A robot zero calibration device and calibration method

Abstract

The present application relates to a kind of robot zero calibration device and calibration method, belong to robot field.The present application includes calibration seat, its structural features are in that: still include X axis positioning plate, Y axis positioning plate, Z axis positioning plate, calibration block and test block, the Y axis positioning plate is set on calibration seat, the X axis positioning plate and Z axis positioning plate are all set on Y axis positioning plate, at least one calibration mechanism is set on the X axis positioning plate, Y axis positioning plate and Z axis positioning plate, the calibration block and test block are all with calibration mechanism cooperation.The calibration mechanism includes dial gauge, mounting block and mounting screw, the dial gauge is set on X axis positioning plate, Y axis positioning plate, Z axis positioning plate, the measuring head of the dial gauge is with calibration block, test block cooperation, the sleeve of the dial gauge is with mounting block and X axis positioning plate, Y axis positioning plate, Z axis positioning plate penetration, the mounting block is fixed with X axis positioning plate, Y axis positioning plate, Z axis positioning plate by mounting screw.

Description

Technical Field

[0001] This invention relates to a robot zero-point calibration device and calibration method, belonging to the field of robotics. Background Technology

[0002] Robots are widely used in the grinding industry. In practical applications, to reduce errors during operation, the robot's zero point needs to be calibrated before operation to ensure its working accuracy. Currently, zero point calibration is usually performed manually by technicians. However, manual calibration is inefficient and inaccurate, failing to meet the demands of modern production.

[0003] In view of this, a robot zero-point calibration device, a robot zero-point calibration system and a calibration method are disclosed in the patent document with application number 201510974828.1. The above-mentioned prior art detects the position of the positioning block by a position sensor matrix on the inner side of the sensing cavity and compares it with the calibration data. The robot is adjusted according to the comparison result, and the collected data with the smallest difference from the calibration data is selected as the zero-point calibration data of the robot. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings in the prior art and to provide a robot zero-point calibration device and calibration method with a reasonable structural design.

[0005] The technical solution adopted by this invention to solve the above problems is as follows: A robot zero-point calibration device includes a calibration base, characterized by further comprising an X-axis positioning plate, a Y-axis positioning plate, a Z-axis positioning plate, a calibration block, and a test block. The Y-axis positioning plate is mounted on the calibration base, and the X-axis and Z-axis positioning plates are both mounted on the Y-axis positioning plate. At least one calibration mechanism is provided on each of the X-axis, Y-axis, and Z-axis positioning plates. The calibration block and test block cooperate with the calibration mechanism. By setting the calibration block to calibrate each calibration mechanism, and then using the test block to calibrate the robot's zero point, the calibration accuracy is high and more precise.

[0006] Furthermore, the calibration mechanism includes a dial indicator, which is mounted on the X-axis positioning plate, Y-axis positioning plate, and Z-axis positioning plate, and the measuring head of the dial indicator cooperates with the calibration block and the test block.

[0007] Furthermore, the calibration mechanism includes a mounting block and mounting screws. The sleeve of the dial indicator passes through the mounting block and the X-axis positioning plate, Y-axis positioning plate, and Z-axis positioning plate. The mounting block is fixed to the X-axis positioning plate, Y-axis positioning plate, and Z-axis positioning plate by the mounting screws.

[0008] Furthermore, the calibration block is arranged in a U-shaped structure.

[0009] Furthermore, the calibration block is provided with a calibration groove, and a calibration boss is provided in the calibration groove, the calibration boss being in contact with the measuring head of the dial indicator.

[0010] Furthermore, the test block is provided with an X-axis test surface, a Y-axis test surface, and a Z-axis test surface. The measuring head of the dial indicator in the calibration mechanism set on the X-axis positioning plate, the Y-axis positioning plate, and the Z-axis positioning plate respectively contacts the X-axis test surface, the Y-axis test surface, and the Z-axis test surface.

[0011] Furthermore, the calibration base is provided with a positioning pin.

[0012] Furthermore, the calibration mount is installed on the robot's base, and the test block is installed at the robot's end.

[0013] Furthermore, the X-axis positioning plate is provided with one calibration mechanism, the Y-axis positioning plate is provided with three calibration mechanisms, and the Z-axis positioning plate is provided with two calibration mechanisms.

