CN105364924B - Zero-scale calibration system and method for robot - Google Patents
Zero-scale calibration system and method for robot Download PDFInfo
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- CN105364924B CN105364924B CN201510973776.6A CN201510973776A CN105364924B CN 105364924 B CN105364924 B CN 105364924B CN 201510973776 A CN201510973776 A CN 201510973776A CN 105364924 B CN105364924 B CN 105364924B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a zero-scale calibration system and method for a robot. The zero-scale calibration system for the robot comprises the robot (4) and a calibration device, wherein the calibration device comprises a support plate (3) used for supporting the robot (4), a positioning device arranged on the support plate (3) and used for positioning a base (40) of the robot (4), support columns arranged on the support plate (3), a calibration sensor (2) arranged on the support columns and used for detecting a calibrated part of the robot (4) and a calibration structure (5) arranged at the calibrated part of the robot (4). According to the zero-scale calibration system for the robot provided by the embodiment, the robot (4) can be calibrated automatically through combination of the support plate (3), the positioning device, the calibration sensor (2) and the calibration structure (5) on the robot (4), the calibration system is simple in structure, trouble in manual sequential calibration is avoided, and the calibration efficiency and accuracy are improved.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of robot zero point correction system and robot zero point school
Quasi- method.
Background technology
At present, industrial robot has turned into a kind of standard device and has been used widely in the whole world.In industrial robot reality
In, in order to reduce the error in practical operation, robot precision needs suitable method or system and carries out calibration raising.
The manipulator motion of industrial robot needs origin coordinates and terminal point coordinate in three dimensions to determine fortune
Dynamic rail mark, so as to carry out trajectory planning.After trajectory planning, by moving control module for controlling, the action reality of driven machine people
Apply module.Mechanical arm can be moved to a never teaching in working space by the position of the target that robot is worked and attitude
The point crossed, referred to as calculates a little.The precision for reaching calculating point is the positioning precision of mechanical arm.The positioning precision of mechanical arm is subject to weight
The influence of multiple precision, while also being influenceed by parameters precision in Robot kinematics equations.D-H(Denavit-
Hartenberg, matrix) error in parameter will cause the calculation error of joint angle in inverse kinematics equation.Therefore, machinery
The positioning precision of arm is generally poor, and changes quite big.
In the practical application of industrial robot, the high-precision applied environment of many needs can be related to, such as microelectronics,
Medical treatment, Precision Machining etc..In these cases, the calibration to industrial robot positioning precision is even more important.On the one hand, it is necessary to
Make further raising to industrial robot precision using calibration technique；On the other hand, it is necessary to the industrial machine of R ＆ D design
People is operated the coherent detection of precision, to quantify the reliability and stability of industrial robot work.
The zero point correction method of robot mainly has three kinds of modes.The first, it is dry using three-coordinates measuring machine or laser
Interferometer carries out coordinate setting, and the then calculating by carrying out more intensive to equation in coordinates and calibration equation carries out dead-center position
Calibration, the precision of measurement is higher, but measurement process is relatively complicated, inefficient；Second, zero position is carried out in each joint
Design, add fastening screw calibrated, the method precision is relatively low；The third, robot sheet is mounted in by high-precision sensor
On body, the demarcation of zero point is then carried out, the method is easily installed, designs, but sensor is more accurate, can draw in installation process
Entering error causes dead-center position inaccurate.
Therefore, calibration efficiency and precision how are improved, is those skilled in the art's problem demanding prompt solution.
The content of the invention
In view of this, the invention provides a kind of robot zero point correction system, calibration efficiency and precision are improved.The present invention
Also disclose a kind of robot zero point correction method.
To achieve the above object, the present invention provides following technical scheme：
A kind of robot zero point correction system, including robot, also including calibrating installation；
The calibrating installation includes the supporting plate for supporting the robot；It is arranged in the supporting plate, for fixed
The positioner of the base position of the position robot；It is arranged at the support column in the supporting plate；It is arranged at the support column
On, the calibration sensor of the calibration site for detecting the robot；
The calibration site of the robot is provided with calibration structure.
Preferably, in above-mentioned robot zero point correction system, the calibration structure is circular cone calibration hole.
