Industrial robot D-H parameter three-dimensional self-calibration correction device and method

A technology of industrial robots and calibration devices, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of restricting the popularization and application of equipment, achieve high calibration accuracy and convenience of operation, fast and easy to use, and realize pose measured effect

Active Publication Date: 2021-07-23
吉林省计量科学研究院 +1
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  • Abstract
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  • Application Information

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Problems solved by technology

[0010] However, the above achievements are difficult to find a good balance between calibration cost and calibration accuracy, thus limiting the popularization and application of equipment

Method used

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  • Industrial robot D-H parameter three-dimensional self-calibration correction device and method
  • Industrial robot D-H parameter three-dimensional self-calibration correction device and method
  • Industrial robot D-H parameter three-dimensional self-calibration correction device and method

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Embodiment Construction

[0033] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0034] like figure 1 As shown, an industrial robot D-H parameter 3D self-calibration calibration device includes a three-dimensional calibrator 1, a data transmission cable 2, a zero rapid positioning jig 3, a four-ball calibration station 4, a three-dimensional angle adjustment device 5 and a control computer 6.

[0035] The three-dimensional calibrator 1 consists of three mutually perpendicular high-precision grating displacement sensors, each high-precision grating displacement sensor connected to the control computer 6 through the data transmission cable 2;

[0036] The three-dimensional calibrator 1 is mounted on the end of the calibrated industrial robot 7, and four standard balls on the four-ball calibration table 4 are measured. High-precision positioning can be performed with the standard ball for the robot's TCP point.

[0037] Th...

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Abstract

The invention discloses an industrial robot D-H parameter three-dimensional self-calibration correction device and method, relates to the field of robot correction, and aims to solve the problems in the prior art. The device comprises a three-dimensional calibrator, a data transmission cable, a zero-position rapid positioning clamp, a four-ball calibration table, a three-dimensional angle adjuster and a control computer. The three-dimensional calibrator is composed of three high-precision grating displacement sensors which are perpendicular to one another, and each high-precision grating displacement sensor is connected with the control computer through the data transmission cable. The three-dimensional calibrator is mounted at the tail end of a calibrated industrial robot, measures four standard balls on the four-ball calibration table, and performs high-precision positioning on a TCP point of the robot through the standard balls. The zero-position rapid positioning clamp is used for calibrating the three-dimensional calibrator. The three-dimensional angle adjuster is arranged below the four-ball calibration table. According to the device, the acquisition cost of the whole device can be greatly reduced while the calibration precision is ensured, the use mode is quick, simple and convenient, and the device can be widely popularized in various use units.

Description

Technical field [0001] The present invention relates to the field of robot calibration, and in particular, there is a three-dimensional self-calibration calibration device and method for industrial robot D-H parameters. Background technique [0002] Early robots need engineers to manually position the robot in the desired position. Due to the increase in robot repetitability, the accuracy of its bit posture has been greatly improved. In recent years, the programming of industrial robots has taken great progress. Today, almost all robot manufacturers provide custom 3D simulation software, allowing industrial robots to be completely offline programming. Offline programming can greatly enhance the work efficiency on the production line, and you can do a lot of complex actions. [0003] However, there are still many problems in existing offline programming methods for many projects with higher robotic positions and trajectories. The reason for this problem is that the offline program...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 黄雷窦艳红樊宇张爽贺志超韩丹丹
Owner 吉林省计量科学研究院
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