CN107322599A - A kind of method, storage device and the control device of robot Zero calibration - Google Patents
A kind of method, storage device and the control device of robot Zero calibration Download PDFInfo
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- CN107322599A CN107322599A CN201710606183.5A CN201710606183A CN107322599A CN 107322599 A CN107322599 A CN 107322599A CN 201710606183 A CN201710606183 A CN 201710606183A CN 107322599 A CN107322599 A CN 107322599A
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- axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of method of robot Zero calibration, S1 controls first axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on the first axle；S2 works as the reading of amesdial from large to small, then when changing from small to big, control first axle stops movement；Wherein, first axle is one stroke from starting to be moved to stopping mobile；S3 control first axles are inverted and moved round about；Calculate the current reading of amesdial and the difference of one reading behind；S4 performs S5 when the absolute value of difference is less than or equal to predetermined deviation threshold value；When the absolute value of difference is more than the current reading of predetermined deviation threshold value and amesdial more than one reading behind, control first axle stops movement and simultaneously returns to execution S3；S5 control first axles stop the currency of the encoder of motor that is mobile and recording first axle, and the current location that first axle is located at is designated as to the mechanical zero of first axle.The present invention realizes the corresponding relation of the value of the encoder of the motor of robot and the position of Zero calibration axle.
Description
Technical field
The present invention relates to industrial robot field, more particularly to a kind of method of robot Zero calibration, storage device and
Mobile terminal.
Background technology
Zero point is the benchmark of robot coordinate system, just has no idea to judge the position of itself without zero point robot.Generally
Industrial robot can be demarcated before dispatching from the factory to the mechanical parameter of robot, provide each axle of industrial robot parameter and
Dead-center position, but under special circumstances, such as battery altering, surmount mechanical limit position, collided with environment, manual moving machine
Device person joint etc. is the loss for causing zero point.
Current robot Zero calibration has following several method.
1. bolt-type method, by rotating mechanical arm to estimating after arrival zero-bit, preset hole is inserted with latch.If can be with
Insertion, then it is zero-bit to show the position.This method is using artificial range estimation identification, and the application condition existed is big.
2.EMT methods, by performing Zero calibration program, be by electronic gauge detection in mechanical arm rotary course
It is no in place, stop if in place, stop position is zero-bit.Electronic gauge is used the need for this method, price is higher.
3. whether amesdial mode, by each axle of manual mobile robot, read amesdial numerical value to judge to be currently
Zero-bit.With respect to bolt-type method, precision is higher, but can not adaptively be automatically performed demarcation.
The content of the invention
First aspect technical problem to be solved by this invention is to provide a kind of method of robot Zero calibration, simple fast
Speed carries out Zero calibration to robot, so as to need zero point in realizing the value and realistic space of the encoder of the motor of robot
Demarcate the corresponding relation of the position of axle.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of method of robot Zero calibration, including such as
Lower step, S1, control first axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on the first axle
Number；Wherein, any one axle of Zero calibration the need for the first axle is robot；S2, when the amesdial reading by
Diminish greatly, then when changing from small to big, control the first axle to stop movement；Wherein, the first axle is moved from starting to be moved to stopping
Move as one stroke；S3, controls the first axle to invert and move round about；The speed is adjusted so that presently described row
The speed of journey is less than the speed of the previous stroke；Calculate the current reading of the amesdial and the difference of one reading behind
Value；S4, when the absolute value of the difference is less than or equal to predetermined deviation threshold value, performs step S5；It is absolute when the difference
When value is more than one reading behind more than the current reading of predetermined deviation threshold value and the amesdial, the first axle is controlled to stop movement
And return to execution step S3；S5, controls the first axle to stop the encoder of motor that is mobile and recording the first axle
Currency, the current location that the first axle is located at is designated as to the mechanical zero of the first axle.