Preferably, in above-mentioned robot zero point correction system, the positioner includes being arranged in the supporting plate
Support column and alignment sensor；
The position location of the pedestal is provided with location structure.
Preferably, in above-mentioned robot zero point correction system, the location structure is circular cone location hole.
Preferably, in above-mentioned robot zero point correction system, the quantity of the alignment sensor is two, respectively phase
Mutual vertical the first alignment sensor and the second alignment sensor；
The quantity of the location structure be two, respectively for be oppositely arranged with first alignment sensor first
Location structure and the second location structure for being oppositely arranged with second alignment sensor.
Preferably, in above-mentioned robot zero point correction system, the alignment sensor is corresponded with the support column.
Preferably, in above-mentioned robot zero point correction system, the robot also includes passing sequentially through axis joint connection
First connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod (45) and end flange, the first connecting rod with it is described
Base via shaft joint connects；
The calibration structure includes the first calibration structure being arranged on the second connecting rod and is arranged at the 4th company
The second calibration structure on bar；
The calibration sensor include the first calibration sensor for being correspondingly arranged with first calibration structure and with it is described
The second calibration sensor that second calibration structure is correspondingly arranged.
Preferably, in above-mentioned robot zero point correction system, also the positioning including being arranged on the end flange is aided in
Block；
The calibration structure also includes the 3rd calibration structure and the 4th calibration structure that are arranged in the positioning auxiliary block,
3rd calibration structure is mutually perpendicular to the center line of the 4th calibration structure；
The calibration sensor include the 3rd calibration sensor that is correspondingly arranged with the 3rd calibration structure and with it is described
The 4th calibration sensor that 4th calibration structure is correspondingly arranged.
Preferably, in above-mentioned robot zero point correction system, the calibration sensor is corresponded with the support column.
Present invention also offers a kind of robot zero point correction method, using the robot zero point as described in above-mentioned any one
Calibration system；Including step：
1) ensure that the supporting plate of calibrating installation is horizontally disposed with, robot localization is arranged in the supporting plate；
2) regulation calibration sensor is horizontally disposed with the center line of the calibration sensor to predetermined calibration position；
3) joint of the robot is adjusted successively along the direction away from the pedestal, and examined by the calibration sensor
Measure the distance of the calibration structure up to the robot；
4) when detecting distance reach dead-center position apart from when, record the anglec of rotation in the joint, and by the anglec of rotation
Preserve into the controller of robot, as the deviation angle of the dead-center position of robot.
Preferably, in above-mentioned robot zero point correction method, the positioner includes being arranged in the supporting plate
Support column and alignment sensor；The position location of the pedestal is provided with location structure；
The step 1) in, the distance up to the location structure is detected by the alignment sensor, adjust the base
Position of the seat in the supporting plate, when detecting distance reaches orientation distance, positions the pedestal.
It can be seen from above-mentioned technical scheme that, the robot zero point correction system that the present invention is provided, in robot zero point
In calibration process, it is ensured that the supporting plate of calibrating installation is horizontally disposed with, robot is positioned by positioner and is arranged at supporting plate
On；The level height of calibration sensor is adjusted by support column, then calibration sensor is adjusted to predetermined calibration position, make calibration
The center line of sensor is horizontally disposed with；By adjust robot joint adjust calibration structure relative to calibration sensor away from
From, when distance meet dead-center position apart from when, complete the joint adjustment, apart from the joint the anglec of rotation and as robot
The deviation angle of dead-center position.The robot zero point correction system that the present invention is provided, passes with reference to supporting plate, positioner, calibration
Calibration structure on sensor and robot, you can calibrated automatically to robot, calibrating installation simple structure, it is to avoid artificial
That calibrates successively is cumbersome, improves calibration efficiency and precision.
Present invention also offers a kind of robot zero point correction method, with same with above-mentioned robot zero point correction system
Technique effect, be no longer discussed in detail herein.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of robot zero point correction system provided in an embodiment of the present invention；
Fig. 2 is the calibrating principle schematic diagram of robot zero point correction system provided in an embodiment of the present invention；
Fig. 3 is the first structure schematic diagram of robot provided in an embodiment of the present invention；
Fig. 4 is the second structural representation of robot provided in an embodiment of the present invention.
