Method and apparatus of non-contact tool center point calibration for a mechanical arm, and a mechanical arm system with said calibration function

Abstract

This disclosure is related to a non-contact tool center point calibration method for a robot arm, and the method comprises: obtaining a coordinate transformation relationship between a flange surfaceof the robot arm and cameras by a hand-eye calibration algorithm; constructing a space coordinate system by a stereoscopic reconstruction method; actuating a replaceable member fixed with the flange surface to present postures in a union field of view of the cameras sequentially, recording feature coordinates of the replaceable member in the space coordinate system, and recording flange surface coordinates which is under the postures in the space coordinate system; obtaining a transformation relationship between a tool center point and the flange surface; and updating the transformation relationship into a control program of the robot arm. Moreover, the disclosure further discloses a calibration device performing the calibration method and a robot arm system having the calibration function.

Description

technical field [0001] The invention relates to a mechanical arm correction device and its method, and a mechanical arm system with correction function, in particular to a mechanical arm non-contact tool center point correction device and its method. Background technique [0002] Since automation is the trend in recent years in industrial production, many assembly line production processes use a large number of robotic arms to replace human production. However, the difficulty that needs to be overcome with the automated production of robotic arms is the problem of mechanical movement errors and calibration. [0003] The traditional calibration method uses contact calibration. However, the operator controls the robotic arm to touch a sharp point at various angles in the contact calibration, which has the disadvantages of high human influence factors, time-consuming, large errors, and the inability to correct three-dimensional rotation. . What's more, usually when a collisio...

AI Technical Summary

Problems solved by technology

However, with the automatic production of robotic arms, the difficulty that needs to be overcome is the problem of mechanical movement errors and corrections.

[0003] The traditional calibration method uses contact calibration. However, the operator controls the robotic arm to touch a sharp point at various angles in the contact calibration, which has the disadvantages of high human influence factors, time-consuming, large errors, and the inability to correct three-dimensional rotation.

What's more, usually when a collision occurs or a workpiece is replaced, it must be recalibrated immediately, and the disadvantage of time-consuming recalibration will further lead to a reduction in the utilization rate of the machine tool

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