CN105196311A - Quick zero point calibration method for six-axis robot - Google Patents
Quick zero point calibration method for six-axis robot Download PDFInfo
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- CN105196311A CN105196311A CN201510689580.4A CN201510689580A CN105196311A CN 105196311 A CN105196311 A CN 105196311A CN 201510689580 A CN201510689580 A CN 201510689580A CN 105196311 A CN105196311 A CN 105196311A
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Abstract
The invention relates to a quick zero point calibration method for a six-axis robot. The quick zero point calibration method comprises the following steps: fixing a level meter to a first reference plane, perpendicular to a first joint axis , of the robot; after the completion of the calibration of the first joint axis, fixing a first reference plane of the level meter to a second reference plane of the robot to complete calibration of a second joint axis; fixing the first reference plane of the level meter to a third reference plane of the robot to complete calibration of a third joint axis, a fourth joint axis, a fifth joint axis and a sixth joint axis, wherein the calibration of the third, fourth, fifth and sixth joint axes can be automatically completed by using a robot controller to collect indicating values of a first horizontal sensor and a second horizontal sensor. Through the adoption of the quick zero point calibration method, zero point calibration for the six-axis industrial robot can be completed through the three reference planes, so that processing requirements on robot parts are reduced, the calibration time is saved, and the cumbersome robot calibration work can be simple and convenient relatively.
Description
Technical field
The present invention relates to a kind of quick calibrating method at zero point of six-joint robot, belong to the scaling method field of industrial robot.
Background technology
Zero point is the benchmark of robot coordinate system, does not have zero point robot just to have no idea to judge self position.Usual industrial robot all can be demarcated the mechanical parameter of robot before dispatching from the factory, provide parameter and the dead-center position of each connecting rod of industrial robot, but under special circumstances, as battery altering, surmount mechanical limit position, collide with environment, loss that manual mobile apparatus person joint etc. all can cause zero point, be the guarantee that robot precise motion controls how seeking the current dead-center position of robot in such cases simply.
At present, the Zero calibration technology of robot has following several:
First, bolt-type, which two of joint of robot in relative rotation two parts to process the hole of a same size at design dead-center position, timing signal, the slowly joint shaft of mobile robot, calculate demarcation and complete when bolt axle inserts holes completely, inconvenient operation, and dangerous and operating process difficulty is larger in use procedure.The 16kg six-shaft industrial robot that such as Ai Sidun Automation Co., Ltd in Nanjing produces adopts this technology exactly.
Second, amesdial+V-type Cao formula, is similar to bolt-type, unlike, two of joint of robot in relative rotation two parts on design dead-center position, a V-type groove processed by a part, and a circular hole processed by another part, and circular hole can place the metrical instrument of amesdial or similar functions, when joint of robot rotates, amesdial contact is with the contact of V-type groove, and not stall movable joint also reads amesdial reading, is joint zero-bit during minimum of a value.Such as, all adopt similar techniques in the robot product of company of German KUKA robot and Anhui Ai Fute intelligence Equipment Limited.The patent 201220609107.2 of Anhui Ai Fute company application discloses a kind of amesdial+V-type Cao formula Zero calibration device.
3rd, level meter+datum level formula, which needs to process a datum level on each connecting rod of robot, and level meter is fixed on this datum level by timing signal, then rotary machine person joint, is found the zero-bit in each joint by the instruction of level meter.