[0014] Furthermore, the end of the calibration groove is an open end, which contacts the X-axis positioning plate, the Y-axis positioning plate, and the Z-axis positioning plate.

[0015] Furthermore, another technical objective of the present invention is to provide a calibration method for a robot zero-point calibration device.

[0016] The above-mentioned technical objective of the present invention is achieved through the following technical solution.

[0017] A calibration method for a robot zero-point calibration device is characterized by the following steps: A calibration seat is positioned on the robot's base using a positioning pin. A test block is installed at the robot's end. The calibration block is used to calibrate dial indicators in calibration mechanisms located on the X-axis, Y-axis, and Z-axis positioning plates. The robot contacts the X-axis, Y-axis, and Z-axis test surfaces of the test block with the measuring heads of the dial indicators in the calibration mechanisms on the X-axis, Y-axis, and Z-axis positioning plates, respectively. During calibration, the open end of the dial indicator contacts the X-axis, Y-axis, and Z-axis positioning plates, respectively, so that the calibration boss contacts the measuring head of the dial indicator, thus completing the dial indicator calibration.

[0018] Furthermore, another technical objective of the present invention is to provide a calibration method for a robot zero-point calibration device.

[0019] The above-mentioned technical objective of the present invention is achieved through the following technical solution.

[0020] A calibration method for a robot zero-point calibration device, the calibration method is as follows: Before leaving the factory, the robot needs to be calibrated by a laser tracker, which will generate a precise zero point. At this time, the robot is first run to the zero point position, and the single-turn encoder value of the absolute value servo motor of the robot's 1-6 axes is recorded. Then, the joint positions of the robot's 1-6 axes under a specific posture are recorded.

[0021] Its features are as follows: After the calibration seat is positioned by the positioning pin, it is installed on the robot's base. The test block is installed at the end of the robot. By holding the calibration block close to the dial indicator needles on the X-axis positioning plate, Y-axis positioning plate, and Z-axis positioning plate, the dial indicator needles on the X-axis positioning plate, Y-axis positioning plate, and Z-axis positioning plate are visually adjusted to be 2 mm inward. All dial indicators are manually zeroed. Then the robot is switched to manual teaching mode and a safety check is performed before operation.

[0022] After confirming safety, operate the system via the teach pendant, switching to the Cartesian coordinate system. Adjust the speed to 10%, visually ensuring the distance between the X-axis test surface and the X-axis positioning plate is approximately 5 mm, the distance between the Y-axis test surface and the Y-axis positioning plate is approximately 5 mm, and the distance between the Z-axis test surface and the Z-axis positioning plate is approximately 5 mm. Then adjust the robot speed to 1%. First, slowly move the X-axis test surface closer to the dial indicator needle on the X-axis positioning plate, constantly observing the needle reading, decreasing it from 2 mm to approximately 0.05 mm. Next, slowly move the Y-axis test surface closer to... Monitor the dial indicator needle on the Y-axis positioning plate, decreasing it from approximately 2 mm to 0.05 mm. Then, slowly bring the Z-axis test surface closer to the dial indicator needle on the Z-axis positioning plate, again monitoring the needle reading as it decreases from 2 mm to approximately 0.05 mm. Finally, reduce the speed to 0.01%, and sequentially fine-tune the dial indicators on the X-axis, Y-axis, and Z-axis positioning plates until they reach 0.00 mm. At this point, switch the robot coordinate system to the joint coordinate system and read the robot position (Axis1) from the teach pendant position interface. -0.486 degrees, Axis2 -21.731 degrees, Axis3 -60.486 degrees, Axis4 0.66 degrees, Axis5 -83.131 degrees, Axis6 120.853 degrees. Read the absolute value servo motor single-turn encoder values: Axis1 value is 686040, Axis2 value is 7638526, Axis3 value is 636168, Axis4 value is 5350352, Axis5 value is 546108, and Axis6 value is 278173.

[0023] First, record the single-turn encoder values ​​of the absolute servo motors of the robot's 1-6 axes when the robot is in the zero-point position state, and then record the joint positions of the robot's 1-6 axes in a specific posture.

