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Multi-point laser ranging distributed robot calibration system and method

A multi-point laser, calibration system technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc.

Pending Publication Date: 2022-02-25
上海钊晟传感技术有限公司
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  • Claims
  • Application Information

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Problems solved by technology

[0009] The purpose of the present invention is to propose a new multi-point laser ranging distributed robot calibration system and method for the existing problems and deficiencies in the existing industrial robot calibration system

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  • Multi-point laser ranging distributed robot calibration system and method
  • Multi-point laser ranging distributed robot calibration system and method
  • Multi-point laser ranging distributed robot calibration system and method

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Embodiment Construction

[0031] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0032] The special feature of the multi-point laser ranging distributed robot calibration system of the present invention is that the calibration system is composed of a calibrator 1, a reflector 2, a controller 3, and a cable 4, such as figure 1 shown, where:

[0033] The calibrator 1 has multiple, for example figure 1 There are 4 calibrators in , and the distribution is 1a, 1b, 1c and 1d; all calibrators 1 are distributed and installed in multiple different positions in the working space of the robot 5, for example figure 1 The four calibrator 1a, 1b, 1c and 1d ar...

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Abstract

The invention provides a multi-point laser ranging distributed robot calibration system which is composed of calibrators, a reflector and a controller. A plurality of laser distance measuring sensors are arranged in the calibrators, and the calibrators are distributed at a plurality of different positions in the working space of the robot; the reflector is arranged at the tail end of the robot and moves into the detection range of each calibrator along with the robot; the controller is connected with all the calibrators in series through cables, controls each calibrator and collects the three-dimensional coordinates of the center of the corresponding reflector, and automatic calibration is achieved. The calibration system has the advantages of being high in precision, non-contact, low in cost and simple to operate, multi-point calibration can be achieved, the calibration system is flexible and changeable, the universality is high, and the cable dragging phenomenon is avoided. According to the coordinate system alignment method, the robot only needs to drive the reflector to move by a certain distance in the direction of a straight line in the robot coordinate system, and the alignment of the calibration system and the coordinate system of the robot can be achieved; and the method is simple, convenient, rapid and efficient.

Description

technical field [0001] The invention relates to a robot calibration system, in particular to a multi-point laser ranging distributed robot calibration system and a coordinate system alignment method. Background technique [0002] The kinematic accuracy of an industrial robot plays a vital role in its application reliability in production. In the manufacturing and production of industrial robots, it is necessary to test the repeatability and accuracy of the assembled robots. During the use of industrial robots, it is also necessary to regularly test and calibrate the position accuracy of the robot end. The robot end effector position parameter (TCP) is the basis of robot offline programming and robot end tool error correction. It is very important to study a fast and accurate TCP calibration method to ensure the smooth and normal operation of the robot system in the industrial field environment. [0003] At present, there are mainly the following methods for industrial robot...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J9/16
CPCB25J19/0095B25J9/1692
Inventor 不公告发明人
Owner 上海钊晟传感技术有限公司
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