Specific embodiment
The invention discloses a kind of robot zero point correction system, calibration efficiency and precision are improved.The invention also discloses
A kind of robot zero point correction method.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-Fig. 4 is refer to, Fig. 1 is the structural representation of robot zero point correction system provided in an embodiment of the present invention；
Fig. 2 is the calibrating principle schematic diagram of robot zero point correction system provided in an embodiment of the present invention；Fig. 3 is carried for the embodiment of the present invention
The first structure schematic diagram of the robot of confession；Fig. 4 is the second structural representation of robot provided in an embodiment of the present invention.
A kind of robot zero point correction system is the embodiment of the invention provides, including robot 4 also includes calibrating installation；School
Standard apparatus include the supporting plate 3 for supporting robot 4；It is arranged in supporting plate 3, for the pedestal 40 of positioning robot 4
The positioner put；It is arranged at the support column in supporting plate 3；It is arranged on support column, the calibration site for detecting robot 4
Calibration sensor 2；The calibration site of robot 4 is provided with calibration structure 5.
Robot zero point correction system provided in an embodiment of the present invention, during robot zero point correction, it is ensured that calibration
The supporting plate 3 of device is horizontally disposed with, and robot is positioned by positioner and is arranged in supporting plate 3；Adjusted by support column
The level height of calibration sensor 2, then calibration sensor 2 is adjusted to predetermined calibration position, make the center line of calibration sensor 2
It is horizontally disposed；Distance of the calibration structure 5 relative to calibration sensor 2 is adjusted by the joint for adjusting robot, when distance meets
Dead-center position apart from when, complete joint adjustment, the anglec of rotation apart from the joint and the dead-center position as robot it is inclined
Move angle.Robot zero point correction system provided in an embodiment of the present invention, with reference to supporting plate 3, positioner, calibration sensor 2
And the calibration structure 5 in robot 4, you can robot 4 is calibrated automatically, calibrating installation simple structure, it is to avoid artificial
That calibrates successively is cumbersome, improves calibration efficiency and precision.
Preferably, calibration structure 5 is circular cone calibration hole.As shown in Fig. 2 when calibration structure 5 aligns with calibration sensor 2
When, the dead-center position of circular cone calibration hole is maximum apart from L, and when calibration structure 5 and calibration sensor 2 shift, non-zero points
Positional distance L ' is less than dead-center position apart from L.This improves accuracy of detection.Calibration structure 5 can also be set to circular cone school
Accurate raised, then dead-center position is minimum apart from L.Calibration structure 5 can also be set to arc groove or arc convex structure, herein
No longer introduce one by one and within protection domain.
For the ease of position of the positioning robot 4 in supporting plate 3, positioner includes the branch being arranged in supporting plate 3
Dagger and alignment sensor 7；The position location of pedestal 40 is provided with location structure 6.Alignment sensor 7 is adjusted by support column
Level height, and the relative position of regulation alignment sensor 7 and location structure 6 is reached by adjusting robot.
Similarly, location structure 6 is circular cone location hole.With calibration structure 5 and calibration sensor 2 similarly, location structure 6 with it is fixed
When level sensor 7 aligns, the dead-center position of circular cone calibration hole is maximum apart from L, and works as location structure 6 and occur with alignment sensor 7
During skew, non-zero points positional distance L ' is less than dead-center position apart from L.This improves accuracy of detection.Can also be by location structure
6 are set to circular cone alignment protrusion, then dead-center position is minimum apart from L.Location structure 6 can also be set to arc groove or arc
Bulge-structure, no longer introduces and within protection domain one by one herein.
The quantity of alignment sensor 7 is two, and respectively orthogonal first alignment sensor 71 and second is positioned
Sensor 72；The quantity of location structure 6 is two, respectively the first positioning for being oppositely arranged with the first alignment sensor 71
Structure 61 and the second location structure 62 for being oppositely arranged with the second alignment sensor 72.By using orthogonal first
The positioning pedestal 40 of 71 and second alignment sensor of alignment sensor 72, effectively increases the Position location accuracy to robot 4.
