Robot zero point calibration method, storage equipment and control equipment

Abstract

The invention relates to a robot zero point calibration method. The method comprises the steps that firstly, a first shaft is controlled to move in one direction with the preset speed, and the read number of a dial indicator arranged on the first shaft is obtained; secondly, when the read number of the dial indicator becomes small from large and then becomes large from small, the first shaft is controlled to stop moving, wherein one-time stroke of the first shaft is from movement starting to movement stopping; thirdly, the first shaft is controlled to reversely rotate and move in the opposite direction, and the difference value between the current read number and the previous read number of the dial indicator is calculated; fourthly, when the absolute value of the difference value is smaller than or equal to the preset deviation threshold value, the fifth step is executed, and when the absolute value of the difference value is larger than the preset deviation threshold value and the current read number of the dial indicator is larger than the previous read number, the first shaft is controlled to stop moving, and the third step is executed; and fifthly, the first shaft is controlled to stop moving, the current value of an encoder of a drive motor of the first shaft is recorded, and the current position of the first shaft is recorded as the mechanical zero point of the first shaft. By means of the robot zero point calibration method, the corresponding relation between the robot motor encoder value and zero point calibration shaft position is achieved.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a method for calibration of a robot's zero point, a storage device and a mobile terminal. 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, before the industrial robot leaves the factory, the mechanical parameters of the robot are calibrated, and the parameters and the zero point position of each axis of the industrial robot are given. However, in special cases, such as battery replacement, exceeding the mechanical limit position, collision with the environment, and manual movement Robot joints, etc. all cause the loss of zero point. [0003] At present, there are several methods for robot zero point calibration. [0004] 1. The pin-type method, after turning the mechanical arm to the zero position visually, insert the pin into the preset hole. If it can be inserte...

AI Technical Summary

Problems solved by technology

Compared with the plug-in method, the accuracy is higher, but it cannot be self-adapted and automatically calibrated

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