CN112297054A - Zero point debugging method for cooperative robot - Google Patents
Zero point debugging method for cooperative robot Download PDFInfo
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- CN112297054A CN112297054A CN202011016482.1A CN202011016482A CN112297054A CN 112297054 A CN112297054 A CN 112297054A CN 202011016482 A CN202011016482 A CN 202011016482A CN 112297054 A CN112297054 A CN 112297054A
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- cooperative robot
- zero point
- base
- marking
- laser level
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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
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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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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a zero point debugging method for a cooperative robot, which comprises the following steps: marking grooves or marking holes are formed in a base, a plurality of joints, a connecting rod and an output flange of the cooperative robot, and the marking grooves or the marking holes are formed in axial symmetry lines of the base, the joints, the connecting rod and the output flange; arranging a laser level meter at one side of the cooperative robot, and adjusting the laser level meter to set a reference line on the cooperative robot; and adjusting the positions of the base, the plurality of joints, the connecting rod and the output flange to enable the reference line to be completely overlapped with each identification groove or each identification hole, recording the current encoder value of the cooperative robot, and setting the current encoder value as a zero point. The zero point debugging method for the cooperative robot can be suitable for robots with various complex shapes, is not influenced by the operation of the robots, can improve the debugging speed and accuracy, and has small marking grooves or marking holes which have small influence on the overall appearance of the robots.
Description
Technical Field
The invention relates to the field of robot operation, in particular to a zero point debugging method for a cooperative robot.
Background
Due to rising and aging human costs, many industries are beginning to seek robotic automation solutions, such as 3C, pharmaceutical, food, logistics, new retail, and the like. The characteristics in these emerging trades are that the product is many kinds, the volume is general not big, require high to operating personnel's flexibility nature. The cooperative robot has the characteristics of modularization, light weight, large load/dead weight ratio, safety, reliability, rapid deployment, convenience in operation and the like, and is rapidly developed.
The zero position of the cooperative robot is the initial position of the robot operation model; when the zero position is incorrect, the robot cannot move correctly, and the accurate debugging of the zero position of the robot is very important for the robot. The current debugging mode of visual and level ruler is slow in response and poor in precision.
Visual adjustment: adjusting joints, recording encoder values on the same vertical plane by visually observing the symmetrical plane of each joint of the robot, and designing a zero point, wherein the reference object is not obvious and the error is large;
adjusting a level bar: a horizontal ruler and an extension rod are adopted, the mechanical arm is horizontally arranged on the side, the extension rod is arranged on a tail end flange, the horizontal ruler is placed on the robot, the pose of a joint of the robot is adjusted through a demonstrator, and a water column in the horizontal ruler is leveled and set as a zero point. The mode requires that the robot has a plane or two intersecting lines on the appearance, a horizontal ruler can be placed on the robot, and the requirement on the appearance is high; when the robot is calibrated, the robot must be horizontally installed on the side, and the horizontal installation difficulty of the robot is greater than that of the vertical installation; and, the level bar is through its level intraductal liquid come the judgement state, and the level bar rocks on the robot easily, therefore when adjusting the joint gesture, joint functioning speed can be relatively slow, influences efficiency.
Disclosure of Invention
The invention aims to provide a zero point debugging method for a cooperative robot, which can improve the speed and accuracy of zero point adjustment of joints of the robot.
In order to solve the technical problem, the invention provides a zero point debugging method for a cooperative robot, which comprises the following steps: marking grooves or marking holes are formed in a base, a plurality of joints, a connecting rod and an output flange of the cooperative robot, and the marking grooves or the marking holes are formed in axial symmetry lines of the base, the joints, the connecting rod and the output flange; arranging a laser level meter at one side of the cooperative robot, and adjusting the laser level meter to set a reference line on the cooperative robot; and adjusting the positions of the base, the plurality of joints, the connecting rod and the output flange to enable the reference line to be completely overlapped with each identification groove or each identification hole, recording the current encoder value of the cooperative robot, and setting the current encoder value as a zero point.
In a preferred embodiment of the present invention, the method further comprises mounting the cooperative robot and the laser level on the same fixing plate, adjusting the angle of the laser level to make the reference line coincide with the marking groove or the marking hole of the base, fixing the position of the laser level, and then sequentially adjusting the positions of the plurality of joints, the connecting rod and the output flange.
In a preferred embodiment of the present invention, the method further comprises adjusting the irradiation range of the laser level to cover the base, the plurality of joints, the connecting rod and the output flange of the cooperative robot.
In a preferred embodiment of the present invention, the laser level is further arranged on a tripod, and the tripod can adjust the inclination direction of the laser level.
In a preferred embodiment of the present invention, a countersunk hole is formed on one side of the fixing plate, and a positioning pin matched with the positioning pin is arranged on the base of the cooperative robot.
In a preferred embodiment of the present invention, a positioning pin is disposed on one side of the fixing plate, and a counter bore matched with the positioning pin is disposed on the base of the cooperative robot.