The beneficial effects of the invention are as follows：Being capable of the simple and convenient mark for completing robot by the Zero calibration method of the present invention
Determine process, it is whether smooth to robotic asssembly mode, angle of assembling, fixed form and ground without any requirement.It is only required in
Ensure U-type groove its bottom position correspondence mechanical zero after mounting when robot production, which demarcation implementation process is with selecting
Family's servomotor and control mode are not directly dependent upon, and the processing and arithmetic programming for pertaining only to U-type groove realize possess extensively
Applicability.Final stated accuracy is relevant with the first axle speed and predetermined deviation threshold value setting.The smaller then axle of speed of first axle
Moving step pitch is smaller, on the contrary, the more big then first axle moving step pitch of speed of first axle movement is bigger.During beginning being step S1,
The pre-set velocity of first axle is maximum, and the speed of first axle progressively reduces in step afterwards.Step S2 has primarily determined that U-type groove bottom
One relatively large scope in portion, further determines that the bottom of U-type groove so that it is determined that the machinery zero of first axle by step S3-S5
Position.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the method for a kind of robot Zero calibration, during the first axle movement, the gauge head of the amesdial
Slided in U-type groove, the mechanical zero of the bottom correspondence first axle of the U-type groove.
Further, step S11, S11 are also included before the method for a kind of robot Zero calibration, step S1, is set
The corresponding numerical value of the natural extended configuration of the measuring staff of the amesdial is 0, is used as the initial value of the reading of the amesdial.
It is that amesdial is verified using the beneficial effect of above-mentioned further scheme, so that data used in follow-up are just
Really.
Further, it is described also including step S12, S12 after the method for a kind of robot Zero calibration, step S11
Amesdial records the maximum and minimum value of amesdial reading in sliding process from an edge to the another side of U-type groove along sliding
As default value scope, for judgment step S1 to amesdial described in S4 current reading and one reading behind difference it is exhausted
To value whether in the range of the default value.
It is in step S1 to S5 first axles moving process, in amesdial using the beneficial effect of above-mentioned further scheme
When departing from U-type groove slip or not sliding according to direction initialization, find to correct mistake in time.
Further, step S13 is also included after the method for a kind of robot Zero calibration, step S12, makes described thousand
Divide epitope in the edge of the U-type groove, adjust vertical position of the amesdial in the first axle so that the amesdial
Reading in the range of the default value.
The beneficial effect of above-mentioned further scheme is used to be to determine that amesdial initial reading can for Zero calibration program
The numerical value of receiving is so as to performing subsequent operation.
Second aspect technical problem to be solved by this invention is to provide a kind of storage device, wherein a plurality of refer to that be stored with
Order, the instruction is suitable to be loaded and performed by processor：S1, control first axle is moved in one direction with pre-set velocity, is obtained
It is installed on the reading of the amesdial of the first axle；Wherein, Zero calibration is any one the need for the first axle is robot
Individual axle；S2, when the amesdial reading from large to small, then when changing from small to big, control the first axle to stop movement；Wherein,
The first axle is one stroke from starting to be moved to stopping mobile；S3, controls the first axle to invert and move round about
It is dynamic；The speed is adjusted so that the speed of presently described stroke is less than the speed of the previous stroke；Calculate described
The current reading and the difference of one reading behind of amesdial；S4, when the absolute value of the difference is less than or equal to predetermined deviation threshold value
When, perform step S5；Before the absolute value of the difference is more than more than the current reading of predetermined deviation threshold value and the amesdial
During one reading, the first axle is controlled to stop mobile and return to execution step S3；S5, controls the first axle to stop mobile and remember
The currency of the encoder of the motor of the first axle is recorded, the current location that the first axle is located at is designated as described first
The mechanical zero of axle.
The beneficial effects of the invention are as follows：Due to the present invention robot Zero calibration method have it is easy to operate, quick
Find the advantage of mechanical zero accurately, therefore instructed by storing this method, it is possible thereby to make storage device be loaded simultaneously by processor
Above method instruction is performed quickly to find mechanical zero accurately.