[0024] When the zero point is lost or the positions of each axis are inaccurate, after confirming safety, operate through the teach pendant system, switch to the Cartesian coordinate system, adjust the speed to 10%, and visually adjust the distance between the X-axis test surface and the X-axis positioning plate to approximately 5 mm, the distance between the Y-axis test surface and the Y-axis positioning plate to approximately 5 mm, and the distance between the Z-axis test surface and the Z-axis positioning plate to approximately 5 mm. Then adjust the robot speed to 1%. First, slowly move the X-axis test surface closer to the dial indicator needle on the X-axis positioning plate, and observe the needle reading constantly, decreasing it from 2 mm to approximately 0.05 mm. Next, slowly move the Y-axis test surface closer to the Y-axis positioning plate. Monitor the dial indicator needle on the Z-axis positioning plate, decreasing it from approximately 2 mm to about 0.05 mm. Then, slowly bring the Z-axis test surface closer to the dial indicator needle on the Z-axis positioning plate, again monitoring the needle reading as it decreases from 2 mm to about 0.05 mm. Finally, reduce the speed to 0.01%, and sequentially fine-tune the dial indicators on the X-axis, Y-axis, and Z-axis positioning plates to 0.00 mm. At this point, establish the robot axes 1 to 6 as the origin. Create a new program YD, and within that program, create a PTP point, setting the previously saved robot position to Axis1. The values ​​for each axis are input in reverse order: Axis1 -0.486 degrees, Axis2 -21.731 degrees, Axis3 -60.486 degrees, Axis4 0.66 degrees, Axis5 -83.131 degrees, and Axis6 120.853 degrees. That is, input the values ​​for each axis in reverse order: Axis1 0.486 degrees, Axis2 21.731 degrees, Axis3 60.486 degrees, Axis4 -0.66 degrees, Axis5 83.131 degrees, and Axis6 120.853 degrees. -120.853 degrees. Move the robot to this position, clear the data of each axis to zero, and finally check the single-turn encoder value of the absolute value servo motor of each axis. Adjust the speed to the lowest, and manually teach each axis to the previously saved position, i.e., axis 1 value is 686040, axis 2 value is 7638526, axis 3 value is 636168, axis 4 value is 5350352, axis 5 value is 546108, and axis 6 value is 278173. At this time, re-establish the zero point. This zero point is the zero point of the robot when it left the factory. The zero point calibration of the robot is now complete.

[0025] Compared with the prior art, the present invention has the following advantages: the robot zero-point calibration device first adjusts the zero point of the dial indicator on the X-axis positioning plate, Y-axis positioning plate and Z-axis positioning plate through the calibration block, and then adjusts the robot's zero point by contacting the measuring head of the dial indicator with the test block at the end of the robot. Compared with manual adjustment, the robot zero-point calibration device has higher adjustment accuracy and is more accurate. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the robot zero-point calibration device (before calibration) according to an embodiment of the present invention.

[0027] Figure 2 This is a three-dimensional structural diagram of the robot zero-point calibration device (during calibration) according to an embodiment of the present invention.

[0028] Figure 3 This is a three-dimensional structural diagram of the robot zero-point calibration device (after calibration) according to an embodiment of the present invention.

[0029] Figure 4 This is a three-dimensional structural diagram of the robot zero-point calibration device according to an embodiment of the present invention.

[0030] Figure 5 This is a schematic diagram of the robot zero-point calibration device in use according to an embodiment of the present invention.

[0031] In the diagram: 1. Calibration mechanism; 2. Calibration base; 3. X-axis positioning plate; 4. Y-axis positioning plate; 5. Z-axis positioning plate; 6. Calibration block; 7. Test block; 8. Robot.

[0032] 11. Dial indicator; 12. Mounting block; 13. Mounting screws

[0033] Positioning pin 21

[0034] Calibration slot 61, calibration boss 62, open end 63

[0035] X-axis test surface 71, Y-axis test surface 72, Z-axis test surface 73. Detailed Implementation

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0037] Example.

