技术领域technical field
本发明涉及一种六轴机器人的零点快速标定方法，属于工业机器人的标定方法领域。The invention relates to a zero-point rapid calibration method of a six-axis robot, which belongs to the field of calibration methods of industrial robots.
背景技术Background technique
零点是机器人坐标系的基准，没有零点机器人就没有办法判断自身的位置。通常工业机器人在出厂之前均会对机器人的机械参数进行标定，给出工业机器人各连杆的参数及零点位置，但在特殊情况下，如电池更换、超越机械极限位置、与环境发生碰撞、手动移动机器人关节等均会造成零点的丢失，在此种情况下如何简易地寻求到机器人当前零点位置是机器人精确运动控制的保障。The zero point is the datum of the robot coordinate system. Without the zero point, the robot cannot judge its own position. Usually industrial robots will calibrate the mechanical parameters of the robot before leaving the factory, and give the parameters and zero position of each connecting rod of the industrial robot, but in special cases, such as battery replacement, exceeding the mechanical limit position, collision with the environment, manual Moving the joints of the robot will cause the loss of the zero point. In this case, how to easily find the current zero point position of the robot is the guarantee of the precise motion control of the robot.
目前，机器人的零点标定技术有以下几种：At present, the zero point calibration technology of the robot has the following types:
第一，插销式，该方式在机器人关节的两个相对转动的两个零件在设计零点位置加工一个同样尺寸的孔，标定时，慢慢移动机器人的关节轴，当插销轴完全插入两孔算标定完成，操作不方便，而且使用过程中不安全以及操作过程难度较大。例如南京埃斯顿自动化公司生产的16kg六轴工业机器人就是采用这种技术。First, the pin type, in which two parts of the robot joint that rotate relative to each other machine a hole of the same size at the design zero point. When calibrating, slowly move the joint shaft of the robot. When the pin shaft is completely inserted into the two holes The calibration is completed, the operation is inconvenient, and the use process is unsafe and the operation process is difficult. For example, the 16kg six-axis industrial robot produced by Nanjing Estun Automation Co., Ltd. adopts this technology.
第二，千分表+V型曹式，类似于插销式，不同的是，在机器人关节的两个相对转动的两个零件在设计零点位置上，一个零件加工一个V型槽，另一个零件加工一个圆孔，圆孔可以放置千分表或者类似功能的计量仪器，机器人关节转动时，千分表触头跟V型槽接触，不停转动关节并读取千分表读数，最小值时即为关节零位。例如德国KUKA机器人公司和安徽埃夫特智能装备有限公司的机器人产品中均采用类似技术。安徽埃夫特公司申请的专利201220609107.2公开了一种千分表+V型曹式零点标定装置。Second, the dial indicator + V-type Cao type, similar to the pin type, the difference is that the two relative rotating parts of the robot joint are at the design zero position, one part processes a V-shaped groove, and the other part Process a round hole. The round hole can be used to place a dial indicator or a measuring instrument with similar functions. When the robot joint rotates, the contact of the dial indicator contacts the V-shaped groove, and the joint is rotated continuously to read the reading of the dial indicator. This is the joint zero position. For example, the robot products of KUKA Robot Company of Germany and Anhui Efort Intelligent Equipment Co., Ltd. adopt similar technologies. The patent 201220609107.2 applied by Anhui Efort Company discloses a dial indicator + V-type Cao-type zero point calibration device.
第三，水平仪+基准面式，该方式需要在机器人的每个连杆上加工一个基准面，标定时将水平仪固定在该基准面上，然后转动机器人关节，通过水平仪的指示找到每个关节的零位。Third, level + reference plane, this method needs to process a reference plane on each connecting rod of the robot, fix the level on the reference plane during calibration, then rotate the robot joints, and find the position of each joint through the indication of the level zero.