Third aspect technical problem to be solved by this invention is to provide a kind of control device, including processor, suitable for reality
Now each instruction；And storage device, suitable for storing a plurality of instruction, the instruction is suitable to be loaded and performed by processor：S1, control
First axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on the first axle；Wherein, described
One axle be robot the need for Zero calibration any one axle；S2, when the reading of the amesdial from large to small, then by small becomes
When big, the first axle is controlled to stop movement；Wherein, the first axle is one stroke from starting to be moved to stopping mobile；S3,
The first axle is controlled to invert and move round about；The speed is adjusted so that the speed of presently described stroke is less than
The speed of the previous stroke；Calculate the current reading of the amesdial and the difference of one reading behind；S4, when the difference
Absolute value when being less than or equal to predetermined deviation threshold value, perform step S5；When the absolute value of the difference is more than predetermined deviation threshold
When the current reading of value and the amesdial is more than one reading behind, the first axle is controlled to stop mobile and return to execution step
S3；S5, controls the first axle to stop the currency of the encoder of motor that is mobile and recording the first axle, will be described
The current location that first axle is located at is designated as the mechanical zero of the first axle.
The beneficial effects of the invention are as follows：Due to according to the present invention robot Zero calibration method have it is easy to operate,
Quickly find the advantage of mechanical zero accurately, thus loaded in control device by processor and perform the above method instruction so as to
Quickly find mechanical zero accurately.
Brief description of the drawings
Fig. 1 is the inventive method step block diagram；
Fig. 2 is the structural representation that amesdial of the present invention is located at fixing groove；
Fig. 3 is amesdial moving process structural representation of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows：
11st, dial plate, 12, sleeve, 13, gauge rod, 14, gauge head, 2, fixing groove, 3, U-type groove.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
In the description of the invention, it is to be understood that the orientation or position of the instruction such as term " on ", " under ", " interior ", " outer "
It is, based on orientation shown in the drawings or position relationship, to be for only for ease of the description present invention and simplify description to put relation, rather than
Indicate or imply that the device or element of meaning there must be specific orientation, with specific azimuth configuration and operation, therefore can not
It is interpreted as limitation of the present invention.In the description of the invention, " multiple " are meant that two or more, are limited unless otherwise clearly tool
It is fixed.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be to be directly connected to, can also be indirectly connected with by intermediary, can be two element internals connection or two elements
Interaction relationship.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
Here first choice is it should be noted that " inside " is directed towards the direction in accommodation space center, and " outside " is away from accommodating
The direction in space center.
Fig. 1 to Fig. 3 is referred to, the present invention provides a kind of method of robot Zero calibration.
S1, control first axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on first axle.
Wherein, any one axle of Zero calibration the need for first axle is robot.
Specifically, amesdial is the rotation that general straight-line displacement (linear motion) is converted into pointer by gear or lever
Transhipment is dynamic, and the length measuring instrument of reading is then carried out on dial.Industrial robot first designs fixed U before dispatching from the factory
The mounting hole of type groove and amesdial fixing groove, processes the U-type groove of the suitable axle construction of Zero calibration first.Because needing Zero calibration
First axle and each part being connected with first axle structure it is different, so the position of mounting hole, U-type groove and amesdial
The contour structures and size of fixing groove need to be configured according to the structure of specific first axle.As long as ensureing U-type groove bottom position
The mechanical zero of correspondence first axle.
As shown in Figures 2 and 3, amesdial is installed on to be located at and need to demarcated in the fixing groove 2 of first axle.Amesdial includes dial plate
11st, sleeve 12, gauge rod 13 and gauge head 14.The upper end of sleeve 12 is installed on one end of dial plate 11.The other end amount of being arranged of sleeve 12
Bar 13, gauge rod 13 is moved up and down in sleeve 12.The lower end of gauge rod 13 is connected with the upper end of gauge head 14.The lower end of gauge head 14 and survey
Amount part such as U-type groove 3 is contacted.Needed because amesdial is arranged in the first axle of Zero calibration, therefore the gauge head 14 of amesdial is with first
The movement of axle is gone forward to advance and proceeds to location of C in U-type groove from the edge location A of U-type groove 3 in U-type groove 3.Amesdial is with first
Axle is often moved and moved a step, and records the reading of amesdial.
