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CN109311161A - 一种位置标定装置 - Google Patents

一种位置标定装置 Download PDF

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Publication number
CN109311161A
CN109311161A CN201680086651.4A CN201680086651A CN109311161A CN 109311161 A CN109311161 A CN 109311161A CN 201680086651 A CN201680086651 A CN 201680086651A CN 109311161 A CN109311161 A CN 109311161A
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CN
China
Prior art keywords
reached
sensing
calibration device
robot
predetermined
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CN201680086651.4A
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English (en)
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CN109311161B (zh
Inventor
蒋华
刘子雨
马鑫
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Classifications

    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了一种位置标定装置，包括用于感测所述机器人工具是否到达预定的第一坐标的第一传感组件；用于感测所述机器人工具是否到达预定的第二坐标的第二传感组件；确定所述机器人工具是否已到达预定的位置点的控制组件。本发明通过提出一种位置标定装置，通过所述第一传感组件和第二传感组件两者的配合，利用第一坐标和第二坐标来准确判断机器人是否到达某一位置点，从而更精确地标定机器人的工具坐标系，保证机器人的轨迹精度。

Description

PCT国内申请，说明书已公开。

Claims (11)

  1. PCT国内申请，权利要求书已公开。
CN201680086651.4A 2016-12-30 2016-12-30 一种位置标定装置 Active CN109311161B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/113773 WO2018120140A1 (zh) 2016-12-30 2016-12-30 一种位置标定装置

Publications (2)

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CN109311161A true CN109311161A (zh) 2019-02-05
CN109311161B CN109311161B (zh) 2022-04-15

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CN201680086651.4A Active CN109311161B (zh) 2016-12-30 2016-12-30 一种位置标定装置

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CN (1) CN109311161B (zh)
WO (1) WO2018120140A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110253552A (zh) * 2019-07-15 2019-09-20 昆山瑞航自动化设备科技有限公司 一种三轴多点定位方法及机构
WO2025072026A1 (en) * 2023-09-26 2025-04-03 BACA Systems, LLC Automated tool center point calibration

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5400638A (en) * 1992-01-14 1995-03-28 Korea Institute Of Science And Technology Calibration system for compensation of arm length variation of an industrial robot due to peripheral temperature change
CN102294695A (zh) * 2010-06-25 2011-12-28 鸿富锦精密工业（深圳）有限公司 机器人标定方法及标定系统
CN102706277A (zh) * 2012-05-25 2012-10-03 南京理工大学 一种基于全方位点约束的工业机器人在线零位标定装置及方法
CN104827480A (zh) * 2014-02-11 2015-08-12 泰科电子(上海)有限公司 机器人系统的自动标定方法
CN105945948A (zh) * 2016-05-25 2016-09-21 南京工程学院 一种应用于工业机器人的tcp在线快速标定方法及装置
CN106113035A (zh) * 2016-06-16 2016-11-16 华中科技大学 一种六自由度工业机器人末端工具坐标系标定装置及方法
CN206724895U (zh) * 2016-12-30 2017-12-08 深圳配天智能技术研究院有限公司 一种位置标定装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5483554B2 (ja) * 2010-01-22 2014-05-07 新明和工業株式会社 ツール座標系の較正装置及び較正方法
CN105818132B (zh) * 2016-03-31 2018-10-02 湖南化工职业技术学院 一种工业机器人吸盘式工具手标定定位方法
CN205734940U (zh) * 2016-05-25 2016-11-30 南京工程学院 一种应用于工业机器人的tcp在线快速标定装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5400638A (en) * 1992-01-14 1995-03-28 Korea Institute Of Science And Technology Calibration system for compensation of arm length variation of an industrial robot due to peripheral temperature change
CN102294695A (zh) * 2010-06-25 2011-12-28 鸿富锦精密工业（深圳）有限公司 机器人标定方法及标定系统
CN102706277A (zh) * 2012-05-25 2012-10-03 南京理工大学 一种基于全方位点约束的工业机器人在线零位标定装置及方法
CN104827480A (zh) * 2014-02-11 2015-08-12 泰科电子(上海)有限公司 机器人系统的自动标定方法
CN105945948A (zh) * 2016-05-25 2016-09-21 南京工程学院 一种应用于工业机器人的tcp在线快速标定方法及装置
CN106113035A (zh) * 2016-06-16 2016-11-16 华中科技大学 一种六自由度工业机器人末端工具坐标系标定装置及方法
CN206724895U (zh) * 2016-12-30 2017-12-08 深圳配天智能技术研究院有限公司 一种位置标定装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110253552A (zh) * 2019-07-15 2019-09-20 昆山瑞航自动化设备科技有限公司 一种三轴多点定位方法及机构
WO2025072026A1 (en) * 2023-09-26 2025-04-03 BACA Systems, LLC Automated tool center point calibration

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Publication number Publication date
WO2018120140A1 (zh) 2018-07-05
CN109311161B (zh) 2022-04-15

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