CN113635349B

CN113635349B - Calibrating device and welding robot

Info

Publication number: CN113635349B
Application number: CN202110754211.4A
Authority: CN
Inventors: 林长波; 韦加业; 陈文刚; 秦天罡; 何流; 张栩涛; 张锁军
Original assignee: Dongfeng Liuzhou Motor Co Ltd
Current assignee: Dongfeng Liuzhou Motor Co Ltd
Priority date: 2021-07-01
Filing date: 2021-07-01
Publication date: 2023-06-20
Anticipated expiration: 2041-07-01
Also published as: CN113635349A

Abstract

The invention discloses a calibration device and a welding robot, wherein the calibration device comprises a reference piece, a mounting seat and a calibration assembly, wherein the reference piece is arranged on a reference wall surface and is provided with a reference part; the mounting seat is connected with the robot main body and is provided with a reference surface; the calibration assembly comprises a calibration piece and a measurement piece, the calibration piece is provided with a calibration part, the measurement piece is provided with a measurement part, the calibration piece and the measurement piece are respectively detachably connected with the mounting seat, and the height of the calibration part from the reference surface is the same as the height of the measurement part from the reference surface. According to the invention, the calibration piece is firstly arranged on the reference surface and is operated until the calibration part is in butt joint with the reference part, so that after calibration is realized, the measuring part is arranged on the reference surface, and the height of the calibration part from the reference surface is the same as the height of the measuring part from the reference surface, so that the measuring part can be accurately calibrated after being stably arranged, the reliability of a measuring result is ensured, and the device has the characteristics of simple structure and convenience in operation.

Description

Calibrating device and welding robot

Technical Field

The invention relates to the technical field of welding robot calibration, in particular to a calibration device and a welding robot.

Background

The traditional robot offline output relies on three-coordinate measurement of a positioning pin of a robot base and calibration work of a virtual environment by reverse guiding of a robot program, the output robot offline program has poor precision, and a field robot needs to be debugged by a large amount of track correction work after the field robot actually guides the offline program.

Disclosure of Invention

The invention mainly aims to provide a calibration device and a welding robot, and aims to solve the problems of poor calibration precision and inconvenient operation of offline output of a traditional mechanical robot.

In order to achieve the above object, the present invention provides a calibration device for an electric welding robot, comprising:

a reference member for being fixedly installed on a reference wall surface, the reference member having a reference portion;

the mounting seat is used for being connected with the robot main body and is provided with a reference surface; the method comprises the steps of,

the calibration assembly comprises a calibration piece and a measurement piece, wherein the calibration piece is provided with a calibration part, the measurement piece is provided with a measurement part, the calibration piece and the measurement piece are respectively detachably connected with the mounting seat, and the height of the calibration part from the reference surface is the same as the height of the measurement part from the reference surface.

Optionally, a protrusion is convexly arranged on one side of the reference piece, and the free end of the protrusion is provided with a tip;

the tip constitutes the reference portion.

Optionally, the calibration member is in a rod shape, and at least one end of the calibration member is provided with a tip to form the calibration part; and/or the number of the groups of groups,

the measuring member is arranged in a rod shape, and at least one end of the measuring member is arranged as a flat end so as to form the measuring part.

Optionally, the mounting base includes:

the fixed seat is used for fixedly connecting the robot main body, the fixed seat is provided with a mounting groove, and the side wall of the mounting groove is provided with a first threaded hole in a penetrating way;

the adjusting seat is in a longitudinal shape and is provided with a mounting end and a movable end which are oppositely arranged, the mounting end is used for mounting the calibration piece or the measuring piece, a plurality of second threaded holes are formed in the side part of the adjusting seat at intervals along the length direction of the adjusting seat, and at least the movable end of the adjusting seat is movably sleeved in the mounting groove along the length direction of the adjusting seat so as to drive each second threaded hole to sequentially pass through the first threaded hole; the method comprises the steps of,

and the fastener is in threaded connection with the first threaded hole and the corresponding second threaded hole.

Optionally, a third threaded hole is formed in the bottom of the mounting groove in a penetrating manner in the fixing seat;

the mounting seat further comprises a propping piece, the propping piece is in threaded connection with the third threaded hole, and at least one end of the propping piece stretches into the mounting groove and props against the movable end.