综上所述的现有技术中的工业机器人零点标定方法都需要在每个关节对应的零位位置加工销孔或V型槽，或者基准面，六轴的机器人需要加工6套的基准面，这对零件的加工精度提出来更高的要求，而且对机器人的装配精度要求也更加苛刻。同时，在标定过程中需要一个轴、一个轴顺次标定，过程繁琐。To sum up, the zero point calibration methods of industrial robots in the prior art all need to process pin holes or V-shaped grooves, or datum planes at the zero position corresponding to each joint. A six-axis robot needs to process 6 sets of datum planes. This puts forward higher requirements on the machining accuracy of the parts, and more stringent requirements on the assembly accuracy of the robot. At the same time, it is necessary to calibrate one axis after another in the calibration process, and the process is cumbersome.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种六轴机器人的零点快速标定方法，克服现有技术中在对机器人零点标定时加工工序复杂且对零件的加工精度和机器人的装配精度要求苛刻的缺陷。The technical problem to be solved by the present invention is to provide a quick calibration method for the zero point of a six-axis robot, which overcomes the defects in the prior art that the machining process is complicated and the machining accuracy of the parts and the assembly accuracy of the robot are demanding when calibrating the robot zero point.
本发明解决上述技术问题的技术方案如下：一种六轴机器人的零点快速标定方法，所述六轴机器人从底座开始依次包括通过连杆连接的第一关节轴、第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴，The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a method for quick calibration of the zero point of a six-axis robot. axis, the fourth joint axis, the fifth joint axis and the sixth joint axis,
采用水平仪对所述第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴的零点进行标定，所述水平仪包括相互垂直的水平仪第一基准面、水平仪第二基准面、水平仪第三基准面及设置在与所述水平仪第三基准面相对的面上的第一水平传感器和第二水平传感器，所述第一水平传感器的轴线垂直于所述水平仪第一基准面；所述第二水平传感器的轴线垂直于所述水平仪第二基准面，A level is used to calibrate the zero points of the second joint axis, the third joint axis, the fourth joint axis, the fifth joint axis and the sixth joint axis. Datum plane, the third datum plane of the level, and the first level sensor and the second level sensor arranged on the surface opposite to the third datum plane of the level, the axis of the first level sensor is perpendicular to the first datum of the level surface; the axis of the second level sensor is perpendicular to the second reference plane of the level,
所述第一关节轴一侧设有与第一关节轴垂直的第一基准面，所述第二关节轴与第三关节轴之间的连杆上设有与该连杆的轴线平行的第二基准面，所述第六关节轴处设有与第六关节轴垂直的第三基准面；One side of the first joint axis is provided with a first reference plane perpendicular to the first joint axis, and the connecting rod between the second joint shaft and the third joint shaft is provided with a second joint parallel to the axis of the connecting rod. Two datum planes, a third datum plane perpendicular to the sixth joint axis is provided at the sixth joint axis;
所述零点快速标定方法具体包括以下步骤：The zero-point rapid calibration method specifically includes the following steps:
步骤1)，将所述第一关节轴、第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴调整至粗标定指示位置，以此时第一关节轴的位置作为零点；Step 1), adjust the first joint axis, the second joint axis, the third joint axis, the fourth joint axis, the fifth joint axis and the sixth joint axis to the rough calibration indication position, so that the first joint axis The position of is taken as the zero point;
步骤2)，将所述水平仪第三基准面固定在所述第一基准面上，调整机器人底座将所述第一水平传感器和第二水平传感器示数调整到0，或者将所述第一水平传感器和第二水平传感器示数置零；Step 2), fixing the third datum plane of the spirit level on the first datum plane, adjusting the base of the robot to adjust the readings of the first level sensor and the second level sensor to 0, or set the first level sensor to 0. The readings of the sensor and the second level sensor are set to zero;
步骤3)，将水平仪第一基准面与所述第二基准面固定，即第一水平传感器垂直于所述第二基准面，调整第二关节轴直至所述第一水平传感器示数为0，此时为第二关节轴的零位；或者将所述水平仪第二基准面与所述第二基准面固定，即水平传感器垂直于所述第二基准面，调整第二关节轴直至第二水平传感器示数为0，此时为第二关节轴的零位；Step 3), fixing the first datum plane of the spirit level with the second datum plane, that is, the first level sensor is perpendicular to the second datum plane, and adjusting the second joint axis until the indication of the first level sensor is 0, At this time, it is the zero position of the second joint axis; or fix the second reference plane of the spirit level with the second reference plane, that is, the level sensor is perpendicular to the second reference plane, and adjust the second joint axis until the second level The reading of the sensor is 0, which is the zero position of the second joint axis;
步骤4)，将所述水平仪第一基准面与所述第三基准面固定；Step 4), fixing the first datum plane of the spirit level with the third datum plane;
步骤5)，将第四关节轴正向旋转一微小角度，优选地可以为1度，稳定后，记录所述第一水平传感器的示数；将第四关节轴反向旋转同样的一微小角度，稳定后，记录所述第一水平传感器的示数；获得第四关节轴正反向旋转时所述第一水平传感器的示数差值；Step 5), rotate the fourth joint axis positively by a small angle, preferably 1 degree, after stabilization, record the indication of the first level sensor; reversely rotate the fourth joint axis by the same small angle , after stabilization, recording the reading of the first horizontal sensor; obtaining the difference in reading of the first horizontal sensor when the fourth joint axis rotates forward and reverse;
步骤6)，如果步骤5)的示数差值为0，则第五关节轴在零点位置；Step 6), if the indication difference in step 5) is 0, then the fifth joint axis is at the zero position;
步骤7)，微调第三关节轴，直至所述第一水平传感器的示数为0，此时第三关节轴处于零点位置；Step 7), fine-tuning the third joint axis until the indication of the first horizontal sensor is 0, at this time the third joint axis is at the zero position;
步骤8)，微调第四关节轴，直至所述第二水平传感器示数为0，此时第四关节轴、第六关节轴处于零位。Step 8), fine-tuning the fourth joint axis until the second level sensor shows 0, at this time the fourth joint axis and the sixth joint axis are at zero position.