In a preferred embodiment of the present invention, the fixing plate and the base of the cooperative robot are both provided with threaded holes, and the fixing plate and the cooperative robot are fixed in position by bolts.
In a preferred embodiment of the present invention, the mark groove is formed along an extension direction of the axial symmetry line, and the mark groove coincides with the axial symmetry line.
In a preferred embodiment of the present invention, the marking holes are disposed on the axial symmetry line and disposed at the upper and lower ends of the base, the joints, the connecting rod and the output flange.
The invention has the beneficial effects that:
the method is suitable for robots with various complex shapes, is not influenced by the operation of the robots, can improve the debugging speed and accuracy, and has small mark grooves or mark holes which have small influence on the overall appearance of the robots.
Drawings
FIG. 1 is a flow chart of a cooperative robot zero point commissioning method of the present invention;
FIG. 2 is a schematic structural diagram of a zero point debugging method of a cooperative robot according to the present invention;
FIG. 3 is a schematic view of the structure of the fixing plate of the present invention;
FIG. 4 is a schematic diagram of the configuration of the identification slot on the base of the cooperative robot of the present invention;
FIG. 5 is a schematic view of the structure of the identification hole in the third joint of the cooperative robot of the present invention;
FIG. 6 is a schematic view of the configuration of the identification slot on the upper link of the cooperative robot of the present invention;
FIG. 7 is a schematic diagram of the structure of the identification slot on the fifth joint of the cooperative robot of the present invention;
fig. 8 is a schematic diagram of the structure of the identification groove on the output flange of the cooperative robot of the present invention.
The reference numbers in the figures illustrate: 1. a base; 2. a first joint; 3. a second joint; 4. a lower connecting rod; 5. a third joint; 6. an upper connecting rod; 7. a fourth joint; 8. a fifth joint; 9. a sixth joint; 10. an output flange; 11. marking a slot; 12. marking the hole; 13. a fixing plate; 14. a countersunk hole; 15. positioning pins; 16. a threaded hole; 17. a laser level; 18. a triangular bracket;
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1, the zero point debugging method for a cooperative robot of the present invention includes the following steps:
marking grooves 11 or marking holes 12 are formed in a base 1, a plurality of joints, a connecting rod and an output flange 10 of the cooperative robot, and the marking grooves 11 or the marking holes 12 are formed in the axial symmetry line of the base 1, the joints, the connecting rod and the output flange 10;
arranging a laser level meter 17 at one side of the cooperative robot, and adjusting the laser level meter 17 to set a reference line on the cooperative robot;
and adjusting the positions of the base 1, the joints, the connecting rods and the output flange 10 to ensure that the reference line is completely overlapped with each identification groove 11 or each identification hole 12, recording the current encoder value of the cooperative robot, and setting the current encoder value as a zero point.
Referring to fig. 2, specifically, the cooperative robot in this embodiment is a six-axis robot arm, and includes a base 1, a first joint 2, a second joint 3, a lower link 4, a third joint 5, an upper link 6, a fourth joint 7, a fifth joint 8, a sixth joint 9, and an output flange 10, where the base 1, the third joint 5, the upper link 6, the fifth joint 8, and the output flange 10 are provided with a mark groove 11 or a mark hole 12, the cooperative robot and a laser level 17 are mounted on a same fixing plate 13, an angle of the laser level 17 is first adjusted to make a reference line coincide with the mark groove 11 or the mark hole 12 of the base 1, a position of the laser level 17 is fixed, positions of the first joint 2 and the second joint 3 are adjusted to make the mark groove 11 or the mark hole 12 of the third joint 5 coincide with a light emitted by the laser level 17, the third joint 5 is adjusted, the marking groove 11 or the marking hole 12 of the upper connecting rod 6 is overlapped with the light emitted by the laser level meter 17; adjusting the fourth joint 7 to enable the mark groove 11 or the mark hole 12 on the fifth joint 8 to coincide with the light emitted by the laser level meter 17; and adjusting the fifth joint 8 and the sixth joint 9 to enable the mark groove 11 or the mark hole 12 on the output flange 10 to coincide with the light emitted by the laser level meter 17, recording the current encoder value of the mechanical arm, and setting the current encoder value as zero.
Specifically, the irradiation range of the laser level meter 17 is adjusted to cover from top to bottom the base 1, the plurality of joints, the connecting rod and the output flange 10 of the cooperative robot, the irradiation range of the laser level meter 17 covers the cooperative robot as a whole, and in the adjustment process of the cooperative robot, the laser level meter 17 is not required to be adjusted, so that the reference line is the same straight line, and the accuracy and the speed in the zero setting process are ensured.
Specifically, laser level 17 sets up on tripod 18, can adjust the incline direction of laser level 17 on tripod 18, is convenient for adjust irradiation range to with the position of tripod 18 fixed laser level 17, make the position of laser level 17 more stable.