Industrial robot Zero calibration method of the prior art in sum all needs the null positions pin hole processing corresponding in each joint or V-type groove, or datum level, the datum level that the robot of six axles needs processing 6 to overlap, this puts forward higher requirement to the machining accuracy of part, and requires also harsher to the assembly precision of robot.Meanwhile, in calibration process, need an axle, an axle demarcates in turn, process is loaded down with trivial details.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of quick calibrating method at zero point of six-joint robot, overcomes in prior art complicated to manufacturing procedure during robot Zero calibration and require harsh defect to the machining accuracy of part and the assembly precision of robot.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of quick calibrating method at zero point of six-joint robot, described six-joint robot comprises the first joint shaft, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft that are connected by connecting rod successively from base
Level meter is adopted to demarcate the zero point to described second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft, described level meter comprises orthogonal level meter first datum level, level meter second datum level, level meter the 3rd datum level and the first horizon sensor be arranged on the face relative with described level meter the 3rd datum level and the second horizon sensor, and the axes normal of described first horizon sensor is in described level meter first datum level; The axes normal of described second horizon sensor in described level meter second datum level,
Described first joint shaft side is provided with first datum level vertical with the first joint shaft, connecting rod between described second joint axle and the 3rd joint shaft is provided with the second datum level with the axis being parallel of this connecting rod, and described 6th joint shaft place is provided with three datum level vertical with the 6th joint shaft;
Described zero point, quick calibrating method specifically comprised the following steps:
Step 1), described first joint shaft, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft are adjusted to and slightly demarcate indicating positions, using the position of now the first joint shaft as zero point;
Step 2), described level meter the 3rd datum level is fixed on described first datum level, described first horizon sensor and the second horizon sensor registration are adjusted to 0 by adjustment robot base, or by described first horizon sensor and the second horizon sensor registration zero setting;
Step 3), level meter first datum level and described second datum level are fixed, namely the first horizon sensor is perpendicular to described second datum level, and adjustment second joint axle, until described first horizon sensor registration is 0, is now the zero-bit of second joint axle; Or described level meter second datum level and described second datum level are fixed, namely horizon sensor is perpendicular to described second datum level, adjustment second joint axle, until the second horizon sensor registration is 0, is now the zero-bit of second joint axle;
Step 4), described level meter first datum level and described 3rd datum level are fixed;
Step 5), the 4th joint shaft is rotated forward a minute angle, preferably can be 1 degree, after stable, record the registration of described first horizon sensor; 4th joint shaft is reversely rotated a same minute angle, after stable, records the registration of described first horizon sensor; Obtain the registration difference of the first horizon sensor described in when the 4th joint shaft is forward and reverse to be rotated;
Step 6), if step 5) registration difference be 0, then the 5th joint shaft is at dead-center position;
Step 7), fine setting the 3rd joint shaft, until the registration of described first horizon sensor is 0, now the 3rd joint shaft is in dead-center position;
Step 8), fine setting the 4th joint shaft, until described second horizon sensor registration is 0, now the 4th joint shaft, the 6th joint shaft are in zero-bit.
The invention has the beneficial effects as follows: the present invention utilizes the first datum level, the second datum level and the 3rd datum level just can complete the Zero calibration of six-shaft industrial robot, reduces the processing request to robotic part; In addition, the demarcation of three, four, five, six axles, by clamped one time level meter, just can complete the Zero calibration of 4 axles, save the nominal time, makes loaded down with trivial details Robot calibration work become easier.
On the basis of technique scheme, the present invention can also do following improvement.
The quick calibrating method at zero point of the present invention's a kind of six-joint robot described above, further, step 6) in, if step 5) registration difference be not 0, finely tune the 5th joint shaft, repeat step 5, until the 4th joint shaft the is forward and reverse registration difference 0 of the first horizon sensor described in when rotating.
The quick calibrating method at zero point of the present invention's a kind of six-joint robot described above, further, if fine setting the 5th joint shaft, repeat step 5) after registration difference become large, then determine the anisotropy of fine setting the 5th joint shaft, the 5th joint shaft should be finely tuned round about.
The quick calibrating method at zero point of the present invention's a kind of six-joint robot described above, further, if forward and reverse fine setting the 5th joint shaft, repeat step 5) after registration difference still become large, reduce the amount trimmed of the 5th joint shaft, repeat step 5) until the 4th joint shaft the is forward and reverse registration difference 0 of the first horizon sensor described in when rotating.
The quick calibrating method at zero point of the present invention's a kind of six-joint robot described above, further, describedly also comprise robot controller, described robot controller acquisition step 5) to step 8) in the first horizon sensor, the second horizon sensor instruction numerical value carry out automatically controlling the 4th joint shaft, the 3rd joint shaft or the 5th joint shaft action.
Above-mentioned further beneficial effect is adopted to be: can demarcate three, four, five, six axles automatically fast.