In robot zero point correction system provided in an embodiment of the present invention, alignment sensor 7 is corresponded with support column.Such as
Shown in Fig. 1, the first alignment sensor 71 is connected with the first support column 11, and the second alignment sensor 72 connects with the first support column 12
Connect.By above-mentioned setting, facilitate the first alignment sensor 71 and adjusted respectively with the second alignment sensor 72.
Robot 4 also includes passing sequentially through first connecting rod 41, second connecting rod 42, third connecting rod 43, the of axis joint connection
Double leval jib 44, the 5th connecting rod 45 and end flange 46, first connecting rod 41 are connected with pedestal 40 by axis joint.Wherein, calibration knot
Structure 5 includes the first calibration structure 53 being arranged on second connecting rod 42 and the second calibration structure being arranged in fourth link 44
54；Calibration sensor 2 include the first calibration sensor 23 for being correspondingly arranged with the first calibration structure 53 and with the second calibration structure
54 the second calibration sensors 24 being correspondingly arranged.By above-mentioned setting so that calibration sensor 2 connects to second connecting rod 42 and the 4th
Bar 44 carries out dead-center position calibration, while calibration accuracy is ensured, reduces amount of parts, simplifies the structure of device.
Further, the also positioning auxiliary block 47 including being arranged on end flange 46；Calibration structure 5 also includes being arranged at
The 3rd calibration structure 55 and the 4th calibration structure 56 in positioning auxiliary block 47, the 3rd calibration structure 55 and the 4th calibration structure 56
Center line be mutually perpendicular to；Calibration sensor 2 include the 3rd calibration sensor 25 that is correspondingly arranged with the 3rd calibration structure 55 and
The 4th calibration sensor 26 being correspondingly arranged with the 4th calibration structure 56.By above-mentioned setting, effectively increase to end flange
46 dead-center position calibration, further increases calibration accuracy.
Calibration sensor 2 is corresponded with support column.As shown in figure 1, the first calibration sensor 23 and the 3rd support column 13
Connection, the second calibration sensor 24 is connected with the 4th support column 14, and the 3rd calibration sensor 25 is connected with the 5th support column 15, the
Four calibration sensors 26 are connected with the 6th support column 16.By above-mentioned setting, facilitate the first calibration sensor 23, second and calibrate
Sensor 24, the 3rd calibration sensor 25 and the 4th calibration sensor 26 are adjusted respectively.
Present invention also offers a kind of robot zero point correction method, using any one zero point correction system of robot as described above
System；Including step：
S1：Ensure that the supporting plate 3 of calibrating installation is horizontally disposed with, the positioning of robot 4 is arranged in supporting plate 3；By upper
State setting so that robot 4 is installed in place relative to calibrating installation.
S2：Regulation calibration sensor 2 is horizontally disposed with the center line of calibration sensor 2 to predetermined calibration position；By upper
Setting is stated, the calibration structure 5 and calibration sensor 2 in order to the robot 4 in dead-center position be arranged in parallel.
S3：Adjust the joint of robot successively along the direction away from pedestal 40, detected up to machine by calibration sensor
The distance of the calibration structure of people；By taking six-joint robot as an example, joint, the first connecting rod 41 and second of pedestal 40 and first connecting rod 41
The joint of joint, the joint of second connecting rod 42 and third connecting rod 43, third connecting rod 43 with fourth link 44 of connecting rod 42, the 4th company
Bar 44 is sequentially adjusted in the joint of the 5th connecting rod 45 and the 5th connecting rod 45 with the joint of end flange 46, successively to the first calibration knot
Structure 53, the second calibration structure 54, the 3rd calibration structure 55 and the 4th calibration structure 56 are calibrated.
S4：When detecting distance reach dead-center position apart from when, record the anglec of rotation in the joint, and the anglec of rotation is preserved
Into the controller of robot, as the deviation angle of the dead-center position of robot.That is, by adjusting joint, regulation calibration is passed
The distance of sensor 2 and calibration structure 5.So that calibration structure 5 is circular cone calibration hole as an example, the ultimate range for detecting is dead-center position
Apart from L.