Optionally, the mounting end of the adjusting seat is bent towards one side and extends to form an extension section, and the extension section is provided with a connecting hole in a penetrating way, and the connecting hole is used for fixedly connecting the calibration piece or the measuring piece;

the mounting end face on the connection hole circumferential side constitutes the reference surface.

Optionally, the measuring member is arranged in a rod shape, and at least one end of the measuring member is arranged as a straight end so as to form the measuring part;

the calibration part comprises a block-shaped body, one end of the block-shaped body is provided with a clamping groove, the clamping groove is used for being sleeved on the end part of the measurement part forming the measurement part, the other end of the block-shaped body is provided with a calibration hole communicated with the clamping groove, and the calibration hole is in a necking arrangement in the direction close to the clamping groove so as to be suitable for the arrangement of the appearance of the reference part;

the orifice of the calibration hole in the clamping groove is a first orifice, and the plane where the first orifice is located forms the calibration part.

Optionally, the draw-in groove has first lateral wall and the second lateral wall that is relative setting, first lateral wall is equipped with the briquetting, but the briquetting is close to and keep away from the direction elastic expansion setting of second lateral wall, in order to be close to when the second lateral wall, the briquetting will the measuring part elastic compression is in the second lateral wall.

Optionally, a preformed hole communicated with the clamping groove is formed at one end of the block-shaped body opposite to the clamping groove;

the calibration piece further comprises a plurality of cylinders, the cylinders are detachably mounted in the reserved holes, the cylinders are provided with calibration holes, and the calibration holes of the cylinders are arranged differently.

In addition, the present invention also provides a welding robot including:

a robot main body; the method comprises the steps of,

a calibration device, the calibration device comprising:

According to the technical scheme provided by the invention, the reference piece is fixedly arranged on the reference wall surface, so that the position and the posture of the reference part are determined and can be kept unchanged; firstly, the calibration piece is installed on the reference surface and operated until the calibration part is in butt joint with the reference part, so that after calibration is realized, the measuring part is installed on the reference surface, and the measurement part can be accurately calibrated after being firmly installed due to the fact that the height of the calibration part from the reference surface is the same as the height of the measurement part from the reference surface, and the reliability of a measurement result is ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a part of a structure of an embodiment of a welding robot according to the present invention;

FIG. 2 is a schematic view of the welding robot of FIG. 1 when the calibration portion is docked with the reference portion;

FIG. 3 is a schematic structural view of a first embodiment of the calibration portion of FIG. 1;

FIG. 4 is a schematic diagram illustrating the assembly of the calibration portion and the mounting base in FIG. 3;

FIG. 5 is a schematic view of a portion of the welding robot of FIG. 1 when the measuring part is mounted;

FIG. 6 is a schematic diagram illustrating the assembly of the measuring part and the mounting base in FIG. 5;

fig. 7 is a schematic structural view of a second embodiment of the calibration part in fig. 1.

Reference numerals illustrate:

the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

In view of the above, the present invention provides a calibration device applied to a welding robot, it being understood that the welding robot includes a robot body and a calibration device. Referring to fig. 1 to 7, the drawings illustrate an embodiment of a welding robot according to the present invention.

The robot body 10 includes a welding gun 11, and the calibration device 20 is mountable on the welding gun 11.

Since the main inventive point of the present invention is the improvement of the calibration device 20, the calibration device 20 will be mainly described with reference to the drawings.

Referring to fig. 1 to 3 and fig. 5, the calibration device 20 provided by the present invention includes a reference member 200, a mounting base 300 and a calibration assembly, wherein the reference member 200 is fixedly mounted on a reference wall surface, and the reference member 200 has a reference portion 210; the mounting base 300 is used for being connected with the robot main body 10, and the mounting base 300 is provided with a reference surface 310; the calibration assembly comprises a calibration member 400 and a measuring member 500, wherein the calibration member 400 is provided with a calibration part 410, the measuring member 500 is provided with a measuring part 510, the calibration member 400 and the measuring member 500 are respectively detachably connected with the mounting seat 300, and the height of the calibration part 410 from the reference surface 310 is the same as the height of the measuring part 510 from the reference surface 310.