本发明的有益效果是：本发明利用第一基准面、第二基准面及第三基准面便可以完成六轴工业机器人的零点标定，减小了对机器人零件的加工要求；另外，三、四、五、六轴的标定，通过一次装夹水平仪，便可完成4个轴的零点标定，节省了标定时间，使繁琐的机器人标定工作变得更加简便。The beneficial effects of the present invention are: the present invention can complete the zero point calibration of the six-axis industrial robot by using the first datum plane, the second datum plane and the third datum plane, which reduces the processing requirements for robot parts; in addition, three, four For the calibration of the five and six axes, the zero point calibration of the four axes can be completed by clamping the level once, which saves the calibration time and makes the tedious robot calibration work easier.
在上述技术方案的基础上，本发明还可以做如下改进。On the basis of the above technical solutions, the present invention can also be improved as follows.
本发明如上所述一种六轴机器人的零点快速标定方法，进一步，步骤6)中，如果步骤5)的示数差值不为0，微调第五关节轴，重复步骤5，直至第四关节轴正反向旋转时所述第一水平传感器的示数差值0。The present invention is a zero-point rapid calibration method for a six-axis robot as described above. Further, in step 6), if the displayed value difference in step 5) is not 0, fine-tune the axis of the fifth joint, and repeat step 5 until the fourth joint The reading difference of the first horizontal sensor is 0 when the shaft rotates in forward and reverse directions.
本发明如上所述一种六轴机器人的零点快速标定方法，进一步，如果微调第五关节轴，重复步骤5)后的示数差值变大，则确定微调第五关节轴的方向错误，应向相反方向微调第五关节轴。The present invention is a zero-point rapid calibration method for a six-axis robot as described above. Further, if the fifth joint axis is fine-tuned, and the display difference after repeating step 5) becomes larger, it is determined that the direction of the fifth joint axis for fine-tuning is wrong. Fine-tune the fifth joint axis in the opposite direction.
本发明如上所述一种六轴机器人的零点快速标定方法，进一步，如果正反向微调第五关节轴，重复步骤5)后的示数差值仍变大，减小第五关节轴的微调量，重复步骤5)直至第四关节轴正反向旋转时所述第一水平传感器的示数差值0。The present invention is a zero-point rapid calibration method for a six-axis robot as described above. Further, if the fifth joint axis is fine-tuned in the forward and reverse directions, the displayed value difference after repeating step 5) still becomes larger, and the fine-tuning of the fifth joint axis is reduced. Repeat step 5) until the reading difference of the first horizontal sensor is 0 when the fourth joint axis rotates forward and reverse.
本发明如上所述一种六轴机器人的零点快速标定方法，进一步，所述还包括机器人控制器，所述机器人控制器采集步骤5)至步骤8)中第一水平传感器、第二水平传感器的指示数值进行自动控制第四关节轴、第三关节轴或第五关节轴动作。The present invention is a zero-point rapid calibration method of a six-axis robot as described above, further, the robot controller also includes a robot controller, and the robot controller collects the first level sensor and the second level sensor in step 5) to step 8). Indicate the value to automatically control the movement of the fourth joint axis, the third joint axis or the fifth joint axis.