S2, when amesdial reading from large to small, then when changing from small to big, control first axle stops movement.Wherein, first axle
It is one stroke from starting to be moved to stopping mobile.
Specifically, as shown in figure 3, the edge of U-type groove 3 is horizontal plane, when amesdial is in location A, reading is constant.It is moved to B
Be the cambered surface to lower recess during position, in U-type groove 3, with the increase gauge rod 13 of the downward depth of cambered surface in sleeve 12 by
The cumulative plus amount of extending downwardly from and then reading is gradually reduced；It is minimum to reading during 3 bottommost of U-type groove；From the bottom of U-type groove 3 to location of C
When mobile, the downward depth of cambered surface is gradually reduced, gauge rod 13 downward overhang is gradually reduced in sleeve 12 so that reading by
It is cumulative big.If the amesdial reading recorded is from large to small, then changes from small to big, then it represents that amesdial has slipped over mechanical zero,
That is the gauge head 13 of amesdial passes through the bottom position of U-type groove.The change procedure of above-mentioned amesdial reading can lead to
Cross and the current reading of amesdial and back reading are compared to draw the size of reading and then judge whether
State change procedure.And the specific comparison process of current reading and back reading is present in the prior art, no longer go to live in the household of one's in-laws on getting married herein
State.So as to realize preliminary judgement to mechanical zero, that is, preliminary judgement U-type groove bottom position.
Mechanical zero may be determined during Zero calibration is carried out to first axle by multiple stroke.
S3, control first axle is inverted and moved round about.Regulate the speed so that the speed of current stroke is less than previous
The speed of stroke.Calculate the current reading of amesdial and the difference of one reading behind.
Specifically, as shown in figure 3, first axle it is auto-reverse to opposite direction B position and start movement.Controlled motor reduces
The speed of first axle movement namely reduces the moving step pitch of first axle, so as to accurately sentence to the bottom of U-type groove
It is fixed.
S4, when the absolute value of difference is less than or equal to predetermined deviation threshold value, performs step S5.When the absolute value of difference is big
When the current reading of predetermined deviation threshold value and amesdial is more than one reading behind, control first axle stops movement and returned to perform step
Rapid S3.
Specifically, when the absolute value for judging difference is less than more than the current reading of predetermined deviation value and amesdial, control
First axle continues current stroke and calculates the current reading of amesdial and the difference of preceding reading.The absolute value of difference is used for and pre-
If deviation threshold is compared.
As shown in figure 3, when difference be on the occasion of when, represent that amesdial has slipped over the bottom of U-type groove, amesdial reading it is current
Value is more than previous value, and amesdial is moved to U-type groove left side or right side ascent stage.Need first axle to reduce speed and namely reduce step
Away from moving round about.When difference is that negative value illustrates that the currency of amesdial reading is less than previous value, amesdial is left to U-type groove
Side or the movement of right side descending branch；When difference absolute value less than predetermined deviation threshold value illustrate amesdial be located at U-type groove bottom.Difference
Absolute value be more than predetermined deviation threshold value and when amesdial current reading be more than one reading behind, illustrate that amesdial has been slipped over U-shaped
The bottom of groove and the edge for being located at bottom.
S5, control first axle stops the currency of the encoder of motor that is mobile and recording first axle, by first axle
The current location being located at is designated as the mechanical zero of first axle.
Represent that first axle is located at the bottom of U-type groove when difference is less than predetermined deviation threshold value, that is to say, that first axle is located at
The position of mechanical zero, so that it is determined that the mechanical zero of first axle.The encoder of the motor of first axle is for first axle
Often move to move a step and all there is a corresponding value in encoder, in the mechanical zero of the first axle redefined, record this
When encoder value have recorded first axle mechanical zero position data.So as to obtain the position of current robot with
And complete robot and achieved the goal from current location the action of position.