Positioner includes the support column and alignment sensor 7 that are arranged in supporting plate 3；The position location of pedestal 40 is set
There is location structure 6；In step S1, the distance up to the location structure 6 is detected by alignment sensor 7, adjust the pedestal
40 position in supporting plate 3, when detecting distance reaches orientation distance, positioning pedestal 40.Reach and robot 4 is positioned into setting
Effect in supporting plate 3.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (10)
1. a kind of robot zero point correction system, including robot (4), it is characterised in that also including calibrating installation；
The calibrating installation includes：Supporting plate (3), positioner, support column and calibration sensor (2)；The supporting plate (3) is used
In the support robot (4)；The positioner is arranged in the supporting plate (3), for positioning the robot (4)
Pedestal (40) position；The support column is arranged in the supporting plate (3)；The calibration sensor (2) is arranged at the support
On post, the calibration site for detecting the robot (4)；The calibration site of the robot (4) is provided with calibration structure
(5)；
The positioner includes the support column and alignment sensor (7) that are arranged in the supporting plate (3)；The pedestal (40)
Position location be provided with location structure (6).
2. robot zero point correction system as claimed in claim 1, it is characterised in that the calibration structure (5) is circular cone school
Quasi- hole.
3. robot zero point correction system as claimed in claim 1, it is characterised in that the location structure is circular cone positioning
Hole.
4. robot zero point correction system as claimed in claim 1, it is characterised in that the quantity of the alignment sensor (7)
Two are, respectively orthogonal first alignment sensor (71) and the second alignment sensor (72)；
The quantity of the location structure (6) is two, respectively for being oppositely arranged with first alignment sensor (71)
First location structure (61) and the second location structure (62) for being oppositely arranged with second alignment sensor (72).
5. robot zero point correction system as claimed in claim 4, it is characterised in that the alignment sensor (7) with it is described
Support column is corresponded.
6. robot zero point correction system as claimed in claim 1, it is characterised in that the robot (4) is also included successively
First connecting rod (41), second connecting rod (42), third connecting rod (43), fourth link (44), the 5th connecting rod connected by axis joint
(45) and end flange (46), the first connecting rod (41) is connected with the pedestal (40) by axis joint；
The calibration structure (5) is including the first calibration structure (53) for being arranged on the second connecting rod (42) and is arranged at described
The second calibration structure (54) in fourth link (44)；
The calibration sensor (2) including the first calibration sensor (23) for being correspondingly arranged with first calibration structure (53) and
The second calibration sensor (24) being correspondingly arranged with second calibration structure (54).
7. robot zero point correction system as claimed in claim 6, it is characterised in that also including being arranged at the end flange
(46) the positioning auxiliary block (47) on；
The calibration structure (5) also includes the 3rd calibration structure (55) and the 4th school that are arranged on positioning auxiliary block (47)
Quasi- structure (56), the 3rd calibration structure (55) is mutually perpendicular to the center line of the 4th calibration structure (56)；
The calibration sensor (2) including the 3rd calibration sensor (25) that is correspondingly arranged with the 3rd calibration structure (55) and
The 4th calibration sensor (26) being correspondingly arranged with the 4th calibration structure (56).
8. robot zero point correction system as claimed in claims 6 or 7, it is characterised in that the calibration sensor with it is described
Support column is corresponded.
9. a kind of robot zero point correction method, it is characterised in that robot zero of the application as described in claim any one of 1-8
Point calibration system；Including step：
1) ensure that the supporting plate (3) of calibrating installation is horizontally disposed with, robot localization is arranged in the supporting plate (3)；
2) regulation calibration sensor (2) to predetermined calibration position, is horizontally disposed with the center line of the calibration sensor (2)；
3) joint of the robot is adjusted successively along the direction away from the pedestal (40), and examined by the calibration sensor
Measure the distance of the calibration structure up to the robot；
4) when detecting distance reach dead-center position apart from when, record the anglec of rotation in the joint, and the anglec of rotation is preserved
Into the controller of robot, as the deviation angle of the dead-center position of robot.