[0038] See Figures 1 to 5 As shown in the accompanying drawings, the structures, proportions, sizes, etc., depicted are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness or purpose of the invention, should still fall within the scope of the disclosed technical content. Furthermore, the use of terms such as "upper," "lower," "left," "right," "middle," and "one" in this specification is merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0039] The robot zero-point calibration device in this embodiment includes a calibration seat 2, an X-axis positioning plate 3, a Y-axis positioning plate 4, a Z-axis positioning plate 5, a calibration block 6, and a test block 7. The calibration seat 2 is provided with a positioning pin 21, and the calibration seat 2 is installed on the base of the robot 8 through the positioning pin 21. The test block 7 is installed at the end of the robot 8.

[0040] In this embodiment, the Y-axis positioning plate 4 is set on the calibration seat 2, and the X-axis positioning plate 3 and Z-axis positioning plate 5 are both set on the Y-axis positioning plate 4. At least one calibration mechanism 1 is set on the X-axis positioning plate 3, the Y-axis positioning plate 4 and the Z-axis positioning plate 5. Normally, one calibration mechanism 1 is set on the X-axis positioning plate 3, three calibration mechanisms 1 are set on the Y-axis positioning plate 4 and two calibration mechanisms 1 are set on the Z-axis positioning plate 5. The calibration block 6 and the test block 7 both cooperate with the calibration mechanism 1.

[0041] The calibration mechanism 1 in this embodiment includes a dial indicator 11, a mounting block 12, and mounting screws 13. The dial indicator 11 is mounted on the X-axis positioning plate 3, the Y-axis positioning plate 4, and the Z-axis positioning plate 5. The measuring head of the dial indicator 11 cooperates with the calibration block 6 and the test block 7. That is, the sleeve of the dial indicator 11 passes through the mounting block 12 and the X-axis positioning plate 3, the Y-axis positioning plate 4, and the Z-axis positioning plate 5. The mounting block 12 is fixed to the X-axis positioning plate 3, the Y-axis positioning plate 4, and the Z-axis positioning plate 5 by the mounting screws 13.

[0042] In this embodiment, the calibration block 6 is arranged in a U-shape. The calibration block 6 is provided with a calibration groove 61 and a calibration boss 62 is provided in the calibration groove 61. The calibration boss 62 is in contact with the measuring head of the dial indicator 11. The end of the calibration groove 61 is an open end 63, which is in contact with the X-axis positioning plate 3, the Y-axis positioning plate 4, and the Z-axis positioning plate 5.

[0043] In this embodiment, the test block 7 is provided with an X-axis test surface 71, a Y-axis test surface 72, and a Z-axis test surface 73. The measuring head of the dial indicator 11 in the calibration mechanism 1, which is set on the X-axis positioning plate 3, the Y-axis positioning plate 4, and the Z-axis positioning plate 5, respectively contacts the X-axis test surface 71, the Y-axis test surface 72, and the Z-axis test surface 73.

[0044] The calibration method of the robot zero-point calibration device in this embodiment is as follows: After the calibration seat 2 is positioned by the positioning pin 21, it is installed on the base of the robot 8. The test block 7 is installed at the end of the robot 8. The dial indicator 11 in the calibration mechanism 1 set on the X-axis positioning plate 3, Y-axis positioning plate 4, and Z-axis positioning plate 5 is calibrated by the calibration block 6. The robot 8 contacts the measuring head of the dial indicator 11 in the calibration mechanism 1 on the X-axis positioning plate 3, Y-axis positioning plate 4, and Z-axis positioning plate 5 with the X-axis test surface 71, Y-axis test surface 72, and Z-axis test surface 73 of the test block 7.

[0045] When calibrating the dial indicator 11 in the calibration mechanism 1 on the X-axis positioning plate 3, Y-axis positioning plate 4, and Z-axis positioning plate 5 respectively using the calibration block 6, the open end 63 is brought into contact with the X-axis positioning plate 3, Y-axis positioning plate 4, and Z-axis positioning plate 5 respectively, so that the calibration boss 62 is in contact with the measuring head of the dial indicator 11, thus completing the calibration of the dial indicator 11.

[0046] When robot 8 is in a fixed posture, it generates motor encoder values ​​and retains data for axes 1-6. When the motor does not produce displacement, the data is reversed and imported into the driver, which can be used to restore the factory zero point.