The reading of one amesdial is corresponding with first axle position；One position of first axle and one of encoder
Value correspondence.Because amesdial is installed in first axle, reading and the first axle of amesdial are often moved the position moved a step and corresponded.
The reading of the bottommost amesdial of U-type groove is minimum, and when the reading of amesdial confirms as minimum value through comparing, first axle is located at machine
Tool zero-bit.First axle is by motor-driven, each position that the value of set encoder is moved with first axle in motor
Correspond, so as to record the value of corresponding encoder after the mechanical zero of first axle is determined.
By the implementation of the present invention, it is capable of the calibration process of simple and convenient completion robot, to robotic asssembly mode, dress
It is whether smooth without any requirement with angle, fixed form and ground.Ensure that U-type groove exists when being only required in robot production
Its bottom position just corresponds to mechanical zero after installation.
In one embodiment, when first axle is moved, the gauge head of amesdial is slided in U-type groove, the bottom of U-type groove correspondingly the
The mechanical zero of one axle.
By the implementation of the present embodiment, the bottom of U-type groove is relative bottom, if it is desired to improve precision, that is to say, that
Identified bottom is close to the lowest part of real U-type groove, then speed is moved before first axle will slowly, the step of each moved further of first axle
Away from small, but it is corresponding the time required to it is just long.The size of predetermined deviation threshold value and the normal throw of U-type groove bottom and amesdial
Precision is relevant.
The bottom of U-type groove has discrimination and smoothness.I.e. discrimination amesdial is in moving process, current reading
The difference having between next step reading.The bottom of U-type groove has discrimination that is the bottom section of U-type groove has necessarily
Radian rather than horizontal plane.Discrimination ensures that the bottom of U-type groove has minimum point so that it is determined that mechanical zero.It is preferred that, it is U-shaped
Trench bottom is close to V-groove bottom.I.e. it is flat that the bottom of smoothness U-type groove, which has radian rather than closes on the face of minimum point,
Face.Smoothness ensures that obstacle is not present when amesdial gauge head is removed from the bottom of U-type groove.
In one embodiment, step S11 is also included before step S1, the natural extended configuration correspondence of measuring staff of amesdial is set
Numerical value be 0, be used as the initial value of the reading of amesdial.
Specifically, step S11 is before installation amesdial is fixed on fixing groove, amesdial is corrected, so as to protect
The reading for demonstrate,proving amesdial is correct.During zeroing position, gauge head 14 is first set to be contacted with reference plane, pressure gauge head 14 makes big pointer rotation be more than one
Circle, rotary dial makes 0 line be alignd with big pointer, and the upper end of gauge rod 13 is then lifted 1-2mm letting go again falls it, repeatedly 2-
Check whether pointer still aligns with 0 line after 3 times, as uneven, reset.Adjustment for amesdial initial value is to eliminate thousand points
The initial error of table, is that basis is done in follow-up amesdial Constant numerical values inspection.
Further, step S12 is also included after step S11, amesdial is slided from an edge to the another side edge of U-type groove,
The maximum and minimum value of amesdial reading in sliding process are recorded as default value scope, for judgment step S1 into S4
Whether the current reading of amesdial and the absolute value of the difference of one reading behind are in the range of default value.
Specifically, step S12 is before mechanical zero demarcation is carried out to first axle.As amesdial leaves in moving process
U-type groove, then the difference of reading of the amesdial after the reading before leaving U-type groove leaves U-type groove is inevitable not in maximum and most
In the scope of the difference of small value, so as to be used as the foundation for judging whether to leave U-type groove.Once amesdial is because malfunction leaves U
Type groove, then generally amesdial can in nature extended configuration or significantly deviate the amesdial recorded maximum and
The difference range of minimum value.
