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Method for correcting eye-to-hand through robot arm

A technology of robotic arms and external cameras, applied in manipulators, manufacturing tools, etc., can solve the problems of inability to reduce the difficulty of calibration technology, labor-intensive, and inability to automate calibration.

Active Publication Date: 2019-09-27
TECHMAN ROBOT INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in the prior art, after the robot arm 1 completes the calibration of the ETH camera 3, a stable relative positional relationship between the robot arm 1 and the ETH camera 3 must be maintained. The relative positional relationship of the operator cannot be directly handled by the operator, and the calibration pattern 4 must be set up by the supplier or professionals to re-calibrate, which not only consumes manpower and cannot be automatically calibrated, but also cannot reduce the technical difficulty of the calibration, and inhibits the flexibility of the operator's manufacturing changes

Method used

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  • Method for correcting eye-to-hand through robot arm

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Embodiment Construction

[0036] In order to achieve the above object, the present invention adopts the technical means and the effects thereof, the preferred embodiments are given now, and are described as follows in conjunction with the accompanying drawings.

[0037] Please also refer to figure 1 and figure 2 , figure 1 A schematic diagram of installing an ETH camera for the robotic arm of the present invention, figure 2 It is a schematic diagram of calibrating the ETH camera for the robotic arm of the present invention. figure 1 Among them, the robot arm 10 of the present invention is in the form of multi-axis joints, with a fixed base 11 at one end and a movable end portion 12 at the other end. Actuating motors 13 and control devices 14 are connected to each joint. The robotic arm 10 controls the rotation angles of the actuating motors 13 of each joint through the control device 14 to move the end portion 12 of the robotic arm 10 . The robotic arm 10 of the present invention uses a fixed ...

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Abstract

The invention discloses a method for correcting an eye-to-hand through a robot arm. The method comprises steps of pre-correcting the positional relationship between the eye-to-hand and an identifiable label; forming position information attached to the eye-to-hand; after the eye-to-hand is installed, shooting and identifying the position of the identifiable label through the robot arm by use of the eye-to-hand; and reading the position information to automatically complete the correction of the eye-to-hand.

Description

technical field [0001] The invention relates to a robot arm, in particular to a method for installing an out-of-arm camera on the robot arm and correcting the relative positional relationship between the robot arm and the out-of-arm camera. Background technique [0002] With the rapid development of artificial intelligence, the factory uses the arm camera (Eye-Io-Hand, referred to as EIH camera) on the robot arm or the arm camera outside the robot arm (Eye-To-Hand, referred to as ETH camera), Automate the robot arm for processing, assembly and manufacturing operations, or monitor the working status of the robot arm and the operator to improve factory production efficiency and safety. The simple and automatic installation and calibration of the camera allows the robot arm to quickly enter the production ranks, which can improve production efficiency. [0003] like Figure 8 In the prior art robot arm 1 shown, the robot arm 1 forms an arm coordinate system R on a base 2, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J19/02
CPCB25J19/00B25J19/02
Inventor 黄钟贤黄识忠
Owner TECHMAN ROBOT INC
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