Calibration system and method for industrial robot

A technology of industrial robots and calibration systems, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as unreasonable economy and unfeasible production, and achieve the effects of flexible movement, sufficient movement, and improved reliability and precision

Active Publication Date: 2017-10-13
KUNMING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

One is to reduce the assembly error of the robot as much as possible by selecting components with higher precision standards, but this method is sometimes economically unreasonable and infeasible in production

Method used

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  • Calibration system and method for industrial robot
  • Calibration system and method for industrial robot
  • Calibration system and method for industrial robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] Embodiment 1: as Figure 1-4 As shown, a calibration system for an industrial robot includes a computer 1, an articulated arm measuring machine cable 2, an industrial robot cable 3, an articulated arm measuring machine 4, an industrial robot 5, a tapered hole 7 and a connecting plate 8,

[0035] The computer 1 contains data acquisition software; wherein the industrial robot 5 is connected and communicated with the computer 1 through the industrial robot cable 3, and the articulated arm measuring machine 4 is connected and communicated with the computer 1 through the articulated arm measuring machine cable 2; the data acquisition is controlled by the computer 1 The software collects the end positions of the industrial robot 5 and the joint rotation angles of the articulated arm measuring machine 4 (6 rotation angles θ 1,i ,θ 2,i ,θ 3,i ,θ 4,i ,θ 5,i ,θ 6,i ); the connecting plate 8 is connected to the flange at the end of the sixth joint of the industrial robot 5 to...

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PUM

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Abstract

The invention relates to a calibration system and method for an industrial robot. A computer contains data collection software. An industrial robot is in connection and communication with the computer through an industrial robot cable. A joint arm type measuring machine is in connection and communication with the computer through a joint arm type measuring machine cable. The data collection software is controlled by the computer to collect the tail end position of the industrial robot and the joint rotation angle of the joint arm type measuring machine. A connection plate is connected with a flange plate at the tail end of the sixth joint of the to-be-calibrated industrial robot through a bolt I. A conical hole is connected with the connection plate through a bolt II. The joint arm type measuring machine is adopted for measurement, and the characteristics of flexible movement and large space of the joint arm type measuring machine are brought into play, so that when data are collected, the movement space at the tail end of the robot is large, movement of the joints of the robot are more sufficient, and a data support with higher robustness is provided for structural parameter calculation.

Description

technical field [0001] The invention relates to a calibration system and method for an industrial robot, belonging to the field of robot calibration. Background technique [0002] An industrial robot is a multifunctional manipulator that can be automatically controlled, programmed, and has three or more axes. When used in industrial automation applications, an industrial robot can be installed in a fixed position or on a moving guide rail. End position accuracy is an important performance index of industrial robots. As industrial robots are widely used in various industries, people put forward higher requirements for end position accuracy. However, due to the influence of various error factors, there is a certain error between the actual position of the robot end and the expected position of the controller. This error is one of the most important indicators of robot accuracy. [0003] There are generally two approaches to improving robot position accuracy. One is to reduce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/10B25J9/1692
Inventor 高贯斌孙国庆那靖伞红军伍星
Owner KUNMING UNIV OF SCI & TECH
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