A Zero-point Debugging Method of Collaborative Robot

Abstract

The invention discloses a zero-point debugging method of a collaborative robot, which comprises the following steps: setting up marking grooves or marking holes on the base, multiple joints, connecting rods and output flanges of the collaborative robot, and opening the marking grooves or marking holes On the axisymmetric line of the base, joint, connecting rod and output flange; set a laser level on one side of the collaborative robot, adjust the laser level to set a reference line on the collaborative robot; adjust the base, multiple joints , the position of the connecting rod and the output flange, so that the reference line completely coincides with each identification groove or identification hole, record the current encoder value of the collaborative robot, and set it to zero. The zero-point debugging method of the collaborative robot of the present invention can be applied to robots with various complex shapes, and is not affected by the operation of the robot, and can improve the speed and accuracy of debugging, and the marking groove or marking hole is small, which has little influence on the overall appearance of the robot. 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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