[0047] Specifically, before leaving the factory, robot 8 needs to be calibrated by a laser tracker to generate a precise zero point. At this time, robot 8 is first run to the zero point position, and the single-turn encoder value of the absolute servo motor of robot 8's 1-6 axes is recorded. Then, the joint positions of robot 8's 1-6 axes in a specific posture are recorded. All recorded content is archived according to the robot 8's factory serial number, printed and sealed, and the printed sealing content is saved and handed over.

[0048] Specifically, the calibration seat 2 is positioned by the positioning pin 21 and then installed on the base of the robot 8. The test block 7 is installed at the end of the robot 8. The calibration block 6 is held close to the dial indicator 11 on the X-axis positioning plate 3, Y-axis positioning plate 4, and Z-axis positioning plate 5. The dial indicator 11 is visually moved 2 mm into the X-axis positioning plate 3, Y-axis positioning plate 4, and Z-axis positioning plate 5. The dial indicator 11 is manually zeroed. Then the robot 8 is switched to manual teaching mode. Before operation, a safety confirmation is performed: the robot 8 can only be programmed by designated personnel.

[0049] Before starting the operation and setting program, the operator must check the robot 8 and the control system to ensure that there are no potential dangers or irregularities and that no one is in the work area. If possible, the teaching operation should be controlled outside the work area. Before operating inside the work area, the operator must ensure from the outside that all necessary protection and safety measures are in place and working properly, especially that the teach pendant has been adjusted (slow speed, emergency braking, equipment start-up, etc.).

[0050] During operation, only operators holding handheld teach pendants are allowed to enter the work area. The motor start (drive activation) must be controlled from outside the robot's range after checking and confirming that no one is in the work area. The drive activation operation is complete after the relevant machine status indicators are displayed.

[0051] During operation, the operator must maintain a certain distance from the robot 8 to avoid any unauthorized machine movement and to be in a safe position to avoid the danger of being trapped between the robot 8 and structural components (load-bearing columns, barriers, etc.) or between the actual movable parts of the robot 8.

[0052] Operators should avoid staying in one position to prevent parts of robot 8 from moving downwards, upwards, or to the sides due to gravity (when mounted on an inclined plane). In some cases, if close-range visual inspection is required, the operator can only set the cycle according to the normal operating speed inspection procedure after a complete inspection cycle has been executed at low speed in the work area. During inspection, attention should be paid to the direction of movement of robot 8.

[0053] Operators should pay special attention when using a handheld teach pendant: In this case, although all hardware and software safety facilities have been activated, the movement of robot 8 still depends on operator control. When a new program is run for the first time, robot 8 may move in an unexpected path. After the program steps (e.g., the movement steps from one point in the process to another, the error recording of steps, and changing the robot position if it deviates from the path between two steps in the connecting program) are changed, unexpected actions may occur when the program is checked.

[0054] In all cases, exercise caution and always keep the robot outside its range of motion. Perform slow, safe testing. Once confirmed, operate via the teach pendant system, switching to Cartesian coordinates. Adjust the speed to 10%, visually ensuring the distance between the X-axis test surface 71 and the X-axis positioning plate 3 is approximately 5 mm, the distance between the Y-axis test surface 72 and the Y-axis positioning plate 4 is approximately 5 mm, and the distance between the Z-axis test surface 73 and the Z-axis positioning plate 5 is approximately 5 mm. Then, adjust the robot 8 speed to 1%. First, slowly bring the X-axis test surface 71 closer to the dial indicator 11 on the X-axis positioning plate 3, constantly monitoring the dial indicator reading as it decreases from 2 mm to 0.05 mm. Next, slowly move the Y-axis test surface 72 closer to the dial indicator 11 on the Y-axis positioning plate 4, observing the reading as it decreases from 2 mm to approximately 0.05 mm. Then, slowly move the Z-axis test surface 73 closer to the dial indicator 11 on the Z-axis positioning plate 5, observing the reading as it decreases from 2 mm to approximately 0.05 mm. Finally, reduce the speed to 0.01% and fine-tune the dial indicator 11 on the X-axis positioning plate 3, Y-axis positioning plate 4, and Z-axis positioning plate 5 sequentially to 0.00 mm. At this point, switch the robot 8 coordinate system to the joint coordinate system and read the robot 8 position from the teach pendant position interface. Axis1 -0.486 degrees, Axis2 -21.731 degrees, Axis3 -60.486 degrees, Axis4 0.66 degrees, Axis5 -83.131 degrees, Axis6 120.853 degrees. Read the absolute value servo motor single-turn encoder values: Axis1 value is 686040, Axis2 value is 7638526, Axis3 value is 636168, Axis4 value is 5350352, Axis5 value is 546108, and Axis6 value is 278173.

