Automatic calibration apparatus for robot tool coordinate system based on laser tracking measurement and method thereof

A technology of laser tracking measurement and tool coordinate system, applied in the direction of measuring devices, optical devices, instruments, etc., can solve the problems of cumbersome, unprovided, and complicated operation of robot tool coordinate systems, and achieve good application scalability and reliability. High, simple operation and control process effect

Inactive Publication Date: 2011-06-08
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The traditional method of constructing and calibrating the robot tool coordinate system only proposes the point-to-point method, which is complicated to operate and has low efficiency and accuracy. Most of them do not give the numerical index of the specific accuracy after calibration.
[0006] The process of constructing and calibrating the robot tool coordinate system is an extremely cumbersome and complicated process. This invention proposes a fast, simple and accurate method to construct and calibrate the robot tool coordinate system

Method used

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  • Automatic calibration apparatus for robot tool coordinate system based on laser tracking measurement and method thereof
  • Automatic calibration apparatus for robot tool coordinate system based on laser tracking measurement and method thereof
  • Automatic calibration apparatus for robot tool coordinate system based on laser tracking measurement and method thereof

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Embodiment Construction

[0045] Such as figure 1 As shown, the robot tool coordinate system automatic calibration device based on laser tracking measurement includes a robot 1, a target flange 2, a target mounting hole 3, a laser tracker 4, a tool 5, and a host computer 6; the robot 1 is equipped with a target flange 2 , tool 5, six target mounting holes 3 on the target flange 2, a laser tracker 4 and a host computer 6 on the outer side of the robot 1.

[0046] The calibration error of the robot 1 is reduced to 0.103657mm.

[0047] Between described upper computer 6, robot 1, laser tracker 4, realize Socket communication through RS485 ethernet connection, send data, order, request with the form of character string, finish the backup and the backup of measurement data and calculation data by upper computer 6 save.

[0048] The steps of calibrating the robot tool coordinate system 9 are as follows:

[0049] 1) Robot 1 returns to the mechanical origin, records the current position through robot 1, and...

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Abstract

The invention discloses an automatic calibration apparatus for a robot tool coordinate system based on laser tracking measurement and a method thereof, wherein the apparatus comprises a robot, a target flange, target installing holes, a laser tracker, a tool and a host computer; the robot is provided with the target flange and the tool; the target flange is provided with six target installing holes; and the external side of the robot is provided with the laser tracker and the host computer. According to the method of the invention, the robot tool coordinate system is calibrated by matching, analyzing and calculating the position relations of three to six targets in a robot end wrist coordinate system and in the robot tool coordinate system. The apparatus and the method provided by the present invention have the advantages that the robot tool coordinate system can be automatically calibrated; calibration operation is simple and is high in precision and high efficiency; calibration results are reliable; and digitalized modeling and digitalized calibrating are realized and the tool possesses versatility when being replaced.

Description

technical field [0001] The invention relates to an automatic calibration device and method for a robot tool coordinate system based on laser tracking measurement. Background technique [0002] In the modern manufacturing industry, a large number of industrial robots are used to realize automatic production, which is mainly realized by quickly grasping and placing a large number of modular chemical equipment through the quick change flange of the tool. With its extremely high repeat positioning accuracy, high absolute positioning accuracy, high flexibility, small installation space requirements and programmable control, the robot ensures that it has a relatively large flexible working space and at the same time ensures the overall layout The compact structure and open working space in the design are widely used in modern manufacturing. The tool quick change flange is an important part to ensure the "one machine with multiple functions" of the robot. The tool quick change fl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
Inventor 柯映林谢坤曲巍崴董辉跃郭英杰俞慈君
Owner ZHEJIANG UNIV
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