In the technical scheme provided by the invention, the reference piece 200 is fixedly arranged on the reference wall surface, so that the position and the posture of the reference part 210 are determined and can be kept unchanged; firstly, the calibration piece 400 is installed on the reference surface 310 and operated until the calibration part 410 is in butt joint with the reference part 210, so that after calibration is realized, the measurement part 510 is installed on the reference surface 310, and the measurement part 510 can be accurately calibrated after being firmly installed due to the fact that the height between the calibration part 410 and the reference surface 310 is the same as the height between the measurement part 510 and the reference surface 310, and the device has the characteristics of simple structure and convenience in operation.

The datum 200 is configured to be mounted to a datum wall. It should be understood that the reference wall surface may be a wall surface independent from the welding gun 11 and spaced apart from each other, and the specific form of the reference wall surface is not limited, and may be a preset wall surface, a preset ground surface, a table surface of an operation table, or other wall surfaces; the reference member 200 is fixedly mounted on the reference wall surface, and at least the reference portion 210 has fixed and relatively accurate reference position information, which is collected and stored by the control system of the robot body 10.

The reference portion 210 of the reference member 200 may be disposed at any position of the reference member 200, and only needs to be exposed on the outer surface of the reference member 200, and a space for the calibration member 400 to move is reserved on the peripheral side. The specific form of the reference member 200 is not limited, and the reference member 200 may be shaped like a rod, a plate, a block, or other shapes according to actual needs.

Specifically, for example, in one embodiment, a protrusion 211 is protruding on one side of the reference member 200, and a free end of the protrusion 211 is configured as a tip; the tip constitutes the reference portion 210. The protrusion 211 may be integrally disposed with the body of the reference member 200, or may be separately disposed, where when the protrusion 211 and the body of the reference member 200 are separately disposed, the connection manner of the two is not limited, and may be one or more of fastening manners such as screw fastening, adhesive fastening, fastening, and adsorption fastening.

The shape of the protrusion 211 is also not limited, and the entire protrusion 211 may be provided in a tapered shape such that an end of the protrusion 211 remote from the body of the reference member 200, i.e., an outer diameter of the free end is as small as possible, is expressed as a tip. Of course, in other embodiments, the free end may be provided directly as a straight end, or as an inwardly concave shaped tapered bore, or the like.

The mounting base 300 is fixedly connected with the welding gun 11, the mounting base 300 can be integrally arranged with the welding gun 11, such as integral injection molding or welding fixation, and the like, based on the mounting base 300 can also be used as a mounting structure of other functional components when the robot main body 10 is in a non-calibration state; in addition, the mounting base 300 may be separately provided from the welding gun 11, and in the same way as described above, in order to achieve the detachable connection between the mounting base 300 and the welding gun 11, the connection manner of the two is not limited, and may be one or more of fastening manners such as screw fastening, adhesive fastening, fastening, and adsorption fastening.

The mount 300 has a reference surface 310, and the reference surface 310 may be formed at any portion of the mount 300. The calibration member 400 and the measurement member 500 of the calibration assembly are both mounted on the mount 300. It should be noted that, the present design does not limit that the calibration piece 400 and the measurement piece 500 are required to be mounted on the reference surface 310, and does not limit that the calibration piece 400 and the measurement piece 500 are required to be mounted on the same surface of the mounting base 300, but the position information of the calibration portion 410 relative to the reference surface 310, the position information of the measurement portion 510 relative to the reference surface 310, or the variables are required to be kept the same, so that when the calibration piece 400 is calibrated and the measurement piece 500 is mounted in the same manner, the measurement piece 500 is the calibrated measurement piece 500.

In this design, the calibration member 400 and the measurement member 500 share one mounting seat 300, and the distance between the calibration portion 410 and the reference surface 310 and the distance between the measurement portion 510 and the reference surface 310 are ensured to be consistent, so that the calibration result of the calibration member 400 is equal to the calibration result of the measurement member 500, which is beneficial to improving the calibration precision, and the structure is simpler and the operation is more convenient.