采用上述进一步的有益效果是：可以自动快速对三、四、五、六轴进行标定。The further beneficial effect of adopting the above is that the three, four, five and six axes can be automatically and quickly calibrated.
附图说明Description of drawings
图1为本发明实施例提供的六轴工业机器人结构示意图；Fig. 1 is a schematic structural diagram of a six-axis industrial robot provided by an embodiment of the present invention;
图2为本发明实施例提供的水平仪三维结构示意图；Fig. 2 is a three-dimensional structural schematic diagram of a spirit level provided by an embodiment of the present invention;
图3为本发明实施例提供的水平仪三维结构示意图。Fig. 3 is a schematic diagram of a three-dimensional structure of a spirit level provided by an embodiment of the present invention.
附图中，各标号所代表的部件列表如下：In the accompanying drawings, the list of parts represented by each label is as follows:
1、第一关节轴，2、第二关节轴，3、第三关节轴，4、第四关节轴，5、第五关节轴，6、第六关节轴、7、第一基准面、8、第二基准面，9、第三基准面，10、连杆轴线，11、水平仪第一基准面，12、水平仪第二基准面，13、水平仪第三基准面，14、第一水平传感器，15、第二水平传感器。1. The first joint axis, 2. The second joint axis, 3. The third joint axis, 4. The fourth joint axis, 5. The fifth joint axis, 6. The sixth joint axis, 7. The first datum plane, 8 , the second datum plane, 9, the third datum plane, 10, the connecting rod axis, 11, the first datum plane of the spirit level, 12, the second datum plane of the spirit level, 13, the third datum plane of the spirit level, 14, the first level sensor, 15. Second level sensor.
具体实施方式detailed description
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
如图1所示，本发明所述六轴机器人从底座开始依次包括通过连杆连接的第一关节轴、第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴，零点位置为第一关节轴、第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴的初始位置。As shown in Fig. 1, the six-axis robot of the present invention includes a first joint axis, a second joint axis, a third joint axis, a fourth joint axis, a fifth joint axis and a sixth Joint axis, the zero point is the initial position of the first joint axis, the second joint axis, the third joint axis, the fourth joint axis, the fifth joint axis and the sixth joint axis.
如图1所示的第一关节轴、第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴的转动方向，即第一关节轴1在绕Z轴在XY平面内转动，第二关节轴2、第二关节轴3绕Y轴在XZ平面内转动，第四关节轴4、第六关节轴6绕X轴在YZ平面内转动，第五关节轴5绕Y轴在XZ平面内转动。本发明所述六轴工业机器人的第四关节轴4、第五关节轴5和第六关节轴6的运动轴线交汇于一点。As shown in Figure 1, the rotation directions of the first joint axis, the second joint axis, the third joint axis, the fourth joint axis, the fifth joint axis and the sixth joint axis, that is, the first joint axis 1 rotates around the Z axis Rotate in the XY plane, the second joint axis 2 and the second joint axis 3 rotate around the Y axis in the XZ plane, the fourth joint axis 4 and the sixth joint axis 6 rotate around the X axis in the YZ plane, and the fifth joint axis 5 Rotate around the Y axis in the XZ plane. The motion axes of the fourth articulated axis 4 , the fifth articulated axis 5 and the sixth articulated axis 6 of the six-axis industrial robot of the present invention intersect at one point.
如图1所示，本发明所述六轴工业机器人上设有三个基准面，分别为第一基准面7、第二基准面8、第三基准面9，第一基准面7设置在第一关节轴1一侧且与第一关节轴1垂直；第二基准面8设置在第二关节轴与第三关节轴之间的连杆上且与该连杆的连杆轴线10平行，第三基准面9设置在第六关节轴6处且与第六关节轴6垂直。As shown in Figure 1, the six-axis industrial robot of the present invention is provided with three datum planes, which are respectively the first datum plane 7, the second datum plane 8, and the third datum plane 9, and the first datum plane 7 is arranged on the first datum plane. One side of the joint axis 1 and perpendicular to the first joint axis 1; the second reference plane 8 is set on the connecting rod between the second joint axis and the third joint axis and is parallel to the connecting rod axis 10 of the connecting rod, and the third The reference plane 9 is provided at the sixth joint axis 6 and is perpendicular to the sixth joint axis 6 .
