Unlock instant, AI-driven research and patent intelligence for your innovation.

A Method for Relative Spatial Position Calibration of Dual Robots

A relative space, dual-robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high prices, achieve the effect of reducing quantity, reducing cost, and avoiding errors

Active Publication Date: 2021-12-21
YUHUAN CNC MACHINE TOOL
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These methods have the following disadvantages: 1) It is necessary to carry out the needle point alignment by human eyes, which is easy to introduce large errors, and the calibration errors of different technicians are different; 2) Additional laser tracker equipment is required, which is expensive

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Method for Relative Spatial Position Calibration of Dual Robots
  • A Method for Relative Spatial Position Calibration of Dual Robots
  • A Method for Relative Spatial Position Calibration of Dual Robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0036] The present invention adopts such as figure 1 For the two robots numbered 1 and 2 shown, the working spaces of the two robots overlap each other, and the method for calibrating the relative spatial positions of the two robots is carried out according to the following steps:

[0037] Step 1. Install 3D sensor 3 and standard ball 4 on the flanges of No. 1 robot 1 and No. 2 robot 2 respectively, wherein 3D sensor 3 is a general 3D sensor, which can output point cloud data or contour line x, z data, There is no specific requirement for the radius of the standard ball, and the radius of the standard ball 4 used in this example is 50mm;

[0038] Step 2. Calibrate the positional relationship of 3D sensor 3 relative to the flange of No. 1 robot:

[0039] Move the No. 2 robot so that the standard ball is located in the working space of the No. 1 robot, and keep the position unchanged. Then move the No. 1 robot, use the 3D sensor to obtain the position of the center of the stand...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for calibrating relative spatial positions of two robots, which is characterized in that it comprises the following steps: 1. Install 3D sensors and standard Ball; 2. Calibrate the positional relationship of the 3D sensor relative to the flange of No. 1 robot: 3. Calibrate the positional relationship of the 3D sensor relative to the base coordinate system of No. 2 robot: 4. The 3D sensor obtained according to step 2 relative to No. 1 The positional relationship of the robot flange and the positional relationship of the 3D sensor relative to the base coordinate system of the No. 2 robot obtained in step 2, and the relative spatial positional relationship of the No. 1 and No. 2 robots are calculated through coordinate conversion. The invention has the advantages of small calibration error and low equipment cost.

Description

technical field [0001] The invention belongs to a space position calibration method, in particular to a method for the relative space position calibration of two robots. Background technique [0002] With the deepening of the application of industrial robots in various industries, more and more workplaces need to use dual robots to assist in the work. In some applications, the robot is equipped with a visual positioning device to guide the robot to complete assembly, palletizing and other tasks. When two robots work collaboratively, generally only a visual positioning device is installed on one robot. In order to calculate the position of the workpiece in the respective base coordinate system of the robot, the relative spatial position relationship between the two robots must be solved by an algorithm to realize Sharing of the position of the workpiece coordinate system. [0003] The existing calibration technology mainly uses auxiliary equipment such as calibration needles...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1682B25J13/088
Inventor 许亮姚领郑勇全蔡清汀
Owner YUHUAN CNC MACHINE TOOL