[0055] First, record the single-turn encoder values ​​of the absolute servo motors of axes 1-6 of robot 8 when robot 8 is in the zero position state. Then, record the joint positions of axes 1-6 of robot 8 in a specific posture. All recorded content is archived and printed in plastic according to the robot's factory serial number. The contents of the printed plastic seal are then randomly saved and transferred.

[0056] When the zero point is lost or the positions of each axis are inaccurate, use the same method. After confirming safety, operate through the teach pendant system, switch to the Cartesian coordinate system, adjust the speed to 10%, and visually adjust the distance between the X-axis test surface 71 and the X-axis positioning plate 3 to about 5 mm, the distance between the Y-axis test surface 72 and the Y-axis positioning plate 4 to about 5 mm, and the distance between the Z-axis test surface 73 and the Z-axis positioning plate 5 to about 5 mm. Then adjust the robot 8 speed to 1%. First, slowly move the X-axis test surface 71 closer to the dial indicator 11 on the X-axis positioning plate 3, and observe the dial indicator reading from 2 mm to about 0.05 mm. Next, slowly move the Y-axis test surface 72 closer to the dial indicator 11 on the X-axis positioning plate 3. Slowly move the dial indicator 11 on the Y-axis positioning plate 4 closer to the dial indicator 11 on the Z-axis positioning plate 5, observing the reading continuously. Reduce the reading from 2 mm to approximately 0.05 mm. Then, slowly move the Z-axis test surface 73 closer to the dial indicator 11 on the Z-axis positioning plate 5, observing the reading continuously. Reduce the reading from 2 mm to approximately 0.05 mm. Finally, reduce the speed to 0.01% and fine-tune the dial indicator 11 on the X-axis positioning plate 3, Y-axis positioning plate 4, and Z-axis positioning plate 5 sequentially to 0.00 mm. At this point, establish the origin for axes 1 to 6 of the robot's 8th axis. Create a new program YD, and create a new PTP point within the program. Set the previously saved robot position, Axis1... The values ​​for each axis are input in reverse order: -0.486 degrees for Axis1, -21.731 degrees for Axis2, -60.486 degrees for Axis3, 0.66 degrees for Axis4, -83.131 degrees for Axis5, and 120.853 degrees for Axis6. That is, Axis1 = 0.486 degrees, Axis2 = 21.731 degrees, Axis3 = 60.486 degrees, Axis4 = -0.66 degrees, Axis5 = 83.131 degrees, and Axis6 = 120.853 degrees. -120.853 degrees. Move robot 8 to this position, clear the data for each axis, and finally check the single-turn encoder values ​​of the absolute servo motors for each axis of robot 8. Adjust the speed to the lowest setting, and manually teach each axis to the previously saved position: axis 1 value is 686040, axis 2 value is 7638526, axis 3 value is 636168, axis 4 value is 5350352, axis 5 value is 546108, and axis 6 value is 278173. At this point, the zero point is re-established, which is the same zero point that Robot 8 had when it left the factory. The zero point calibration of Robot 8 is now complete. The zero point found using this calibration method is compared with the zero point calibrated by the FARO laser tracker. The maximum error of each axis is 0.002 degrees. After finding the zero point again, it is retested according to GB / T12642-2013 and ISO9823-1998 standards. The test data is almost the same as the test data at the time of leaving the factory.

[0057] Furthermore, it should be noted that the specific embodiments described in this specification may differ in the shape and name of their components, etc. The above description is merely illustrative of the structure of the present invention. All equivalent or simple variations made based on the structure, features, and principles described in this patent concept are included within the protection scope of this patent. Those skilled in the art can make various modifications or additions to the described specific embodiments or use similar methods to substitute them, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, all of which should fall within the protection scope of this invention.

