Method for adjusting parallelism of a robot and a mobile device

Abstract

The present application belongs to the technical field of robot installation and debugging, and specifically discloses a method for adjusting parallelism between a robot and a moving device, wherein the robot as a whole moves along the Y axis on the moving device to obtain a working stroke L1, the robot is preset with an end stroke L2, the moving device is provided with a slide rail on the side, and a positioner is slidably connected to the slide rail, the positioner comprises a positioner driving side and a positioner driven side, and the method comprises the following steps: S1, establishing an auxiliary line L3; S2, adjusting the auxiliary line L3 so that the auxiliary line L3 is parallel to the working stroke L1 of the moving device; and S3, debugging the robot so that the end stroke L2 of the gun tip of the robot is parallel to the auxiliary line L3. The adjustment process is simple, does not require too many electronic devices and calculation and analysis, can be manually aligned, is high in efficiency, low in cost, and can effectively reduce mechanical errors of the robot itself in the actual production process and improve positioning accuracy through actual movement for calibration.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot installation and debugging, and particularly relates to a method for adjusting parallelism between a robot and a mobile device. BACKGROUND

[0002] Robots are now used in many scenarios of automated production, and among them, there are many forms in which the robot walks to a certain position along with the mobile device, and then the robot performs actions such as welding, spraying, and carrying. The current debugging method for robots and mobile devices mainly uses the workpiece coordinates of the robot to ensure the positional deviation between the robot and the workpiece. However, during the installation process, it is impossible to ensure that the coordinate system of the robot is consistent with the coordinate system of the mobile device, i.e., the trajectory of the robot (e.g., the robot moving in the Y direction) is parallel to the trajectory of the mobile device (e.g., the mobile device also moving in the Y direction). Thus, after the mobile device moves, the workpiece coordinates of the robot at the next position will deviate, which will affect the precise positioning and the linkage between the robot and the mobile device during the work process.

[0003] The existing patent CN115716175A provides a device debugging method for one-to-many offline programming of a welding robot, which builds an offline model according to a designed three-dimensional model; measures the position size and relative position of the installed device according to the designed three-dimensional model; calibrates the TCP of the six-axis robot body; adjusts the TCP of the robot with external axes; performs zero position calibration and stroke setting on the field device according to the design requirements; creates offline points for the welding fixture and welding positioner feature points using the built offline model, and measures the welding fixture and welding positioner; analyzes the error trend of multiple sets of the same device according to the recorded data, adjusts the offline model according to the average deviation, and adjusts the installation position of the positioner when the directional deviation of the test points at the same position of multiple sets of the welding positioner is different. The adjustment process of this patent is too complex and costly, and it is difficult to directly and simply eliminate the actual errors of the device by using offline models and offline points for calculation and adjustment. SUMMARY

[0004] In view of the problem in the prior art that the positioning accuracy between the mobile device and the robot is high, the adjustment process is too complex and costly, and it is difficult to directly and simply eliminate the actual errors of the device by using offline models and offline points for calculation and adjustment, a method for adjusting the parallelism between a robot and a mobile device is proposed. The present application provides the following technical solutions:

[0005] A method for adjusting parallelism between a robot and a moving device, the robot as a whole moves along a Y axis on the moving device, the stroke is a working stroke L1 of the moving device, the robot is preset with an end stroke L2 of a gun tip along the Y direction, the moving device is provided with a slide rail laterally, the slide rail is provided with a positioner, the positioner comprises a driving side and a driven side, and the method comprises the following steps:

[0006] S1, establishing an auxiliary line L3; a line is pulled between the driving side and the driven side of the positioner;

[0007] S2, adjusting the auxiliary line L3 to be parallel to the working stroke L1 of the moving device;

[0008] S3, debugging the robot to make the end stroke L2 of the gun tip of the robot parallel to the auxiliary line L3; comprising the following steps:

[0009] S31, moving the moving device to between the driving side and the driven side of the positioner, moving the gun tip of the robot to directly above the auxiliary line L3, and then only moving the gun tip of the robot along the Y direction;

[0010] S32, if the position of the gun tip of the robot after moving is directly above the auxiliary line L3, the adjustment is completed, otherwise, loosening the mounting screws of the base of the robot, slightly rotating the robot, adjusting the gun tip of the robot to be directly above the auxiliary line L3, tightening the mounting screws, and then repeating step S31 until the beginning and end positions of the gun tip of the robot after moving along the Y direction are both directly above the auxiliary line L3, and the adjustment is completed.