Further, step S13 is also included after step S12, amesdial is located at the edge of U-type groove, adjustment amesdial exists
Vertical position in first axle is so that the reading of amesdial is in the range of default value.
Specifically, step S13 is to install U-type groove and amesdial fixing groove in the corresponding mounting hole for the first axle that need to be demarcated
Behind place, amesdial is inserted in amesdial fixing groove.Adjust reading minimum value and the maximum institute shape in step s 12 of amesdial
In the range of, the scope that minimum value and maximum are formed in wherein step S12 is as default value scope.Because amesdial exists
It is a cambered surface to lower recess in U-type groove in moving process, in U-type groove, the reading of amesdial can reduce then and increase.So
Need to be adjusted the reading of amesdial before amesdial is mobile in U-type groove, and then meet the change of follow-up reading.To thousand points
The adjustment of meter reading can according to the contour structures of the structure of robot and U-type groove, size it is different and different.
A kind of storage device, wherein a plurality of instruction that is stored with, instruction is suitable to be loaded and performed by processor：
S1, control first axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on first axle；
Wherein, any one axle of Zero calibration the need for first axle is robot.
S2, when amesdial reading from large to small, then when changing from small to big, control first axle stops movement；Wherein, first axle
It is one stroke from starting to be moved to stopping mobile.
S3, control first axle is inverted and moved round about；Regulate the speed so that the speed of current stroke is less than previous
The speed of stroke；Calculate the current reading of amesdial and the difference of one reading behind；
S4, when the absolute value of difference is less than or equal to predetermined deviation threshold value, performs step S5；When the absolute value of difference is big
When the current reading of predetermined deviation threshold value and amesdial is more than one reading behind, control first axle stops movement and returned to perform step
Rapid S3；
S5, control first axle stops the currency of the encoder of motor that is mobile and recording first axle, by first axle
The current location being located at is designated as the mechanical zero of first axle.
By the present invention implementation, due to the present invention robot Zero calibration method have it is easy to operate, quickly look for
The advantage of quasi- mechanical zero, therefore instructed by storing this method, it is possible thereby to make storage device load and hold by processor
The row above method instructs quickly to find mechanical zero accurately.
A kind of control device, including processor, are adapted for carrying out each instruction；And storage device, suitable for storing a plurality of instruction,
Instruction is suitable to be loaded and performed by processor：
S1, control first axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on first axle；
Wherein, any one axle of Zero calibration the need for first axle is robot.
S2, when amesdial reading from large to small, then when changing from small to big, control first axle stops movement；Wherein, first axle
It is one stroke from starting to be moved to stopping mobile.
S3, control first axle is inverted and moved round about；Regulate the speed so that the speed of current stroke is less than previous
The speed of stroke；Calculate the current reading of amesdial and the difference of one reading behind；
S4, when the absolute value of difference is less than or equal to predetermined deviation threshold value, performs step S5；When the absolute value of difference is big
When the current reading of predetermined deviation threshold value and amesdial is more than one reading behind, control first axle stops movement and returned to perform step
Rapid S3；
S5, control first axle stops the currency of the encoder of motor that is mobile and recording first axle, by first axle
The current location being located at is designated as the mechanical zero of first axle.
It is easy to operate, quick because the method for the robot Zero calibration according to the present invention has by the implementation of the present invention
Find the advantage of mechanical zero accurately, therefore loaded in control device by processor and perform above method instruction so as to quick
Find mechanical zero accurately.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (7)
1. a kind of method of robot Zero calibration, it is characterised in that comprise the following steps：
S1, control first axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on the first axle；
Wherein, any one axle of Zero calibration the need for the first axle is robot；
S2, when the amesdial reading from large to small, then when changing from small to big, control the first axle to stop movement；Wherein, institute
It is one stroke that first axle, which is stated, from starting to be moved to stopping mobile；
S3, controls the first axle to invert and move round about；Adjust the speed so that presently described stroke it is described
Speed is less than the speed of the previous stroke；Calculate the current reading of the amesdial and the difference of one reading behind；
S4, when the absolute value of the difference is less than or equal to predetermined deviation threshold value, performs step S5；It is absolute when the difference
When value is more than one reading behind more than the current reading of predetermined deviation threshold value and the amesdial, the first axle is controlled to stop movement
And return to execution step S3；
S5, controls the first axle to stop the currency of the encoder of motor that is mobile and recording the first axle, by institute
State the mechanical zero that the current location that first axle is located at is designated as the first axle.
