Zero adjustment method and system of industrial robot

Abstract

The present invention belongs to the robot field and discloses a zero adjustment method and system of an industrial robot. According to the embodiments of the present invention, the zero adjustment method of the industrial robot includes the following steps that: a pressure sensing unit is installed on the first joint shaft of a robot body, and a zero position locating pin in mounted in a zero position hole of the base; the pressure sensing unit is in communication connection with a robot control system; the robot control system controls the first joint shaft to rotate and obtains a pressure parameter detected by the pressure sensing unit in real time; and when the pressure parameter is larger than a preset pressure value, the robot control system controls the first joint shaft to stop rotating. The embodiments of the present invention also provide a zero adjustment system of an industrial robot. With the zero adjustment method and system of the industrial robot provided by the embodiments of the present invention adopted, accurate zero adjustment of the first joint shaft of the robot can be realized without too high machining precision required, and therefore, the realization coasts of a zero adjustment function can be decreased, the automation degree of a zero adjustment process can be improved, and multi-gesture repeated zero adjustment is not required.

Description

technical field [0001] The invention relates to the field of robots, in particular to a zeroing method and system for industrial robots. Background technique [0002] The zero point is the datum of the robot coordinate system, without the zero point, the robot has no way to judge its own position. Usually, before the industrial robot leaves the factory, the mechanical parameters of the robot are calibrated, and the parameters and zero position of each connecting rod of the industrial robot are given. However, in some special cases, such as battery replacement, exceeding the mechanical limit position, collision with the environment, manual movement of robot joints, etc., the zero point will be lost. At this point, it is necessary to zero-adjust the robot to restore the joints of the robot to zero. [0003] In the process of realizing the present invention, the inventor finds that the prior art has at least the following defects: [0004] In the prior art, the zero adjustme...

AI Technical Summary

Problems solved by technology

In the way of machine-based zero-adjustment, the accuracy of zero-adjustment depends entirely on the accuracy of the machine and the naked eye. If the robot is placed in an unfavorable position on site, such as a high platform, the robot’s zero-adjustment is a chore. It needs to climb up and down, which is time-consuming, laborious, and delayed. Productivity

The zero-adjustment method of iterative parameter identification realizes automatic calibration, but in order to obtain high-precision zero-position error, multiple measurements are required, and multiple robot postures are changed, and the zero-position error of joints is calculated by the least square method, which is inefficient.

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