[0011] Preferably, step S2 comprises step S21, i.e. the gun tip of the robot is aimed at the auxiliary line L3 at a close distance on the driving side of the positioner, and then the robot is moved to the other end of the auxiliary line L3; if the auxiliary line L3 is not directly below the gun tip of the robot, the auxiliary line L3 is slightly pushed on the driven side of the positioner to make the auxiliary line L3 below the gun tip of the robot, and then the position of the auxiliary line L3 is fixed to make the auxiliary line L3 always below the gun tip of the robot, and the auxiliary line L3 is parallel to the Y direction of the moving device.

[0012] Preferably, step S21 further comprises step S22: A point and B point are arranged on the auxiliary line L3, A1 point and B1 point are obtained on the working stroke L1 corresponding to A point and B point respectively, the robot as a whole is moved to A1 point, the gun tip of the robot is moved to A2 point above the auxiliary line L3, and then only the robot as a whole is moved to B1 point, and whether the position B2 point of the gun tip of the robot is also above the auxiliary line L3 is confirmed, if yes, it indicates that the auxiliary line L3 is parallel to the working stroke L1, otherwise, step S21 is repeated until the gun tip at A2 point and B2 point is on the auxiliary line L3, and at this time the auxiliary line L3 is parallel to the working stroke L1 of the moving device.

[0013] Preferably, in step S21, the robot moves and the gun tip is aligned with the connecting point of the main drive side of the positioner and the auxiliary line L3, or the connecting point of the driven side of the positioner and the auxiliary line L3.

[0014] Preferably, a screw hole is arranged on the positioner, and the position of the steel wire is fixed at the screw hole of the positioner by a cable tie in step S21 to fix the position of the auxiliary line L3.

[0015] Preferably, in step S32, the position of the gun tip before the action of the robot is the C position, and the position of the gun tip after the action of the robot is the D position, and the distance between the C position and the D position is greater than 1000mm.

[0016] Preferably, the C position and the D position are arranged at the middle position between the main drive side of the positioner and the driven side of the positioner.

[0017] Preferably, the C position and the D position are symmetrically arranged, and the symmetry axis is located at the middle position between the main drive side of the positioner and the driven side of the positioner.

[0018] Preferably, the auxiliary line L3 is a steel wire.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The adjustment process is simple, does not require too many electronic devices and calculation analysis, can be manually aligned, has high efficiency, low cost, and can effectively reduce the mechanical error of the machine itself in the actual production process and improve the positioning accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0021] Fig. 1 is the method principle diagram of the present application;

[0022] Fig. 2 is a three-dimensional schematic diagram of the use scenario of the present application;

[0023] Fig. 3 is a front view schematic diagram of the use scenario of the present application;

[0024] In the drawings, 1 is a robot; 2 is a moving device; 3 is a slide rail; 4 is a positioner; 41 is a driven side of the positioner; 42 is a main drive side of the positioner; 5 is a steel wire;

[0025] A and B are two points at which the gun tip of the robot is aligned in step S2; C and D are two points at which the gun tip of the robot is aligned in step S3. DETAILED DESCRIPTION

[0026] To enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for illustration and not for limiting the invention.

[0027] like Figs. 1-3 As shown, a method for adjusting the parallelism between a robot and a mobile device is described. The robot 1 moves along the Y-axis on the mobile device 2, and this stroke is the working stroke L1 of the mobile device 2. The robot 1 has a preset end stroke L2 for the tip to move along the Y-direction. Ideally, the Y-direction is parallel to the Y-axis, but due to installation errors, it is not parallel. The robot 1 moves on the mobile device 2, and a slide rail 3 is provided on the side of the mobile device 2. A positioner 4 is slidably connected to the slide rail 3. The positioner 4 includes an active positioner side 42 and a driven positioner side 41. The method includes the following steps:

[0028] S1. Establish auxiliary line L3; Draw an auxiliary line L3 between the active side 42 and the driven side 41 of the positioner.