Accompanying drawing explanation
The six-shaft industrial robot structural representation that Fig. 1 provides for the embodiment of the present invention;
The level meter three-dimensional structure schematic diagram that Fig. 2 provides for the embodiment of the present invention;
The level meter three-dimensional structure schematic diagram that Fig. 3 provides for the embodiment of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows:
1, the first joint shaft, 2, second joint axle, the 3, the 3rd joint shaft, 4, the 4th joint shaft, 5, the 5th joint shaft, the 6, the 6th joint shaft, 7, the first datum level, 8, the second datum level, the 9, the 3rd datum level, 10, connecting rod axis, 11, level meter first datum level, 12, level meter second datum level, 13, level meter the 3rd datum level, 14, the first horizon sensor, the 15, second horizon sensor.
Detailed description of the invention
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, six-joint robot of the present invention comprises the first joint shaft, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft that are connected by connecting rod successively from base, and dead-center position is the initial position of the first joint shaft, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft.
The rotation direction of the first joint shaft as shown in Figure 1, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft, namely the first joint shaft 1 around Z axis at XY rotation with in surface, second joint axle 2, second joint axle 3 around Y-axis at XZ rotation with in surface, 4th joint shaft 4, the 6th joint shaft 6 around X-axis at YZ rotation with in surface, the 5th joint shaft 5 around Y-axis at XZ rotation with in surface.The axis of movement of the 4th joint shaft 4 of six-shaft industrial robot of the present invention, the 5th joint shaft 5 and the 6th joint shaft 6 is intersected in a bit.
As shown in Figure 1, six-shaft industrial robot of the present invention is provided with three datum levels, is respectively the first datum level 7, second datum level 8, the 3rd datum level 9, first datum level 7 is arranged on the first joint shaft 1 side and vertical with the first joint shaft 1; Second datum level 8 to be arranged on the connecting rod between second joint axle with the 3rd joint shaft and parallel with the connecting rod axis 10 of this connecting rod, and the 3rd datum level 9 is arranged on the 6th joint shaft 6 place and vertical with the 6th joint shaft 6.
Six-shaft industrial robot first joint shaft of the present invention, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft all have one and slightly demarcate indicating positions, each joint shaft can run to and slightly demarcate indicating positions under the observation of naked eyes, and thick demarcation indicating positions and robot have certain deviation theoretical accurate zero point.
As shown in Figure 2 and Figure 3, the level meter that zero point carry out calibration and usage of the present invention to second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft comprises the first horizon sensor 14, second horizon sensor 15, level meter first datum level 11, level meter second datum level 12, level meter the 3rd datum level 13; Level meter first datum level 11, level meter second datum level 12, level meter the 3rd datum level 13 are mutually vertical; The axes normal of the first horizon sensor 14 is in the first datum level 11; Second horizon sensor 15 is perpendicular to level meter second datum level 12; First horizon sensor 14 is parallel with described level meter the 3rd datum level 13 with the face at the second horizon sensor 15 place.After level meter calibration, when level meter the 3rd datum level 13 is in horizontal plane, the first horizon sensor 14, second horizon sensor 15 reading is 0; When level meter first datum level 11 is 0 perpendicular to the first horizon sensor 14 registration during horizontal plane; When level meter second datum level 12 is 0 perpendicular to the second horizon sensor 15 registration during horizontal plane.The instruction numerical value of the first horizon sensor 14, second horizon sensor 15 can access robot controller by data wire.
Described 3rd datum level 9 and level meter fixing after, namely the relative position relation of the two remains unchanged.When each joint shaft of robot is in ideal null, the first horizon sensor 14, second horizon sensor 15 registration of level meter is 0.
The quick calibrating method at zero point of a kind of six-joint robot of the present invention, on the basis of reference position, namely utilize level meter to carry out level or vertical calibrating to the first to the 6th joint shaft respectively, concrete steps are as follows:
Step (1), runs to the first joint shaft of robot, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft and slightly demarcates indicating positions; Now the position of the first joint shaft 1 is as its zero point;
Step (2), is fixed on the first datum level 7 by the level meter of level meter the 3rd datum level 13, and the first horizon sensor 14, second horizon sensor 15 registration of level meter is adjusted to 0 by adjustment robot base; Or by the first horizon sensor 14, second horizon sensor 15 registration zero setting of level meter;
Step (3), fixes second datum level 8 of level meter first datum level 11 with robot, and adjustment second joint axle 2, until the first horizon sensor 14 registration is 0, is now the zero-bit of second joint axle 2; Or fixed by second datum level 8 of level meter second datum level 12 with robot, adjustment second joint axle 2, until the second horizon sensor 15 registration is 0, is now the zero-bit of second joint axle 2;
Step (4), fixes the 3rd datum level 9 of level meter first datum level 11 with robot; Namely after level meter and the 3rd datum level install, the 3rd datum level 9 is changeless with level meter relative position relation, and the two can be the fixed forms such as pin connection, or bayonet socket connection.