The specific forms of the calibration member 400 and the measuring member 500 are not limited, and may be configured to be rod-shaped, plate-shaped, block-shaped, or other shapes according to actual needs, and may be configured to be any size, made of any material, etc. according to actual needs.

Referring to fig. 3 to 4, in an embodiment, the calibration member 400 is disposed in a rod shape, and at least one end of the calibration member 400 is disposed as a tip to form the calibration portion 410; and/or, referring to fig. 5 to 6, in an embodiment, the measuring member 500 is disposed in a rod shape, and at least one end of the measuring member 500 is disposed as a flat end to form the measuring portion 510.

It will be appreciated that the calibration member 400 and the measuring member 500, which are provided in a rod shape, are easier to install; the calibration part 410 is provided as a tip, and when the calibration part is in butt joint with the reference part 210 which is also provided as a tip, point-to-point calibration is adopted, so that the tool center point of the robot main body 10 can be accurately calibrated. Because the contact area is relatively smaller when the point-to-point calibration is performed, even if deviation occurs, the deviation range of the contact area and the contact area is still in a smaller range, and the calibration accuracy is more beneficial. In the practical application process, when the calibration part 410 and the reference part 210 adopt point-to-point calibration, the calibration error of the tool center point can be ensured to be not more than 1mm.

In addition, referring to fig. 3 to 6, in an embodiment, the mounting base 300 includes a fixing base 320, an adjusting base 330, and a fastening member 340, wherein the fixing base 320 is used for fixedly connecting with the robot main body 10, the fixing base 320 is provided with a mounting groove 321, and a first threaded hole 322 is formed through a sidewall of the mounting groove 321; the adjusting seat 330 is elongated and provided with an installation end and a movable end which are oppositely arranged, the installation end is used for installing the calibration member 400 or the measuring member 500, a plurality of second threaded holes 331 are formed in the side portion of the adjusting seat 330 and are distributed at intervals along the length direction of the second threaded holes, and at least the movable end of the adjusting seat 330 is movably sleeved in the installation groove 321 along the length direction of the second threaded holes 331 so as to drive the second threaded holes 331 to sequentially pass through the first threaded holes 322; the fastener 340 is screwed into the first threaded hole 322 and the corresponding second threaded hole 331.

It will be appreciated that the holder 320 remains relatively stationary with the welding gun 11. Specifically, the fixing base 320 may be integrally provided with the welding gun 11, for example, integrally injection molded, welded and fixed, etc., and based on this, when the robot body 10 is in a non-calibrated state, the fixing base 320 may also be used as a mounting structure of other functional components; in addition, the fixing base 320 may be separately disposed from the welding gun 11, and in the same manner as described above, in order to realize the detachable connection between the fixing base 320 and the welding gun 11, the connection manner of the two is not limited, and may be one or more of fastening manners such as screw fastening, adhesive fastening, fastening, and adsorption fastening.

The fixing seat 320 is provided with the mounting groove 321, and the movable end of the adjusting seat 330 is movably mounted in the mounting groove 321; when the adjusting range of the adjusting seat 330 is larger, the mounting groove 321 may penetrate the fixing seat 320 to form a through hole, and the adjusting seat 330 is movably disposed at the mounting groove 321 in the through hole, so as to avoid additional space occupation of the fixing seat 320.

The first threaded hole 322 extends from the mounting groove 321 to the outer wall of the fixing base 320; the first threaded holes 322 may be provided in one or more embodiments, where when the first threaded holes 322 are provided in plural, the layout manner of the plural first threaded holes 322 is not limited, and may be linear, array, radial, vortex ring, etc. By selecting different first threaded holes 322 to be aligned with different second threaded holes 331, the relative positional relationship between the adjustment seat 330 and the fixing seat 320 can be correspondingly adjusted, and the relative positions include a distance and an angle.

The second threaded hole 331 may be a through hole penetrating the adjusting seat 330, or may be a blind hole with one closed end.

By operating the fastening member 340 to be screwed with the different first screw holes 322 and second screw holes 331, the relative positional relationship between the adjusting seat 330 and the fixing seat 320 can be correspondingly adjusted, so that the specific mounting position of the calibration member 400 or the measuring member 500 on the welding gun 11 can be adjusted.

