Zero-point debugging method for collaborative robot

Abstract

The invention discloses a zero-point debugging method for a collaborative robot. The zero-point debugging method for the collaborative robot comprises the following steps of forming identification grooves or identification holes in a base, multiple joints, a connecting rod and an output flange of the cooperative robot, wherein the identification grooves or identification holes are formed in axialsymmetry lines of the base, the joints, the connecting rod and the output flange; arranging a laser level meter on one side of the cooperative robot, and adjusting the laser level meter to irradiate areference line on the cooperative robot; and adjusting the positions of the base, the multiple joints, the connecting rod and the output flange to enable the reference line to completely coincide with each identification groove or each identification hole, recording a current encoder value of the collaborative robot, and setting the encoder value as a zero point. The zero-point debugging method for the collaborative robot provided by the invention can be suitable for robots with various complex appearances, is not affected by operation of the robots, is capable of improving the debugging speed and accuracy, and has small influence on the overall appearance of the robot due to the fact that the identification grooves or the identification holes are small.

Description

technical field [0001] The invention relates to the field of robot operation, in particular to a zero-point debugging method of a collaborative robot. Background technique [0002] Due to rising labor costs and aging population, many industries have begun to seek robot automation solutions, such as 3C, medicine, food, logistics, new retail and other industries. The characteristics of these emerging industries are that there are many types of products, the volume is generally small, and the requirements for the flexibility of operators are high. Collaborative robots have the characteristics of modularity, light weight, large load / weight ratio, safety and reliability, rapid deployment, and easy operation, and have been developed rapidly. [0003] The zero position of the collaborative robot is the initial position of the robot operation model; when the zero position is incorrect, the robot cannot move correctly, and it is very important to accurately debug the zero position o...

AI Technical Summary

Problems solved by technology

This method requires that there be a plane or two intersecting lines on the shape of the robot to place the level ruler, which is more demanding on the shape; when the robot is zeroing, the robot must be installed horizontally, and the horizontal side installation of the robot is more difficult than the vertical installation; and, the level ruler The state is judged by the liquid in the horizontal tube. The level is easy to shake on the robot. Therefore, when adjusting the joint posture, the joint running speed will be slower, which will affect the efficiency.

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