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Robot tool center point correction system and method

A tool center point and correction system technology, applied in the field of robot tool center point correction, can solve problems such as robot tool center point correction, and achieve efficient correction, high correction accuracy, and flexible use

Active Publication Date: 2021-02-02
IND TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] In view of the above problems in the prior art, one of the objectives of the present invention is to provide a robot tool center point correction system and method to solve various problems in the prior art robot tool center point correction technology

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  • Robot tool center point correction system and method
  • Robot tool center point correction system and method
  • Robot tool center point correction system and method

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Embodiment Construction

[0048] Embodiments of the robot tool center point calibration system and method thereof according to the present invention will be described below with reference to the accompanying drawings. For the sake of clarity and convenience in the description of the drawings, the sizes and proportions of the components in the drawings may be exaggerated or zoomed out. In the following description and / or claims, when an element is referred to as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element or there may be intervening elements; and when an element is referred to as " When "directly connected" or "directly coupled" to another element, there are no intervening elements, and other words used to describe the relationship between elements or layers should be interpreted in the same way. To facilitate understanding, the same components in the following embodiments are described with the same symbols.

[0049] see figure 1 , ...

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Abstract

The invention discloses a robot tool center point calibration system and a method thereof. The robot tool center point calibration system may include a first image sensor, a second image sensor and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis, and the second image central axis and the first image central axis may have an intersection and are not parallel to each other. The controller can control the robot so that the tool center point repeatedly moves between the first image center axis and the second image center axis. Wherein, the controller can record the correction point including the joint coordinates of the robot when the tool center point coincides with the intersection of the first image center axis and the second image center axis, and can move the tool center point, and repeat the above steps to generate multiple calibration points, and then calculate the coordinates of the tool center point based on these calibration points.

Description

technical field [0001] The invention relates to a robot tool center point correction system, in particular to an automatic robot tool center point correction system. The invention also relates to a robot tool center point correction method of the robot tool center point correction system. Background technique [0002] With the advancement of science and technology, the application of robots in various industries is becoming more and more extensive; generally speaking, a robot is an articulated mechanical arm with multiple joints, and one end is provided with a tool, such as a welding tool or a drill Tools, etc., to perform various tasks; and before the robot performs operations, the position of the tool center point (Tool CenterPoint, TCP) of the tool needs to be precisely corrected in advance, so that the controller of the robot can be based on the tool center Dot enables the tool to run in the correct path. However, the center point correction technology of the robot too...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095B25J9/1692G05B19/4086G05B2219/40611G01B11/005G01B21/042G05B19/4083G05B2219/39007G05B2219/39016
Inventor 黄成凯古有彬陈诣伦杨淳宜陈俊皓
Owner IND TECH RES INST