[0029] Specifically, auxiliary line L3 is made of high-strength steel wire 5 and is stretched taut and straightened.

[0030] S2. Adjust the auxiliary line L3 so that it is parallel to the working stroke L1 of the moving device 2:

[0031] That is, adjust the position of the steel wire 5 in the horizontal and vertical directions so that the steel wire 5 is roughly parallel to the moving track of the moving device 2;

[0032] Specifically, it includes:

[0033] Step S21: Align the tip of robot 1 close to the auxiliary line L3 on the active side 42 of the positioner, and then move robot 1 to the other end of the auxiliary line L3; if the auxiliary line L3 is not directly below the tip of robot 1, slightly move the auxiliary line L3 on the driven side 41 of the positioner so that the auxiliary line L3 is directly below the tip of robot 1, and then fix the position of the auxiliary line L3 so that the auxiliary line L3 is always below the tip of robot 1, and the auxiliary line L3 is parallel to the working stroke L1 of the moving device 2, that is, parallel to the Y-axis;

[0034] In step S21, before the robot 1 moves, the gun tip is aligned with the connection point between the active side 42 of the positioner and the auxiliary line L3. After moving, the connection point between the driven side 41 of the positioner and the auxiliary line L3 is adjusted so that the gun tip is aligned with the connection point between the driven side 41 of the positioner and the auxiliary line L3.

[0035] The positioner 4 is equipped with screw holes, and the position of the steel wire 5 can be fixed to the screw holes of the positioner 4 by using cable ties to fix the position of the auxiliary line L3.

[0036] Step S22: A point and B point are set on the auxiliary line L3, and A1 point and B1 point are obtained on the working stroke L1 corresponding to the A point and B point respectively, the robot 1 is moved to the A1 point as a whole, and the gun tip of the robot 1 is moved to the A2 point above the auxiliary line L3, then only the robot 1 is moved to the B1 point as a whole, and it is confirmed whether the gun tip position B2 point of the robot 1 at this time is also above the auxiliary line L3, if yes, it means that the auxiliary line L3 is parallel to the working stroke L1, otherwise, step S21 is repeated until the gun tip at the A2 point and the B2 point is on the auxiliary line L3, at this time, the auxiliary line L3 is parallel to the working stroke L1 of the moving device 2.

[0037] S3, debugging the robot 1, so that the end stroke L2 of the gun tip of the robot 1 is parallel to the auxiliary line L3; comprising the following steps:

[0038] S31, moving the moving device 2 between the main drive side 42 of the positioner and the driven side 41 of the positioner, moving the gun tip of the robot 1 to directly above the auxiliary line L3, and then only moving the robot 1 along the y direction;

[0039] S32, if the position of the gun tip of the robot 1 after moving is directly above the auxiliary line L3, the adjustment is completed, otherwise, the mounting screws of the base of the robot 1 are loosened, the robot 1 is slightly rotated, the gun tip of the robot 1 is adjusted to be directly above the auxiliary line L3, the mounting screws are tightened, and then step S31 is repeated until the beginning and end positions of only moving the gun tip of the robot 1 along the y direction are directly above the auxiliary line L3, and the adjustment is completed.

[0040] In step S32, the position of the gun tip of the robot 1 before moving is the C position, and the position of the gun tip after moving is the D position, the distance between the C position and the D position is greater than 1000mm, on the basis of ensuring that the manual can quickly and conveniently identify and determine the moving positioning accuracy, the distance of single adjustment is increased, which is equivalent to reducing the resolution value and improving the positioning accuracy; the steel wire 5 is erected and is easy to deform, in order to improve the accuracy, the C position and the D position are symmetrically arranged, and the symmetry axis is located at the middle position between the main drive side 42 of the positioner and the driven side 41 of the positioner, which can effectively reduce the error caused by the bending of the steel wire 5 and improve the positioning accuracy.

[0041] In order to improve the accuracy of manual alignment, the gun tip can also be placed on the horizontal side of the auxiliary line L3.