In the process of determining the zero position, firstly, the base 1 is fixed, the identification groove 11 or the identification hole 12 on the base 1 is used as a basic position for determining the laser level 17, which affects the accuracy of the whole zero position adjusting process, as shown in fig. 3, in order to position and fix the base 1, a countersunk hole 14 or a positioning pin 15 is arranged on one side of the fixing plate 13, a positioning pin 15 or a countersunk hole 14 matched with the base 1 is arranged on the base 1 of the cooperative robot, the positioning pin 15 is inserted into the countersunk hole 14 to determine the unique position of the base 1, threaded holes 16 are respectively formed in the fixing plate 13 and the base 1 of the cooperative robot, and the positions of the fixing plate 13 and the cooperative robot are fixed through bolts.
Specifically, the mark groove 11 is formed along the extension direction of the axial symmetry line, and the mark groove 11 is overlapped with the axial symmetry line; the marking holes 12 are arranged on the axial symmetry line and are arranged at the upper end and the lower end of the base 1, the joint, the connecting rod and the output flange 10, and the marking grooves 11 or the marking holes 12 can be selectively arranged according to the actual zero size and the aesthetic degree of the appearance.
Referring to fig. 4-8, in the present embodiment, the base 1 of the cooperative robot is provided with an identification groove 11; the upper side and the lower side of the third joint 5 of the cooperative robot are provided with identification holes 12; an identification groove 11 is formed in the upper connecting rod 6 of the cooperative robot; a mark groove 11 is formed in the fifth joint 8 of the cooperative robot; an output flange 10 of the cooperative robot is provided with an identification groove 11; in other embodiments, the marking groove 11 or the marking hole 12 may be formed at different positions according to different shapes of the robot.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (9)
1. A zero point debugging method for a cooperative robot is characterized by comprising the following steps: marking grooves or marking holes are formed in a base, a plurality of joints, a connecting rod and an output flange of the cooperative robot, and the marking grooves or the marking holes are formed in axial symmetry lines of the base, the joints, the connecting rod and the output flange; arranging a laser level meter at one side of the cooperative robot, and adjusting the laser level meter to set a reference line on the cooperative robot; and adjusting the positions of the base, the plurality of joints, the connecting rod and the output flange to enable the reference line to be completely overlapped with each identification groove or each identification hole, recording the current encoder value of the cooperative robot, and setting the current encoder value as a zero point.
2. The cooperative robot zero point debugging method according to claim 1, wherein the cooperative robot and the laser level are mounted on the same fixing plate, the angle of the laser level is adjusted to make the reference line coincide with the marking groove or the marking hole of the base, the position of the laser level is fixed, and then the positions of the plurality of joints, the connecting rod, and the output flange are sequentially adjusted.
3. The cooperative robot zero point debugging method according to claim 2, wherein adjusting an irradiation range of the laser level covers a base, a plurality of joints, a link, and an output flange of the cooperative robot.
4. The cooperative robot zero point debugging method according to claim 3, wherein the laser level is provided on a tripod on which an inclination direction of the laser level can be adjusted.
5. The cooperative robot zero point debugging method according to claim 2, wherein a countersunk hole is formed in one side of the fixing plate, and a positioning pin matched with the positioning pin is arranged on a base of the cooperative robot.
6. The cooperative robot zero point debugging method according to claim 2, wherein a positioning pin is disposed on one side of the fixing plate, and a counter bore matched with the fixing pin is disposed on a base of the cooperative robot.
7. The cooperative robot zero point debugging method according to claim 2, wherein threaded holes are formed in both the fixing plate and the base of the cooperative robot, and the fixing plate and the cooperative robot are fixed in position by bolts.
8. The cooperative robot zero point debugging method according to claim 1, wherein the marking groove is formed along an extension direction of the axial symmetry line, and the marking groove coincides with the axial symmetry line.
9. The cooperative robot zero point debugging method according to claim 1, wherein the identification hole is provided on the axis of symmetry and at upper and lower ends of the base, the joint, the link, and the output flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011016482.1A CN112297054B (en) | 2020-09-24 | 2020-09-24 | Zero point debugging method for cooperative robot |
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| CN202011016482.1A CN112297054B (en) | 2020-09-24 | 2020-09-24 | Zero point debugging method for cooperative robot |
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| CN112297054B CN112297054B (en) | 2021-11-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115890690A (en) * | 2023-03-09 | 2023-04-04 | 广东隆崎机器人有限公司 | Robot zero point adjustment method, device, equipment and readable storage medium |
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Address after: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiuwu interworking Intelligent Technology Co.,Ltd. Address before: 1 / F, building B1, Dongfang Chuangzhi garden, 18 JinFang Road, Suzhou Industrial Park, 215000, Jiangsu Province Patentee before: Suzhou Jiuwu Interchange Intelligent Technology Co.,Ltd. |
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Address after: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Jiuwu Intelligent Technology Co.,Ltd. Address before: 215000 floor 6, building 5, building 3, Tianyun Plaza, No. 111, Wusongjiang Avenue, Guoxiang street, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: Suzhou Jiuwu interworking Intelligent Technology Co.,Ltd. |
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