2. a kind of method of robot Zero calibration according to claim 1, it is characterised in that during the first axle movement,
The gauge head of the amesdial is slided in U-type groove, the mechanical zero of the bottom correspondence first axle of the U-type groove.
3. a kind of method of robot Zero calibration according to claim 2, it is characterised in that also include step before step S1
Rapid S11,
S11, the corresponding numerical value of the natural extended configuration of measuring staff for setting the amesdial is 0, is used as the reading of the amesdial
Initial value.
4. a kind of method of robot Zero calibration according to claim 3, it is characterised in that also include after step S11
Step S12,
S12, amesdial reading is most from an edge to the another side of U-type groove along sliding, in record sliding process for the amesdial
Big value and minimum value are as default value scope, current reading and previous reading for judgment step S1 to amesdial described in S4
Whether the absolute value of several differences is in the range of the default value.
5. a kind of method of robot Zero calibration according to claim 4, it is characterised in that also include after step S12
Step S13,
S13, makes the amesdial be located at the edge of the U-type groove, adjusts vertical position of the amesdial in the first axle
Put so that the reading of the amesdial is in the range of the default value.
6. a kind of storage device, wherein a plurality of instruction that is stored with, the instruction is suitable to be loaded and performed by processor：
S1, control first axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on the first axle；
Wherein, any one axle of Zero calibration the need for the first axle is robot；
S2, when the amesdial reading from large to small, then when changing from small to big, control the first axle to stop movement；Wherein, institute
It is one stroke that first axle, which is stated, from starting to be moved to stopping mobile；
S3, controls the first axle to invert and move round about；Adjust the speed so that presently described stroke it is described
Speed is less than the speed of the previous stroke；Calculate the current reading of the amesdial and the difference of one reading behind；
S4, when the absolute value of the difference is less than or equal to predetermined deviation threshold value, performs step S5；It is absolute when the difference
When value is more than one reading behind more than the current reading of predetermined deviation threshold value and the amesdial, the first axle is controlled to stop movement
And return to execution step S3；
S5, controls the first axle to stop the currency of the encoder of motor that is mobile and recording the first axle, by institute
State the mechanical zero that the current location that first axle is located at is designated as the first axle.