Further, in an embodiment, the fixing seat 320 is provided with a third threaded hole at the bottom of the mounting groove 321; the mounting base 300 further includes a propping member 350, where the propping member 350 is in threaded connection with the third threaded hole, and at least one end of the propping member 350 extends into the mounting groove 321 and props against the movable end. It will be appreciated that when the mounting groove 321 is kept in a groove shape, the adjustment of the movement of the adjustment seat 330 relative to the fixing seat 320 is inconvenient, and therefore, the setting of the propping member 350 can correspondingly adjust the extension length of the portion of the propping member 350 extending into the mounting groove 321 by adjusting the screw depth between the propping member 350 and the third threaded hole, so as to push the adjustment seat 330 to move along the length direction thereof.

Of course, an elastic member may be further disposed between the adjusting seat 330 and the mounting groove 321, and the elastic member may be used to reset the propping member 350 to the initial position after the propping member 350 ejects the adjusting seat 330.

In addition, in an embodiment, the mounting end of the adjusting seat 330 is bent and extended towards one side to form an extension section 332, and the extension section 332 is provided with a connection hole, and the connection hole is used for connecting and fixing the calibration piece 400 or the measurement piece 500; the attachment end face on the connection hole circumferential side constitutes the reference surface 310.

The connecting hole is used for clamping and fixing the calibration piece 400 or the measuring piece 500, specifically, an inner hole wall of the connecting hole may be provided with an interference part, and the interference part is used for generating interference when one of the calibration piece 400 or the measuring piece 500 is mounted to the connecting hole, so as to prevent the calibration piece 400 or the measuring piece 500 from continuing to move relative to the connecting hole. The interference portion may be a plurality of embodiments, for example, the interference portion may be a plurality of elastic protrusions 211 protruding from an inner wall of the connecting hole.

The extension 332 may be configured to offset the mounting position of the calibration member 400 or the measuring member 500 from the main structure of the adjustment seat 330, so that the calibration member 400 or the measuring member 500 has enough space for performing the mounting operation. The combination of the calibration member 400 and the measuring member 500 is in a rod shape, so that the installation at the connecting hole is facilitated.

In addition, referring to fig. 7, in an embodiment, the measuring member 500 is disposed in a rod shape, and at least one end of the measuring member 500 is disposed as a flat end to form the measuring portion 510; the calibration member 400 includes a block body 420, one end of the block body 420 is provided with a clamping groove 421, the clamping groove 421 is used for sleeving on an end of the measurement member 500 forming the measurement portion 510, the other end of the block body 420 is provided with a calibration hole 422 communicating with the clamping groove 421, and the calibration hole 422 is arranged in a necking manner in a direction approaching to the clamping groove 421 so as to be suitable for the shape arrangement of the reference portion 210; the orifice of the calibration hole 422 in the clamping groove 421 is a first orifice 423, and the plane of the first orifice 423 forms the calibration portion 410.

The clamping groove 421 is convenient to be sleeved at the end part of the measuring piece 500, and the calibration hole 422 is communicated to the clamping groove 421, so that after the end part of the measuring piece 500 is installed in place in the clamping groove 421, the measuring part 510 is abutted to the first orifice 423 and is positioned on the same plane with the first orifice 423, and when the tip-shaped reference part 210 of the reference piece 200 is in inserted fit with the calibration hole 422, the inner hole wall of the calibration hole 422 can limit the reference piece 200, so that the reference piece 200 is aligned; the reference portion 210 is abutted with the measuring portion 510 through the first orifice 423, and directly calibrates the measuring portion 510, which helps to simplify the calibration process.

Further, in an embodiment, the slot 421 has a first side wall and a second side wall disposed opposite to each other, the first side wall is provided with a pressing block 440, and the pressing block 440 is elastically telescopic in a direction approaching to and away from the second side wall, so that the pressing block 440 elastically presses the measuring member 500 against the second side wall when approaching to the second side wall. The pressing block 440 can apply a pressing force to the measuring member 500 to more firmly mount the measuring member 500 in the clamping groove 421, so as to prevent the measuring member 500 from falling out of the clamping groove 421. The compacts 440 may be provided in one or more, wherein when the compacts 440 are provided in plurality, the plurality of compacts 440 may be provided at intervals along the circumference of the measuring member 500; of course, at least two compacts 440 of the plurality of compacts 440 may be disposed in opposition.