Claims

1. A method for adjusting parallelism between a robot and a moving device, the robot (1) being integrally moved along a Y axis on the moving device (2), a moving stroke of the robot (1) being a working stroke L1 of the moving device (2), the robot (1) being preset with an end stroke L2 of a tip action in the Y direction, the moving device (2) being provided with a slide rail (3) on a side, the slide rail (3) being slidably connected with a positioner (4), the positioner (4) comprising a positioner driving side (42) and a positioner driven side (41), characterized in that, The method comprises the following steps: S1, establishing an auxiliary line L3; pulling an auxiliary line L3 between the driving side (42) and the driven side (41) of the positioner; S2, adjusting the auxiliary line L3 to make the auxiliary line L3 parallel to the working stroke L1 of the moving device (2); S3, debugging the robot (1) to make the end stroke L2 of the gun tip of the robot (1) parallel to the auxiliary line L3; the step S3 comprises the following steps: S31, moving the moving device (2) between the driving side (42) and the driven side (41) of the positioner, and moving the gun tip of the robot (1) to the position directly above the auxiliary line L3, and then only moving the gun tip of the robot (1) in the y direction; S32, if the position of the gun tip of the robot (1) after the movement is directly above the auxiliary line L3, the adjustment is completed, otherwise, loosening the mounting screws of the base of the robot (1), slightly rotating the robot (1), adjusting the gun tip of the robot (1) to be directly above the auxiliary line L3, fastening the mounting screws, and then repeating the step S31 until the beginning and end positions of the movement of the gun tip of the robot (1) are both directly above the auxiliary line L3, and the adjustment is completed.

2. The method of claim 1, wherein, The step S2 comprises a step S21, that is, closely aligning the gun tip of the robot (1) with the auxiliary line L3 at the driving side (42) of the positioner, and then moving the robot (1) to the other end of the auxiliary line L3; if the auxiliary line L3 is not directly below the gun tip of the robot (1), slightly moving the auxiliary line L3 at the driven side (41) of the positioner to make the auxiliary line L3 below the gun tip of the robot (1), and then fixing the position of the auxiliary line L3 to make the auxiliary line L3 always below the gun tip of the robot (1), and the auxiliary line L3 is parallel to the Y direction of the moving device (2).

3. The method of aligning a robot parallel to a mobile device of claim 2, wherein, After the step S21, the step S22 is further included, that is, A point and B point are arranged on the auxiliary line L3, A1 point and B1 point are obtained on the working stroke L1 corresponding to the A point and the B point, the robot (1) is moved to the A1 point as a whole, the gun tip of the robot (1) is moved to the A2 point above the auxiliary line L3, and then only the robot (1) is moved to the B1 point as a whole, and it is confirmed whether the position B2 point of the gun tip of the robot (1) is also above the auxiliary line L3 at this time, if yes, it is indicated that the auxiliary line L3 is parallel to the working stroke L1, otherwise, the step S21 is repeated until the gun tip at the A2 point and the B2 point is on the auxiliary line L3, and at this time, the auxiliary line L3 is parallel to the working stroke L1 of the moving device (2).

4. The method of claim 2, wherein the robot is parallel to the mobile device. In the step S21, before and after the movement of the robot (1), the gun tip is aligned with the connection point of the driving side (42) of the positioner and the auxiliary line L3, or the connection point of the driven side (41) of the positioner and the auxiliary line L3.

5. The method of claim 2, wherein the robot is parallel to the mobile device. The positioner (4) is provided with a screw hole, and in the step S21, the position of the steel wire (5) is fixed at the screw hole of the positioner (4) by a cable tie to realize the fixing of the position of the auxiliary line L3.

6. The method of aligning a robot parallel to a mobile device of claim 1, wherein, In the step S32, the position aligned by the gun tip of the robot (1) before the movement is the C position, and the position aligned by the gun tip of the robot (1) after the movement is the D position, and the distance between the C position and the D position is greater than 1000 mm.

7. The method of aligning a robot parallel to a mobile device of claim 6, wherein, The C position and the D position are arranged at a middle position between the driving side (42) of the positioner and the driven side (41) of the positioner.

8. The method of adjusting parallelism of a robot with a mobile device of claim 7, wherein, The C position and the D position are symmetrically arranged, and a symmetry axis is located at a middle position between the driving side (42) of the positioner and the driven side (41) of the positioner.

9. The method of aligning a robot parallel to a mobile device of claim 1, wherein, The auxiliary line L3 is a steel wire (5).

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