7. a kind of control device, including processor, are adapted for carrying out each instruction；And storage device, suitable for storing a plurality of instruction, institute
Instruction is stated to be suitable to be loaded and performed by processor：
S1, control first axle is moved in one direction with pre-set velocity, obtains the reading for the amesdial for being installed on the first axle；
Wherein, any one axle of Zero calibration the need for the first axle is robot；
S2, when the amesdial reading from large to small, then when changing from small to big, control the first axle to stop movement；Wherein, institute
It is one stroke that first axle, which is stated, from starting to be moved to stopping mobile；
S3, controls the first axle to invert and move round about；Adjust the speed so that presently described stroke it is described
Speed is less than the speed of the previous stroke；Calculate the current reading of the amesdial and the difference of one reading behind；
S4, when the absolute value of the difference is less than or equal to predetermined deviation threshold value, performs step S5；It is absolute when the difference
When value is more than one reading behind more than the current reading of predetermined deviation threshold value and the amesdial, the first axle is controlled to stop movement
And return to execution step S3；
S5, controls the first axle to stop the currency of the encoder of motor that is mobile and recording the first axle, by institute
State the mechanical zero that the current location that first axle is located at is designated as the first axle.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108582081A (en) * | 2018-07-04 | 2018-09-28 | 北京镁伽机器人科技有限公司 | Robot, back to zero position method, system with back to zero bit function and medium |
| CN108582082A (en) * | 2018-07-04 | 2018-09-28 | 北京镁伽机器人科技有限公司 | Robot, back to zero position method, system with accurate back to zero bit function and medium |
| CN109483549A (en) * | 2018-12-25 | 2019-03-19 | 合肥欣奕华智能机器有限公司 | A kind of origin calibration system and method |
| CN109849046A (en) * | 2017-11-30 | 2019-06-07 | 深圳市优必选科技有限公司 | A kind of steering engine rotor returns to zero method, returns to zero system, steering engine and robot |
| CN110614635A (en) * | 2019-08-31 | 2019-12-27 | 武汉弗雷德斯科技发展有限公司 | SCARA robot kinematic parameter identification method |
| CN112296997A (en) * | 2019-07-31 | 2021-02-02 | 上海微电子装备（集团）股份有限公司 | Method, device and equipment for calibrating manipulator handover station and storage medium |
| CN115648285A (en) * | 2022-09-19 | 2023-01-31 | 重庆智能机器人研究院 | Robot body zero external calibration method |
| CN116197891A (en) * | 2021-12-01 | 2023-06-02 | 北京小米移动软件有限公司 | Method and device for controlling movement of robot, robot and storage medium |
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| CN202952272U (en) * | 2012-11-19 | 2013-05-29 | 安徽埃夫特智能装备有限公司 | Zero point calibrating device for welding robot |
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| CN202952272U (en) * | 2012-11-19 | 2013-05-29 | 安徽埃夫特智能装备有限公司 | Zero point calibrating device for welding robot |
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| CN109849046A (en) * | 2017-11-30 | 2019-06-07 | 深圳市优必选科技有限公司 | A kind of steering engine rotor returns to zero method, returns to zero system, steering engine and robot |
| CN109849046B (en) * | 2017-11-30 | 2020-11-24 | 深圳市优必选科技有限公司 | Zero returning method and zero returning system of steering engine rotor, steering engine and robot |
| CN108582081A (en) * | 2018-07-04 | 2018-09-28 | 北京镁伽机器人科技有限公司 | Robot, back to zero position method, system with back to zero bit function and medium |
| CN108582082A (en) * | 2018-07-04 | 2018-09-28 | 北京镁伽机器人科技有限公司 | Robot, back to zero position method, system with accurate back to zero bit function and medium |
| CN109483549A (en) * | 2018-12-25 | 2019-03-19 | 合肥欣奕华智能机器有限公司 | A kind of origin calibration system and method |
| CN112296997A (en) * | 2019-07-31 | 2021-02-02 | 上海微电子装备（集团）股份有限公司 | Method, device and equipment for calibrating manipulator handover station and storage medium |
| CN112296997B (en) * | 2019-07-31 | 2022-01-14 | 上海微电子装备（集团）股份有限公司 | Method, device and equipment for calibrating manipulator handover station and storage medium |
| CN110614635A (en) * | 2019-08-31 | 2019-12-27 | 武汉弗雷德斯科技发展有限公司 | SCARA robot kinematic parameter identification method |
| CN116197891A (en) * | 2021-12-01 | 2023-06-02 | 北京小米移动软件有限公司 | Method and device for controlling movement of robot, robot and storage medium |
| CN116197891B (en) * | 2021-12-01 | 2024-04-02 | 北京小米机器人技术有限公司 | Method and device for controlling movement of robot, robot and storage medium |
| CN115648285A (en) * | 2022-09-19 | 2023-01-31 | 重庆智能机器人研究院 | Robot body zero external calibration method |
| CN115648285B (en) * | 2022-09-19 | 2023-07-21 | 重庆智能机器人研究院 | Zero external calibration method for robot body |
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Application publication date: 20171107 |