Claims

1. A robot zero-point calibration method, wherein the robot zero-point calibration method is implemented by a robot zero-point calibration device, the robot zero-point calibration device comprising a calibration base (2), characterized in that: It also includes an X-axis positioning plate (3), a Y-axis positioning plate (4), a Z-axis positioning plate (5), a calibration block (6), and a test block (7). The Y-axis positioning plate (4) is set on the calibration seat (2). The X-axis positioning plate (3) and the Z-axis positioning plate (5) are both set on the Y-axis positioning plate (4). At least one calibration mechanism (1) is set on each of the X-axis positioning plate (3), the Y-axis positioning plate (4), and the Z-axis positioning plate (5). The calibration block (6) and the test block (7) cooperate with the calibration mechanism (1). The calibration block (6) is arranged in a U-shape. The calibration mechanism (1) includes a dial gauge ( 11), the dial indicator (11) is set on the X-axis positioning plate (3), Y-axis positioning plate (4), and Z-axis positioning plate (5). The measuring head of the dial indicator (11) cooperates with the calibration block (6) and the test block (7). The test block (7) is provided with X-axis test surface (71), Y-axis test surface (72), and Z-axis test surface (73). The measuring head of the dial indicator (11) in the calibration mechanism (1) set on the X-axis positioning plate (3), Y-axis positioning plate (4), and Z-axis positioning plate (5) respectively contacts the X-axis test surface (71), Y-axis test surface (72), and Z-axis test surface (73). The robot zero-point calibration method is as follows: Before leaving the factory, the robot (8) needs to be calibrated by a laser tracker, which will generate a precise zero point. At this time, the robot (8) is first run to the zero point position, and the single-turn encoder value of the absolute value servo motor of the robot (8) from axis 1 to axis 6 is recorded. Then, the joint position of the robot (8) from axis 1 to axis 6 is recorded in a specific posture. After positioning the calibration base (2) with the positioning pin (21), install it on the base of the robot (8). Install the test block (7) at the end of the robot (8). Hold the calibration block (6) close to the dial indicator (11) on the X-axis positioning plate (3), Y-axis positioning plate (4), and Z-axis positioning plate (5). Visually measure to make the dial indicator (11) on the X-axis positioning plate (3), Y-axis positioning plate (4), and Z-axis positioning plate (5) go in 2 mm. Manually zero all the dial indicators (11). Then switch the robot (8) to manual teaching mode and perform a safety check before operation. After confirming safety, operate through the teach pendant system, switch to the Cartesian coordinate system, adjust the speed to 10%, visually measure the distance between the X-axis test surface (71) and the X-axis positioning plate (3) to be 5 mm, the distance between the Y-axis test surface (72) and the Y-axis positioning plate (4) to be 5 mm, and the distance between the Z-axis test surface (73) and the Z-axis positioning plate (5) to be 5 mm. Then adjust the robot (8) speed to 1%, first bring the X-axis test surface (71) close to the dial indicator (11) on the X-axis positioning plate (3), and observe the dial indicator reading at any time, reducing it from 2 mm to 0.05 mm. Next, bring the Y-axis test surface (72) close to the Y-axis The dial indicator (11) on the positioning plate (4) is monitored at all times. The reading is reduced from 2 mm to 0.05 mm. The Z-axis test surface (73) is brought close to the dial indicator (11) on the Z-axis positioning plate (5) again. The reading is monitored at all times. The reading is reduced from 2 mm to 0.05 mm. Finally, the speed is reduced to 0.01%. The dial indicators (11) on the X-axis positioning plate (3), Y-axis positioning plate (4) and Z-axis positioning plate (5) are adjusted to 0.00 mm in sequence. At this time, the robot (8) coordinate system is switched to the joint coordinate system. The robot (8) position is read from the teach pendant position interface. Axis1 -0.486 degrees, Axis2 -21.731 degrees, Axis3 -60.486 degrees, Axis4 0.66 degrees, Axis5 -83.131 degrees, Axis6 120.853 degrees. Read the absolute value servo motor single-turn encoder values: Axis1 value is 686040, Axis2 value is 7638526, Axis3 value is 636168, Axis4 value is 5350352, Axis5 value is 546108, and Axis6 value is 278173. At this time, first record the single-turn encoder value of the absolute value servo motor of the robot (8) 1-6 axis when the robot (8) is in the zero position state, and then record the joint position of the robot (8) 1-6 axis in a specific posture. When the zero point is lost and the positions of each axis are inaccurate, after confirming safety, operate through the teach pendant system, switch to the Cartesian coordinate system, adjust the speed to 10%, visually measure the distance between the X-axis test surface (71) and the X-axis positioning plate (3) to be 5 mm, the distance between the Y-axis test surface (72) and the Y-axis positioning plate (4) to be 5 mm, and the distance between the Z-axis test surface (73) and the Z-axis positioning plate (5) to be 5 mm, then adjust the robot (8) speed to 1%, first bring the X-axis test surface (71) close to the dial indicator (11) on the X-axis positioning plate (3), and observe the dial indicator reading at any time, reducing it from 2 mm to 0.05 mm, then bring the Y-axis test surface (72) close to the Y-axis positioning plate (3). The dial indicator (11) on the axis positioning plate (4) is used to monitor the reading. The reading is reduced from 2 mm to 0.05 mm. The Z-axis test surface (73) is brought close to the dial indicator (11) on the Z-axis positioning plate (5). The reading is monitored and reduced from 2 mm to 0.05 mm. Finally, the speed is reduced to 0.01%. The dial indicator (11) on the X-axis positioning plate (3), Y-axis positioning plate (4) and Z-axis positioning plate (5) are adjusted to 0.00 mm in sequence. At this time, the origin of the robot (8) axis 1 to axis 6 is established. A new program YD is created. The PTP point is created in the program. The previously saved robot position, Axis1 The values ​​for each axis are input in reverse order: -0.486 degrees for Axis1, -21.731 degrees for Axis2, -60.486 degrees for Axis3, 0.66 degrees for Axis4, -83.131 degrees for Axis5, and 120.853 degrees for Axis6. That is, Axis1 0.486 degrees, Axis2 21.731 degrees, Axis3 60.486 degrees, Axis4 -0.66 degrees, Axis5 83.131 degrees, and Axis6 120.853 degrees. -120.853 degrees, move the robot (8) to this position, clear the data of each axis, and finally check the absolute value of the single-turn encoder value of the servo motor of each axis of the robot (8). Adjust the speed to the lowest, and manually teach each axis to the previously saved position, that is, the value of axis 1 is 686040, the value of axis 2 is 7638526, the value of axis 3 is 636168, the value of axis 4 is 5350352, the value of axis 5 is 546108, and the value of axis 6 is 278173. At this time, re-establish the zero point. This zero point is the zero point of the robot (8) when it leaves the factory. At this time, the zero point calibration of the robot (8) is completed.