The pressing block 440 may be directly made of an elastic material to achieve the above elastic telescopic arrangement; alternatively, the pressing block 440 is elastically installed in the clamping groove 421 by an elastic member, so as to implement the elastic telescopic arrangement. The elastic member may be a spring, a rubber block, or the like.

Further, in an embodiment, an end of the block body 420 opposite to the clamping groove 421 is provided with a preformed hole 424 communicating with the clamping groove 421; the calibration member 400 further includes a plurality of cylinders 430, wherein the cylinders 430 are detachably mounted in the preformed holes 424, the cylinders 430 are provided with the calibration holes 422, and the calibration holes 422 of the cylinders 430 are arranged differently. The cylinder 430 is detachably replaced with the block-shaped body 420, so that the calibration device 20 can be suitable for the standard parts 200 with various specifications; the mounting manner between the cylinder 430 and the block-shaped body 420 is not limited, and may be one or more of the above-mentioned fastening manners, such as middle screw fastening, adhesive fastening, fastening, and adsorption fastening; the calibration holes 422 of the plurality of cylinders 430 are configured differently, and may specifically be at least one of different parameters such as size, shape, and material.

Furthermore, the present invention provides a welding robot 1, said welding robot 1 comprising a robot body 10 and a calibration device 20 as described above. It should be noted that, the detailed structure of the calibration device 20 in the welding robot 1 may refer to the embodiment of the calibration device 20 described above, and will not be described herein again; since the calibration device 20 is used in the welding robot 1 of the present invention, the embodiments of the welding robot 1 of the present invention include all the technical solutions of all the embodiments of the calibration device 20, and the achieved technical effects are identical, and are not repeated here.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A calibration device for use with an electric welding robot, comprising:

the calibration assembly comprises a calibration piece and a measurement piece, wherein the calibration piece is provided with a calibration part, the measurement piece is provided with a measurement part, the measurement piece is detachably connected with the mounting seat, and the height of the calibration part from the reference surface is the same as the height of the measurement part from the reference surface;

a bulge is convexly arranged on one side of the reference piece, and the free end of the bulge is provided with a tip;

the tip forms the reference portion;

the measuring piece is in a rod shape, and at least one end part of the measuring piece is a straight end to form the measuring part;

2. The calibration device of claim 1, wherein the mount comprises:

the adjusting seat is in a longitudinal shape and is provided with a mounting end and a movable end which are oppositely arranged, the mounting end is used for mounting the measuring piece, a plurality of second threaded holes are formed in the side part of the adjusting seat at intervals along the length direction of the adjusting seat, and at least the movable end of the adjusting seat is movably sleeved in the mounting groove along the length direction of the adjusting seat so as to drive each second threaded hole to sequentially pass through the first threaded hole; the method comprises the steps of,

3. The calibrating device according to claim 2, wherein the fixing seat is provided with a third threaded hole in a penetrating way at the bottom of the mounting groove;

4. The calibrating device according to claim 2, wherein the mounting end of the adjusting seat is bent and extended towards one side to form an extension section, and the extension section is provided with a connecting hole in a penetrating way, and the connecting hole is used for connecting and fixing the measuring piece;

the end face of the mounting end on the connection hole circumferential side constitutes the reference surface.

5. The alignment device of claim 1, wherein the slot has a first side wall and a second side wall disposed opposite each other, the first side wall being provided with a press block that is elastically stretchable in a direction toward and away from the second side wall so that the press block elastically presses the measuring member against the second side wall when approaching the second side wall.

6. The alignment device of claim 1, wherein an end of the block-shaped body opposite the clamping groove is provided with a preformed hole communicating with the clamping groove;

7. A welding robot, comprising:

a robot main body; and a calibration device as claimed in any one of claims 1 to 6.