Step (5), rotates forward 1 degree by the 4th joint shaft 4, after stable, and the registration of the first horizon sensor 14 of recording level instrument; 4th joint shaft 4 is reversely rotated 1 degree, after stable, the registration of the first horizon sensor 14 of recording level instrument; Record the registration difference of the first horizon sensor 14 of level meter when the 4th joint shaft 4 is forward and reverse to be rotated;
Step (6), if the registration difference of step 5 is 0, then the 5th joint shaft 5 is at dead-center position; If the registration difference of step 5 is not 0, fine setting the 5th joint shaft 5, repeats step 5; If the registration difference of step 5 becomes large, then finely tune the anisotropy of the 5th joint shaft 5, finely tune the 5th joint shaft 5 round about; If forward and reverse fine setting the 5th joint shaft 5, the registration difference of step 5 still becomes large, reduces the amount trimmed of the 5th joint shaft 5, repeats step 5, until the registration difference of step 5 is 0;
Step (7), fine setting the 3rd joint shaft 3, until the registration of the first horizon sensor 14 of level meter is 0, now the 3rd joint shaft 3 is in dead-center position;
Step (8), fine setting the 4th joint shaft 4, until the second horizon sensor 15 registration of level meter is 0, now the 4th joint shaft 4, the 6th joint shaft 6 are in zero-bit.
Above-mentioned steps (5) to step (8) gathers the instruction numerical value of the first horizon sensor 14, second horizon sensor 15 by robot controller and then automatically completes the demarcation of the 3rd joint shaft 3, the 4th joint shaft 4, the 5th joint shaft 5 and the 6th joint shaft 6.
Above-mentioned steps (5) is as follows to the 3rd joint shaft 3, the 4th joint shaft 4, the 5th joint shaft 5 and the 6th joint shaft 6 calibration principle to step (8): the 3rd datum level is vertical with the 6th joint shaft 6 joint shaft, namely after level meter first datum level 11 and the 3rd datum level 9 of robot are fixed, first horizon sensor 14 and the 6th joint shaft 6 coaxial, now rotate the 6th joint shaft 6 axle, even if the 6th joint shaft 6 is not be in horizontal level, the reading of the first horizon sensor is constant.Six-joint robot of the present invention in design, the axis of the 4th joint shaft 4, the 5th joint shaft 5 and the 6th joint shaft 6 intersects at a bit, when we adjust the 5th joint shaft 5, make the 4th joint shaft 4 and the 6th joint shaft 6 coaxial, then now rotate separately 4 axles, on level meter, a coaxial horizon sensor reading is also constant with the 6th joint shaft 6.Namely by adjustment the 5th joint shaft the 5, four joint shaft 4 and the 6th joint shaft 6 coaxial after, the registration difference of step (5) is the Zero calibration of 0 realization to the 5th joint shaft 5.Employing this method saves the nominal time, fast and convenient accurate location.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. the quick calibrating method at zero point of a six-joint robot, described six-joint robot comprises the first joint shaft, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft that are connected by connecting rod successively from base, it is characterized in that
Level meter is adopted to demarcate the zero point to described second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft, described level meter comprises orthogonal level meter first datum level, level meter second datum level, level meter the 3rd datum level and the first horizon sensor be arranged on the face relative with described level meter the 3rd datum level and the second horizon sensor, and the axes normal of described first horizon sensor is in described level meter first datum level; The axes normal of described second horizon sensor in described level meter second datum level,
Described first joint shaft side is provided with first datum level vertical with the first joint shaft; Connecting rod between described second joint axle and the 3rd joint shaft is provided with the second datum level with the axis being parallel of this connecting rod, and described 6th joint shaft place is provided with three datum level vertical with the 6th joint shaft;
Described zero point, quick calibrating method specifically comprised the following steps:
Step 1), described first joint shaft, second joint axle, the 3rd joint shaft, the 4th joint shaft, the 5th joint shaft and the 6th joint shaft are adjusted to and slightly demarcate indicating positions, using the position of now the first joint shaft as zero point;