2. The robot zero-point calibration method according to claim 1, characterized in that: The calibration mechanism (1) also includes a mounting block (12) and mounting screws (13). The sleeve of the dial indicator (11) passes through the mounting block (12) and the X-axis positioning plate (3), Y-axis positioning plate (4), and Z-axis positioning plate (5). The mounting block (12) is fixed to the X-axis positioning plate (3), Y-axis positioning plate (4), and Z-axis positioning plate (5) by the mounting screws (13).

3. The robot zero-point calibration method according to claim 1, characterized in that: The calibration block (6) is provided with a calibration groove (61), and a calibration boss (62) is provided in the calibration groove (61). The calibration boss (62) is in contact with the measuring head of the dial indicator (11).

4. The robot zero-point calibration method according to claim 1, characterized in that: The calibration base (2) is provided with a positioning pin (21).

5. The robot zero-point calibration method according to claim 1, characterized in that: The X-axis positioning plate (3) is provided with a calibration mechanism (1), the Y-axis positioning plate (4) is provided with three calibration mechanisms (1), and the Z-axis positioning plate (5) is provided with two calibration mechanisms (1).

6. The robot zero-point calibration method according to claim 3, characterized in that: The end of the calibration groove (61) is an open end (63), which is in contact with the X-axis positioning plate (3), the Y-axis positioning plate (4), and the Z-axis positioning plate (5).

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