本发明六轴工业机器人第一关节轴、第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴都具有一个粗标定指示位置，每个关节轴可以在肉眼的观测下运行到粗标定指示位置，粗标定指示位置与机器人理论精确的零点具有一定偏差。The first joint axis, the second joint axis, the third joint axis, the fourth joint axis, the fifth joint axis and the sixth joint axis of the six-axis industrial robot of the present invention all have a rough calibration indicating position, and each joint axis can be seen by the naked eye. Run to the coarse calibration indication position under the observation of the robot, and the coarse calibration indication position has a certain deviation from the theoretically precise zero point of the robot.
如图2、图3所示，本发明对第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴的零点进行标定使用的水平仪包括第一水平传感器14、第二水平传感器15、水平仪第一基准面11、水平仪第二基准面12、水平仪第三基准面13；水平仪第一基准面11、水平仪第二基准面12、水平仪第三基准面13相互垂直；第一水平传感器14的轴线垂直于第一基准面11；第二水平传感器15垂直于水平仪第二基准面12；第一水平传感器14与第二水平传感器15所在的面与所述水平仪第三基准面13平行。水平仪校准后，当水平仪第三基准面13处于水平面时，第一水平传感器14、第二水平传感器15读数为0；当水平仪第一基准面11垂直于水平面时第一水平传感器14示数为0；当水平仪第二基准面12垂直于水平面时第二水平传感器15示数为0。第一水平传感器14、第二水平传感器15的指示数值可以通过数据线接入机器人控制器。As shown in Fig. 2 and Fig. 3, the spirit level used for calibrating the zero point of the second joint axis, the third joint axis, the fourth joint axis, the fifth joint axis and the sixth joint axis in the present invention includes a first level sensor 14, The second level sensor 15, the first reference plane 11 of the level, the second reference plane 12 of the level, the third reference plane 13 of the level; the first reference plane 11 of the level, the second reference plane 12 of the level, and the third reference plane 13 of the level are perpendicular to each other; The axis of the first level sensor 14 is perpendicular to the first datum plane 11; the second level sensor 15 is perpendicular to the second datum plane 12 of the spirit level; Faces 13 are parallel. After the spirit level is calibrated, when the third reference plane 13 of the level instrument is in the horizontal plane, the readings of the first level sensor 14 and the second level sensor 15 are 0; ; When the second reference surface 12 of the spirit level is perpendicular to the horizontal plane, the second level sensor 15 shows 0. The indication values of the first level sensor 14 and the second level sensor 15 can be connected to the robot controller through the data line.
所述第三基准面9与水平仪的固定后，二者的相对位置关系即保持不变。当机器人的各关节轴在理想零位时，水平仪的第一水平传感器14、第二水平传感器15示数均为0。After the third reference plane 9 and the level are fixed, the relative positional relationship between the two remains unchanged. When each joint axis of the robot is at the ideal zero position, the first level sensor 14 and the second level sensor 15 of the spirit level both show 0.
本发明一种六轴机器人的零点快速标定方法，即在基准位置的基础上利用水平仪分别对第一至第六关节轴进行水平或垂直标定，具体步骤如下：The present invention relates to a quick zero-point calibration method for a six-axis robot, that is, using a spirit level to calibrate the first to sixth joint axes horizontally or vertically on the basis of the reference position, and the specific steps are as follows:
步骤(1)，将机器人的第一关节轴、第二关节轴、第三关节轴、第四关节轴、第五关节轴及第六关节轴运行到粗标定指示位置；此时第一关节轴1的位置作为其零点；Step (1), run the first joint axis, the second joint axis, the third joint axis, the fourth joint axis, the fifth joint axis and the sixth joint axis of the robot to the position indicated by the rough calibration; at this time, the first joint axis 1 as its zero point;
步骤(2)，将水平仪的水平仪第三基准面13固定在第一基准面7上，调整机器人底座将水平仪的第一水平传感器14、第二水平传感器15示数调整到0；或者将水平仪的第一水平传感器14、第二水平传感器15示数置零；Step (2), the third datum plane 13 of the spirit level is fixed on the first datum plane 7, and the first level sensor 14 and the second level sensor 15 indications of the level are adjusted to 0 by adjusting the robot base; The first level sensor 14 and the second level sensor 15 indicate zero;
步骤(3)，将水平仪第一基准面11与机器人的第二基准面8固定，调整第二关节轴2直至第一水平传感器14示数为0，此时为第二关节轴2的零位；或者将水平仪第二基准面12与机器人的第二基准面8固定，调整第二关节轴2直至第二水平传感器15示数为0，此时为第二关节轴2的零位；Step (3), fix the first reference plane 11 of the spirit level with the second reference plane 8 of the robot, adjust the second joint axis 2 until the first level sensor 14 shows 0, which is the zero position of the second joint axis 2 at this time or fix the second reference plane 12 of the spirit level with the second reference plane 8 of the robot, adjust the second joint axis 2 until the second level sensor 15 shows 0, which is now the zero position of the second joint axis 2;
步骤(4)，将水平仪第一基准面11与机器人的第三基准面9固定；即水平仪与第三基准面安装完后，第三基准面9与水平仪相对位置关系是固定不变的，二者可以是销钉连接，或者卡口连接等固定方式。Step (4), fixing the first datum plane 11 of the spirit level with the third datum plane 9 of the robot; after the spirit level and the third datum plane have been installed, the relative positional relationship between the third datum plane 9 and the spirit level is fixed. Or it can be a pin connection, or a bayonet connection and other fixing methods.
