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Calibration tool, system and method for the automated calibration and alignment of a handling device

A technology for operating devices and work objects, applied in general control systems, manufacturing tools, control/regulation systems, etc., to solve problems such as expensive, insufficiently accurate results, and achieve the effect of guiding each other to improve

Inactive Publication Date: 2011-09-28
ABB (SCHWEIZ) AG
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] All of the above stated known methods or systems based thereon are either relatively expensive or provide insufficiently precise results

Method used

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  • Calibration tool, system and method for the automated calibration and alignment of a handling device
  • Calibration tool, system and method for the automated calibration and alignment of a handling device
  • Calibration tool, system and method for the automated calibration and alignment of a handling device

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Embodiment Construction

[0095] A system for automatic calibration and alignment of a handling device is shown in FIG. 1, the system having: a handling device 1, in particular a robot; and at least one measuring assembly 8 for detecting at least one adjustment variable; and according to the invention The calibration tool 2 has at least one first guide element 4 arranged at the distal end 8b of the operating device 1, and at least one complementary first element 4 arranged at the working object, that is, the receiving part 9. The second guide element 6, and in which an adjustment mechanism (not shown) is provided, when introducing one of the guide elements 4 into the corresponding other guide element 6 (in particular along a predetermined coordinate axis or direction, for example in FIG. In z-direction and in FIG. 1b in x-direction), in cooperation with the measuring assembly 8 and the calibration tool 2, the adjustment mechanism automatically guides the operating device 1 into the necessary calibration...

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Abstract

The invention relates to a system and method for the automated calibration and alignment of a handling device (1), said device comprising a handling unit (1), in particular a robot, at least one measuring assembly (8) for detecting at least one regulating variable, a calibration tool (2) comprising at least one first guide element (4, 5) that is located at the distal end of the handling device and at least one second guide element (6, 7) that complements the first element (4, 5) and is provided on a work object (20, 9). The system is also equipped with a controller, which, when one guide element is inserted into the other element, in particular along a predefinable co-ordinate axis or direction, automatically guides the handling device (1) to the required calibration position in conjunction with the measuring assembly (8) and calibration tool (2, 3), using the regulating variable or variables. The invention also relates to a corresponding calibration tool (2, 3).

Description

technical field [0001] The invention relates to an automatic calibration (Kalibrierung) and alignment (Ausrichtung) system and method for a handling device (Handhabungsvorrichtung), more precisely a handling robot (Handhabungsautomat), in particular a multi-axis industrial robot, as well as a corresponding calibration tool (Kalibrierwerkzeug) . Background technique [0002] As is known, the so-called calibration of the tool center point (TCP) and the working object (Werkobjekt) is usually carried out manually. Only a few applications are known in which a calibration is carried out automatically, in which two different target directions are each pursued. In this respect, an aiming direction is designed to provide calibration solutions that are as cost-effective as possible, but are generally not commensurate with the quality requirements for use with the relatively high precision required. In this respect, the second aim is to implement methods and methods with high measure...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCG05B2219/49113B25J9/1633B25J9/1692G05B2219/39021G05B2219/39321G05B2219/50035
Inventor M・罗特
Owner ABB (SCHWEIZ) AG
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