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Calibration device and calibration method for mechanical arm

A technology of mechanical arm and correction device, applied in the direction of manipulator, program-controlled manipulator, robot, etc., can solve problems such as precision deviation

Active Publication Date: 2021-07-23
IND TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The invention discloses a calibration device of a mechanical arm and a calibration method thereof, which uses the calibrated mechanical arm to calibrate the accuracy of the mechanical arm to be calibrated to solve the problem of accuracy deviation

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  • Calibration device and calibration method for mechanical arm
  • Calibration device and calibration method for mechanical arm
  • Calibration device and calibration method for mechanical arm

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Embodiment Construction

[0046] The proposed embodiments are described in detail below, and the embodiments are only used as examples for illustration, and are not intended to limit the scope of protection of the present invention. In the following, the same / similar symbols are used to indicate the same / similar components.

[0047] Figure 1A A schematic block diagram of a calibration device 100 for a robotic arm according to an embodiment of the present invention is shown, Figure 1B drawn according to Figure 1A A schematic diagram of the component configuration of the calibration device 100 of the robotic arm. figure 2 A schematic flowchart of a method 101 for calibrating a robot arm according to an embodiment of the present invention is shown. Figure 3A to Figure 3C Schematic diagrams respectively showing two robot arms moving to predetermined motion postures according to an embodiment of the present invention.

[0048] Please refer to Figure 1A and Figure 1B According to an embodiment of t...

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Abstract

The disclosure provides a calibration device for a mechanical arm, which includes a light emitter, a light sensing module, a coordinated motion controller, and a computing module. The light emitter is located on a robot arm and is used for emitting a light beam. The photo-sensing module is located on the other robot arm for receiving the light beam and converting it into a plurality of image data. The cooperative motion controller is used to drive the light emitter and the light sensing module on the two mechanical arms to a corrected position and a to-be-calibrated position respectively. The computing module is used to receive the multiple image data and the motion parameters of the two robotic arms to calculate the error value between the corrected position and the position to be corrected, and analyze the multiple image data to output a corrected motion parameter, wherein, The cooperative motion controller modifies the motion command of at least one mechanical arm according to the corrected motion parameters.

Description

technical field [0001] The present invention relates to a mechanical arm, and in particular to a calibration device and calibration method for a mechanical arm. Background technique [0002] Generally speaking, during the manufacturing process of the robotic arm before leaving the factory, it will go through layers of checks and adjustments to achieve a high level of absolute accuracy. However, after a long period of use after the robotic arm leaves the factory, the mechanical deviation makes it difficult to maintain the accuracy. , or due to maintenance of robotic arms (such as replacement of motors or gear sets) caused by precision deviation. Therefore, how to ensure that the precision of the robotic arm is within the required range, and how to directly calibrate the precision of the robotic arm on the production line (in-line), is an urgent problem to be solved in the industry. Contents of the invention [0003] The invention discloses a correction device of a mechanic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692Y10S901/46Y10S901/09G05B2219/39045B25J9/1638B25J9/0087B25J9/1694
Inventor 杜彦颐赵正权黄甦游鸿修
Owner IND TECH RES INST