步骤(5)，将第四关节轴4正向旋转1度，稳定后，记录水平仪的第一水平传感器14的示数；将第四关节轴4反向旋转1度，稳定后，记录水平仪的第一水平传感器14的示数；记录第四关节轴4正反向旋转时水平仪的第一水平传感器14的示数差值；Step (5), rotate the fourth joint axis 4 forward by 1 degree, and after stabilization, record the indication of the first level sensor 14 of the spirit level; The reading of the first horizontal sensor 14; the reading difference of the first horizontal sensor 14 of the spirit level when recording the forward and reverse rotation of the fourth joint axis 4;
步骤(6)，如果步骤5的示数差值为0，则第五关节轴5在零点位置；如果步骤5的示数差值不为0，微调第五关节轴5，重复步骤5；如果步骤5的示数差值变大，则微调第五关节轴5的方向错误，向相反方向微调第五关节轴5；如果正反向微调第五关节轴5，步骤5的示数差值仍变大，减小第五关节轴5的微调量，重复步骤5，直至步骤5的示数差值为0；Step (6), if the indication difference in step 5 is 0, then the fifth joint axis 5 is at the zero point; if the indication difference in step 5 is not 0, fine-tune the fifth joint axis 5, and repeat step 5; if If the display difference in step 5 becomes larger, the direction of fine-tuning the fifth joint axis 5 is wrong, and fine-tune the fifth joint axis 5 in the opposite direction; Make it larger, reduce the fine-tuning amount of the fifth joint axis 5, and repeat step 5 until the value of the displayed difference in step 5 is 0;
步骤(7)，微调第三关节轴3，直至水平仪的第一水平传感器14的示数为0，此时第三关节轴3处于零点位置；Step (7), fine-tuning the third joint axis 3 until the indication of the first level sensor 14 of the spirit level is 0, and now the third joint axis 3 is in the zero position;
步骤(8)，微调第四关节轴4，直至水平仪的第二水平传感器15示数为0，此时第四关节轴4、第六关节轴6处于零位。Step (8), fine-tuning the fourth joint axis 4 until the second level sensor 15 of the spirit level shows 0, at this time the fourth joint axis 4 and the sixth joint axis 6 are at zero.
上述步骤(5)至步骤(8)通过机器人控制器采集第一水平传感器14、第二水平传感器15的指示数值进而自动完成第三关节轴3、第四关节轴4、第五关节轴5及第六关节轴6的标定。The above steps (5) to (8) collect the indication values of the first level sensor 14 and the second level sensor 15 through the robot controller to automatically complete the third joint axis 3, the fourth joint axis 4, the fifth joint axis 5 and Calibration of the sixth joint axis 6.
