preset distance in the direction away from thestop block, and the position where the abutting connection block after being moved is located serves as the position of a mechanical original point. The servo manipulator and the mechanical original point resetting method thereof can guarantee the consistency of the mechanical original point, the resetting precision of the mechanical original point is high, manual adjusting and correcting are notneeded, and interference colliding between movement mechanisms can be prevented.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a servo manipulator and a method for returning to its mechanical origin. Background technique [0002] Mechanical origin return is an important adjustment step before the servo manipulator is officially operated. The traditional servo manipulator judges the origin position through the combination of the proximity sensor and the servo Z-phase signal sent by the servo motor, so as to realize the return of the mechanical origin. However, the position of the induction plate used with the proximity sensor is prone to change due to manual installation errors, mechanical collisions, etc., which affects the reception of the Z-phase signal sent by the servo motor, and eventually leads to a deviation in the position of the mechanical origin. The position deviation of the mechanical origin will make the servo motor and the moving mechanism driven by it unable to complete the return ac...

AI Technical Summary

Problems solved by technology

However, the position of the induction plate used in conjunction with the proximity sensor is prone to change due to manual installation errors, mechanical collisions, etc., which affects the reception of the Z-phase signal sent by the servo motor, and eventually leads to a deviation in the position of the mechanical origin

The position deviation of the mechanical origin will make the servo motor and the motion mechanism driven by it unable to complete the return action of the mechanical origin, and even cause interference and collision between the motion mechanisms

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