10. robot zero point correction method as claimed in claim 9, it is characterised in that the positioner includes being arranged at
Support column and alignment sensor (7) on the supporting plate (3)；The position location of the pedestal (40) is provided with location structure
(6)；
The step 1) in, the distance up to the location structure (6) is detected by the alignment sensor (7), adjustment is described
Position of the pedestal (40) in the supporting plate (3), when detecting distance reaches orientation distance, positions the pedestal (40).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510973776.6A CN105364924B (en) | 2015-12-18 | 2015-12-18 | Zero-scale calibration system and method for robot |
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| CN201510973776.6A CN105364924B (en) | 2015-12-18 | 2015-12-18 | Zero-scale calibration system and method for robot |
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| CN105364924A CN105364924A (en) | 2016-03-02 |
| CN105364924B true CN105364924B (en) | 2017-05-24 |
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| CN201510973776.6A Active CN105364924B (en) | 2015-12-18 | 2015-12-18 | Zero-scale calibration system and method for robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105773660B (en) * | 2016-05-28 | 2018-07-06 | 埃夫特智能装备股份有限公司 | Robot dead-center position caliberating device and scaling method |
| CN110167721B (en) * | 2018-06-11 | 2023-05-02 | 深圳蓝胖子机器人有限公司 | Robot system, automatic calibration method and storage device |
| CN108582047B (en) * | 2018-06-30 | 2021-08-13 | 天津大学 | Pose precision calibration device and method for six-degree-of-freedom series-parallel polishing robot |
| CN109249392B (en) * | 2018-08-31 | 2021-03-23 | 先临三维科技股份有限公司 | Calibration method, calibration piece, device, equipment and medium for workpiece grabbing system |
| CN111627850A (en) * | 2020-06-12 | 2020-09-04 | 文一三佳(合肥)机器人智能装备有限公司 | Arrange piece machine initial point correction system |
| CN114227657B (en) * | 2021-12-27 | 2023-10-20 | 北京皓海嘉业机械科技有限公司 | Method for calibrating transmission position of manipulator |
| CN115648285B (en) * | 2022-09-19 | 2023-07-21 | 重庆智能机器人研究院 | Zero external calibration method for robot body |
| CN116852383B (en) * | 2023-09-05 | 2023-12-08 | 山东大学 | Automatic calibration device and method for zero position of mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5329092A (en) * | 1991-11-27 | 1994-07-12 | Deere & Company | Welding torch alignment monitor |
| CN1836850A (en) * | 2005-03-21 | 2006-09-27 | 北京理工大学 | Zero point positioning device for positioning point adjustable human-simulated robot |
| CN202726917U (en) * | 2012-08-07 | 2013-02-13 | 吕健 | Mechanical zero calibration device of industrial robot |
| CN102975208A (en) * | 2012-11-19 | 2013-03-20 | 安徽埃夫特智能装备有限公司 | Zero calibration device of welding robot |
| CN103395073B (en) * | 2013-08-22 | 2015-07-22 | 中国船舶重工集团公司第七一六研究所 | Zero calibration method of six-axis industrial robot |
| CN104827480A (en) * | 2014-02-11 | 2015-08-12 | 泰科电子(上海)有限公司 | Automatic calibration method of robot system |
| CN204183572U (en) * | 2014-09-19 | 2015-03-04 | 辰星（天津）自动化设备有限公司 | A kind of 3-dof parallel robot Zero calibration device |
| CN104626205B (en) * | 2014-12-11 | 2016-06-08 | 珠海格力电器股份有限公司 | The detection method of robot arm and device |
| CN104816316B (en) * | 2015-03-26 | 2017-03-15 | 珠海格力智能装备有限公司 | Pivoted arm Zero calibration device and the robot with which |
| CN205201527U (en) * | 2015-12-18 | 2016-05-04 | 珠海格力电器股份有限公司 | Robot calbiration system at zero point |
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Effective date of registration: 20170828 Address after: 519070, Guangdong, province Zhuhai Jiuzhou Road No. 2907 Zhuhai Ling Compressor Co., Ltd. plant No. Co-patentee after: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI Patentee after: Zhuhai GREE Intelligent Equipment Technology Research Institute Co Ltd Address before: 519070 Guangdong city of Zhuhai Province Qianshan Patentee before: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI |