Robot movement plane calibration system and method

A technology of robot movement and calibration system, which is applied in the direction of manipulators and manufacturing tools, which can solve the problems of time-consuming, inaccurate and laborious, and achieve the effect of fast and accurate calibration and avoiding large errors

Active Publication Date: 2020-04-10
DONGGUAN WORLD PRECISION MACHINERY
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Problems solved by technology

In the prior art, it is usually time-consuming, laborious and inaccurate

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  • Robot movement plane calibration system and method
  • Robot movement plane calibration system and method
  • Robot movement plane calibration system and method

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Embodiment Construction

[0043] In order to describe the content, structural features, achieved goals and effects of the present invention in detail, the following will be described in detail in combination with the embodiments and accompanying drawings.

[0044] see Figure 1 to Figure 9, the present invention discloses a plane calibration system for robot motion, which is used to calibrate the horizontal plane of the end effector 210 (such as grippers, etc.) 200 operating accuracy. Specifically, the robot motion plane calibration system of the present invention includes a detection structure 1, a camera device 2 and a processor (not shown in the figure), and the detection structure 1 is used to be installed on the end effector 210 of the robot 200, which includes a first The detection part 11, the second detection part 12 and the third detection part 13, the first detection part 11, the second detection part 12, and the third detection part 13 are not on the same straight line and the lower end fac...

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Abstract

The invention discloses a robot movement plane calibration system. The system comprises a detection structure, a camera device and a processor; the detection structure is arranged on an end effector of a robot and comprises three detection pieces which are not located on the same straight line; the lower end surfaces of the three detection pieces are located on the same plane; the camera device isused for collecting the image information of the detection structure when the detection structure is located in a calibration area; and the processor is used for controlling the robot to drive the detection structure to move to the calibration area, acquiring the image information acquired by the camera device when the detection structure is located in the calibration area, obtaining height difference values of the three detection pieces according to the image information, comparing the height difference values with a difference value threshold value, and controlling the robot to adjust the posture to carry out difference value compensation if the height difference values exceed the difference value threshold value, and repeatedly executing the operation until the height difference valuesmeet the difference value threshold value. In addition, the invention further discloses a plane calibration system for robot movement. With the robot movement plane calibration system of the invention adopted, a horizontal plane can be accurately and rapidly calibrated.

Description

technical field [0001] The invention relates to the technical field of robot motion calibration, in particular to a robot motion plane calibration system and method. Background technique [0002] Robot technology is widely used in industrial fields, such as automatic assembly, automatic tracking and grasping, automatic welding, etc. By installing different actuators at the end of the robot, such as grippers, welding torches, etc., to complete different tasks, the accuracy of the angle of the actuator’s working surface during the operation will directly affect the operating accuracy of the entire robot. [0003] Especially in the process of automatically tracking and grabbing objects through the gripper, whether the gripper is level will affect whether it can accurately and stably grab the object. Therefore, in order to ensure the working accuracy and efficiency of the robot, it is necessary to calibrate the jaws of the robot before using the robot to perform operations. In...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J13/08
CPCB25J13/08B25J13/088B25J19/0095
Inventor 冯瀚韦栋元张伟
Owner DONGGUAN WORLD PRECISION MACHINERY
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