Step 2), described level meter the 3rd datum level is fixed on described first datum level, described first horizon sensor and the second horizon sensor registration are adjusted to 0 by adjustment robot base, or by described first horizon sensor and the second horizon sensor registration zero setting;
Step 3), level meter first datum level and described second datum level are fixed, adjustment second joint axle, until described first horizon sensor registration is 0, is now the zero-bit of second joint axle; Or described level meter second datum level and described second datum level are fixed, adjustment second joint axle, until the second horizon sensor registration is 0, is now the zero-bit of second joint axle;
Step 4), described level meter first datum level and described 3rd datum level are fixed;
Step 5), the 4th joint shaft is rotated forward a minute angle, after stable, records the registration of described first horizon sensor; 4th joint shaft is reversely rotated a same minute angle, after stable, records the registration of described first horizon sensor; Obtain the registration difference of the first horizon sensor described in when the 4th joint shaft is forward and reverse to be rotated;
Step 6), if step 5) registration difference be 0, then the 5th joint shaft is at dead-center position;
Step 7), fine setting the 3rd joint shaft, until the registration of described first horizon sensor is 0, now the 3rd joint shaft is in dead-center position;
Step 8), fine setting the 4th joint shaft, until described second horizon sensor registration is 0, now the 4th joint shaft, the 6th joint shaft are in zero-bit.
2. the quick calibrating method at zero point of a kind of six-joint robot according to claim 1, it is characterized in that, step 6) in, if step 5) registration difference be not 0, finely tune the 5th joint shaft, repeat step 5, until the 4th joint shaft the is forward and reverse registration difference 0 of the first horizon sensor described in when rotating.
3. the quick calibrating method at zero point of a kind of six-joint robot according to claim 2, it is characterized in that, if fine setting the 5th joint shaft, repeat step 5) after registration difference become large, then determine the anisotropy of fine setting the 5th joint shaft, the 5th joint shaft should be finely tuned round about.
4. the quick calibrating method at zero point of a kind of six-joint robot according to claim 2, it is characterized in that, if forward and reverse fine setting the 5th joint shaft, repeat step 5) after registration difference still become large, reduce the amount trimmed of the 5th joint shaft, repeat step 5) until the 4th joint shaft the is forward and reverse registration difference 0 of the first horizon sensor described in when rotating.
5. a kind of quick calibrating method at zero point of six-joint robot according to any one of Claims 1-4, it is characterized in that, also comprise robot controller, described robot controller acquisition step 5) to step 8) in the first horizon sensor, the second horizon sensor instruction numerical value carry out automatically controlling the 4th joint shaft, the 3rd joint shaft or the 5th joint shaft action.
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Cited By (11)
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| CN106774149A (en) * | 2016-11-30 | 2017-05-31 | 上海新时达电气股份有限公司 | The adjusting zero method and system of industrial robot |
| CN107042519A (en) * | 2017-04-28 | 2017-08-15 | 安徽捷迅光电技术有限公司 | A kind of robot arm zero-bit automatic correction system |
| CN107443375A (en) * | 2017-07-20 | 2017-12-08 | 深圳市同川科技有限公司 | Robot origin calibration method, apparatus, storage medium and computer equipment |
| CN108115724A (en) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | The test method that a kind of robot is servo-actuated |
| 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 |
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| CN109262657A (en) * | 2018-12-06 | 2019-01-25 | 华域汽车车身零件（武汉）有限公司 | A kind of six axis Zero calibration system and method for welding robot |
| CN111267108A (en) * | 2020-03-23 | 2020-06-12 | 珞石（北京）科技有限公司 | Industrial robot joint zero calibration structure and calibration method |
| CN111267108B (en) * | 2020-03-23 | 2021-12-17 | 珞石（北京）科技有限公司 | Industrial robot joint zero calibration structure and calibration method |
| CN112297054A (en) * | 2020-09-24 | 2021-02-02 | 苏州玖物互通智能科技有限公司 | Zero point debugging method for cooperative robot |
| CN112809677A (en) * | 2021-01-14 | 2021-05-18 | 宿州市亿晟矿山设备制造有限公司 | Visual six-axis manipulator and control system |
| CN113676387A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
| CN113676387B (en) * | 2021-08-11 | 2023-02-24 | 北京小米移动软件有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
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