A fast zero point calibration method for a six-axis robot

Abstract

The invention relates to a quick zero point calibration method for a six-axis robot. The quick zero point calibration method comprises the following steps: fixing a level meter to a first reference plane, perpendicular to a first joint axis , of the robot; after the completion of the calibration of the first joint axis, fixing a first reference plane of the level meter to a second reference plane of the robot to complete calibration of a second joint axis; fixing the first reference plane of the level meter to a third reference plane of the robot to complete calibration of a third joint axis, a fourth joint axis, a fifth joint axis and a sixth joint axis, wherein the calibration of the third, fourth, fifth and sixth joint axes can be automatically completed by using a robot controller to collect indicating values of a first horizontal sensor and a second horizontal sensor. Through the adoption of the quick zero point calibration method, zero point calibration for the six-axis industrial robot can be completed through the three reference planes, so that processing requirements on robot parts are reduced, the calibration time is saved, and the cumbersome robot calibration work can be simple and convenient relatively.

Description

technical field [0001] The invention relates to a zero-point rapid calibration method of a six-axis robot, which belongs to the field of calibration methods of industrial robots. Background technique [0002] The zero point is the datum of the robot coordinate system. Without the zero point, the robot cannot judge its own position. Usually industrial robots will calibrate the mechanical parameters of the robot before leaving the factory, and give the parameters and zero position of each connecting rod of the industrial robot, but in special cases, such as battery replacement, exceeding the mechanical limit position, collision with the environment, manual Moving the joints of the robot will cause the loss of the zero point. In this case, how to easily find the current zero point position of the robot is the guarantee of the precise motion control of the robot. [0003] At present, the zero point calibration technology of the robot has the following types: [0004] First, th...

AI Technical Summary

Problems solved by technology

[0008] The technical problem to be solved by the present invention is to provide a quick calibration method for the zero point of a six-axis robot, which overcomes the defects in the prior art that the machining process is complex and the machining accuracy of the parts and the assembly accuracy of the robot are demanding when calibrating the zero point of the robot.

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