上述步骤(5)至步骤(8)的对第三关节轴3、第四关节轴4、第五关节轴5及第六关节轴6标定原理如下：第三基准面与第六关节轴6关节轴垂直，即水平仪第一基准面11与机器人的第三基准面9固定后，第一水平传感器14与第六关节轴6共轴，此时旋转第六关节轴6轴，即使第六关节轴6不是处在水平位置，第一水平传感器的读数是不变的。本发明六轴机器人在设计上，第四关节轴4、第五关节轴5及第六关节轴6的轴线汇交于一点，当我们调整第五关节轴5，使第四关节轴4和第六关节轴6共轴，则此时单独旋转4轴，水平仪上与第六关节轴6共轴一个水平传感器读数也是不变的。即通过调节第五关节轴5，第四关节轴4和第六关节轴6共轴后，步骤(5)的示数差值为0实现对第五关节轴5的零点标定。采用该方法节省了标定时间，快速简便准确定位。The principle of calibration of the third joint axis 3, the fourth joint axis 4, the fifth joint axis 5 and the sixth joint axis 6 in the above step (5) to step (8) is as follows: the third reference plane and the sixth joint axis 6 The axis is vertical, that is, after the first reference plane 11 of the spirit level is fixed to the third reference plane 9 of the robot, the first level sensor 14 is coaxial with the sixth joint axis 6, and at this time, the sixth joint axis is rotated by 6 axes, even if the sixth joint axis 6 is not in the horizontal position, the reading of the first level sensor is constant. In the design of the six-axis robot of the present invention, the axes of the fourth joint axis 4, the fifth joint axis 5, and the sixth joint axis 6 converge at one point. When we adjust the fifth joint axis 5, the fourth joint axis 4 and the sixth joint axis The six articulated axes 6 are coaxial, and the 4 axes are rotated independently at this time, and the reading of a level sensor coaxial with the sixth articulated axis 6 on the spirit level is also unchanged. That is, after adjusting the fifth joint axis 5 , the fourth joint axis 4 and the sixth joint axis 6 to be coaxial, the difference value in step (5) is 0 to realize the zero point calibration of the fifth joint axis 5 . Using this method saves calibration time and enables quick, easy and accurate positioning.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510689580.4ACN105196311B (en) | 2015-10-21 | 2015-10-21 | A kind of zero point quick calibrating method of six-joint robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510689580.4ACN105196311B (en) | 2015-10-21 | 2015-10-21 | A kind of zero point quick calibrating method of six-joint robot |
| Publication Number | Publication Date |
|---|---|
| CN105196311A CN105196311A (en) | 2015-12-30 |
| CN105196311Btrue CN105196311B (en) | 2017-03-29 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510689580.4AActiveCN105196311B (en) | 2015-10-21 | 2015-10-21 | A kind of zero point quick calibrating method of six-joint robot |
| Country | Link |
|---|---|
| CN (1) | CN105196311B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115724B (en)* | 2016-11-29 | 2021-05-25 | 沈阳新松机器人自动化股份有限公司 | Robot follow-up test method |
| CN106774149B (en)* | 2016-11-30 | 2019-03-26 | 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 |
| CN107443375B (en)* | 2017-07-20 | 2019-11-05 | 深圳市同川科技有限公司 | Robot origin calibration method, apparatus, storage medium and computer equipment |
| 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 |
| 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 |
| 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 |
| 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 |
| US20230191602A1 (en)* | 2020-04-27 | 2023-06-22 | Fanuc Corporation | Processing tool mastering method |
| US12090655B2 (en)* | 2020-07-22 | 2024-09-17 | Fanuc Corporation | Robot, mastering fixture, mastering system, and mastering method |
| CN112297054B (en)* | 2020-09-24 | 2021-11-23 | 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 |
| 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 |
| CN117001637A (en)* | 2023-08-01 | 2023-11-07 | 江苏航鼎智能装备有限公司 | A high-precision six-axis industrial robot with fully closed-loop joint control |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0522411A1 (en)* | 1991-07-12 | 1993-01-13 | Hewlett-Packard Company | Positional calibration of robotic arm joints relative to the gravity vector |
| US6418774B1 (en)* | 2001-04-17 | 2002-07-16 | Abb Ab | Device and a method for calibration of an industrial robot |
| WO2006052181A1 (en)* | 2004-11-10 | 2006-05-18 | Abb Research Ltd. | A calibration method |
| CN101231749A (en)* | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
| CN102216860A (en)* | 2008-11-25 | 2011-10-12 | Abb技术有限公司 | A method and an apparatus for calibration of an industrial robot system |
| CN102975208A (en)* | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
| CN103395073A (en)* | 2013-08-22 | 2013-11-20 | 中国船舶重工集团公司第七一六研究所 | Zero calibration method of six-axis industrial robot |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0522411A1 (en)* | 1991-07-12 | 1993-01-13 | Hewlett-Packard Company | Positional calibration of robotic arm joints relative to the gravity vector |
| US6418774B1 (en)* | 2001-04-17 | 2002-07-16 | Abb Ab | Device and a method for calibration of an industrial robot |
| WO2006052181A1 (en)* | 2004-11-10 | 2006-05-18 | Abb Research Ltd. | A calibration method |
| CN101231749A (en)* | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
| CN102216860A (en)* | 2008-11-25 | 2011-10-12 | Abb技术有限公司 | A method and an apparatus for calibration of an industrial robot system |
| CN102975208A (en)* | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
| CN103395073A (en)* | 2013-08-22 | 2013-11-20 | 中国船舶重工集团公司第七一六研究所 | Zero calibration method of six-axis industrial robot |
| Publication number | Publication date |
|---|---|
| CN105196311A (en) | 2015-12-30 |
| Publication | Publication Date | Title |
|---|---|---|
| CN105196311B (en) | A kind of zero point quick calibrating method of six-joint robot | |
| CN102384732B (en) | Built-in coplanarity detection device and precision detection method of orthogonal rotary shaft axes at the intersection point | |
| US6694634B2 (en) | Position error evaluation method of moving device and method of improving movement accuracy based on evaluation results thereof | |
| CN107462154B (en) | Pose measurement method of robot end tool | |
| CN102971605B (en) | Method for recalibrating a coordinate positioning device | |
| CN105043278B (en) | A kind of method of contactless multimetering bore inner diameter | |
| CN102126162B (en) | Numerical control machine processing online measurement method | |
| CN112917513A (en) | TCP calibration method of three-dimensional dispensing needle head based on machine vision | |
| US11293745B2 (en) | Inspection master | |
| CN114253217A (en) | Five-axis machine tool RTCP automatic calibration method with self-correction function | |
| CN107121967A (en) | A kind of laser is in machine centering and inter process measurement apparatus | |
| CN109253710B (en) | Calibration method for zero error of A axis of REVO measuring head | |
| CN108917520B (en) | Method for detecting precision of rotating shaft of five-axis linkage machine tool | |
| CN106671080A (en) | Correction method and correction device | |
| CN109945839B (en) | Method for measuring attitude of butt-jointed workpiece | |
| CN106248000B (en) | The measurement method of part axially bored line | |
| CN115609586A (en) | A high-precision assembly method for robots based on grasping pose constraints | |
| US10222193B2 (en) | Method and apparatus for inspecting workpieces | |
| CN114714399A (en) | Calibration method for mechanical parameters of six-axis series robot | |
| CN111267108B (en) | Industrial robot joint zero calibration structure and calibration method | |
| CN108592838B (en) | Calibration method and device of tool coordinate system and computer storage medium | |
| CN110561400A (en) | Efficient and accurate positioning system and method for parts uniformly distributed on circumference | |
| JP5437693B2 (en) | Automatic correction value measurement method for spindle or attachment spindle | |
| CN115256469A (en) | Zero calibration method for cooperative robot | |
| CN109062138B (en) | Five-axis platform system calibration method based on three-dimensional calibration block |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right | Effective date of registration:20161207 Address after:510530 Guangdong province high tech Industrial Development Zone of Guangzhou New Road No. 2 Applicant after:SINOMACH INTELLIGENCE TECHNOLOGY CO.,LTD. Address before:100080 Beijing city Haidian District Danleng Street No. 3 Applicant before:SINOMACH SCIENCE AND TECHNOLOGY INSTITUTE Co.,Ltd. | |
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | Effective date of registration:20180703 Address after:100080 4, 5 floors, 37 Building, 1 North Beach, Chaoyang District, Beijing. Patentee after:SINOMACH INTELLIGENCE TECHNOLOGY RESEARCH INSTITUTE CO.,LTD. Address before:510530 new high tech Industrial Development Zone, Guangzhou, Guangdong 2 Patentee before:SINOMACH INTELLIGENCE TECHNOLOGY CO.,LTD. | |
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20250715 Address after:510535 Guangdong Province Guangzhou City Guangzhou High-tech Industrial Development Zone Xinrui Road No. 2 Patentee after:SINOMACH INTELLIGENCE TECHNOLOGY CO.,LTD. Country or region after:China Address before:100080 4, 5 floors, 37 Building, 1 North Beach, Chaoyang District, Beijing. Patentee before:SINOMACH INTELLIGENCE TECHNOLOGY RESEARCH INSTITUTE CO.,LTD. Country or region before:China | |
| TR01 | Transfer of patent right |