CN106695880A - Error correction device for equipment zero position of robot and correction method for equipment zero position - Google Patents
Error correction device for equipment zero position of robot and correction method for equipment zero position Download PDFInfo
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- CN106695880A CN106695880A CN201510778523.3A CN201510778523A CN106695880A CN 106695880 A CN106695880 A CN 106695880A CN 201510778523 A CN201510778523 A CN 201510778523A CN 106695880 A CN106695880 A CN 106695880A
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Abstract
The invention discloses an error correction device for an equipment zero position of a robot. The error correction device for the equipment zero position of the robot comprises a correction core rod and at least one light sensor; the upper end of the correction core rod is assembled onto an arm of the robot; the correction core rod is provided with an upper end detection point and a lower end detection point in the axis direction; a ring face is arranged on the upper portion of the correction core rod; the ring face is located above the upper end detection point and the lower end detection point; the ring face is provided with a notch; and the light sensor detects the current X axis and Y axis coordinates of the upper end detection point and the lower end detection point of the correction core rod, the current Z axis coordinate of the ring face, and the current rotating angle corresponding to the notch of the ring face when the correction core rod moves to the initial position. The invention further discloses a correction method for an equipment zero position through the error correction device for the equipment zero position of the robot. Equipment zero position correction is performed through the error correction device for the equipment zero position of the robot, the robot can perform automatic detection and correction fast, and an original ideal spatial state can be restored.
Description
Technical field
The present invention relates to automatic technology, the error correction device and its equipment of the equipment zero-bit of more particularly to a kind of robot
Zero correction method.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can be performed automatically
Work, is a kind of machine for leaning on self power and control ability to realize various functions.Industrial robot is by main body, driving
Three essential part compositions of system and control system.Main body is support and executing agency, including arm, wrist and hand,
There is walking mechanism in some robots.Most of industrial robots have 3~6 freedoms of motion, and wherein wrist generally has
1~3 freedom of motion；Drive system includes power set and transmission mechanism, is used to make executing agency produce corresponding moving
Make；Control system is to send command signal to drive system and executing agency according to the program of input, and is controlled.
The small-sized people that puts together machines refers to payload capacity up to 20kg (44 pounds), the farthest reachable 1300mm for the treatment of distance
The robot of (51 inches).There are two kinds of fundamental types in this kind of robot：Four axle SCARA robots (hereinafter referred to as four axles
Robot) and six axis joint formula robots (hereinafter referred to as six-joint robot).Wherein, four axle robots are specifically for height
Speed picks and places operation and designs, and six-joint robot then provides production kinematic dexterity higher.
Four axle SCARA (Selective Compliance Assembly Robot Arm, selectivity assembling joint robotic arm)
Humanoid robot, refers to that the arm segment of four axle robots can be moved freely in a geometrical plane.SCARA robots
The first two joint can in the horizontal plane left and right rotate freely.3rd joint is referred to as feather (quill) by one
Metallic rod and clamper are constituted.The metallic rod can be moved or around the rotation of its vertical axis up and down in vertical plane
Turn, but can not incline.This unique design makes four axle robots have very strong rigidity, so as to allow them to be competent at
At a high speed with the work of high duplication.
Six-joint robot two joints more than four axle robots, therefore have more " freedom of action degree ".Six-joint robot
First joint can be rotated freely in horizontal plane as four axle robots, latter two joint can move in vertical plane.
Additionally, six-joint robot has one " arm ", two " wrist " joints, this allows it to have the arm of the mankind and wrist class
As ability.The more joints of six-joint robot mean that they can pick up the part of any direction on horizontal plane, with spy
Different angle is put into packaging product.They can also carry out many operations that could be completed by experienced operator.Six axle machines
People is commonplace in China's industrial automation application, particularly applies particularly extensive in terms of Automated assembly.It has effect
The features such as power is high, high precision, uniformity are good, it is deep to be liked by everybody.
We during normal use often realize：When producing, product type is more or robot is out of order after repairing
(such as collide, dismount robot factor), the work relative position of robot will occur micro skew, in this way work
Make that precision is higher cannot just to be produced, it is necessary to manually working procedure of modifying one by one progressively, until meeting work
Relative positional accuracy position, while also to involve the working condition of other products, time-consuming to take a lot of work, quality cannot ensure.
Although there has been an automatic Proofreading correcting device in existing robot, the automatic Proofreading correcting device is used a little
Correction amendment is checked, the required precision of robot gripper skew is also can not meet.
The content of the invention
The technical problem to be solved in the present invention is the error of the spatial attitude position of the arm that can correct robot, recovers machine
The original spatiality of device human arm.
In order to solve the above technical problems, the error correction device of the equipment zero-bit of the robot that the present invention is provided, it includes one
Correction plug, at least one optical sensor, and UC unit；
The correction plug, upper end is assembled on the arm of robot and is located in robot working range；
In the robot working range, a space coordinates are provided with；
The correction plug, is provided with upper end test point, lower end test point in the axial direction；
The correction plug, top is provided with an anchor ring；The anchor ring, positioned at upper end test point and lower end test point
Top；The anchor ring, is provided with a breach；
The optical sensor, for detect correction plug move to initial position when, correct plug upper end test point and under
Current X-axis and Y-axis coordinate of the end test point in the space coordinates, the anchor ring for correcting plug are sat in the space
Mark system in current Z axis coordinate, correct plug anchor ring breach in the space coordinates corresponding present rotation angel
Degree.
The UC unit, for upper end test point and the current X-axis and Y of lower end test point according to correction plug
Axial coordinate, the current Z axis coordinate of anchor ring, the corresponding present rotation angel degree of anchor ring breach, with the space coordinates
The initial X-axis and Y-axis coordinate, annulus of the upper end test point of correction plug and lower end test point when middle equipment zero-bit is error free
Difference between the initial z-axis coordinate in face, the initial rotation angle of anchor ring breach, to the production product of the robot
The relative coordinate of program is corrected.
Preferably, with the clutch of switching frock on the arm of the robot,
The arm of the robot, by correcting plug described in the clutch adhesive and driving positive plug to move.
Preferably, the error correction device, including first laser sensor, second laser sensor, the 3rd laser
Three optical sensors of sensor；
First laser sensor, for detecting the upper end test point of correction plug and the X-axis and Y-axis coordinate of lower end test point；
Second laser sensor, the Z axis coordinate of the anchor ring for detecting correction plug；
3rd laser sensor, the corresponding anglec of rotation of anchor ring breach for detecting correction plug.
Preferably, the clutch, can automatically switch frock；
The artificial six-joint robot of machine or four axle robots.
Preferably, the first laser sensor, is cross correlation laser sensor.
In order to solve the above technical problems, the error correction device of the equipment zero-bit of the above-mentioned robot that the present invention is provided is carried out
The method of equipment zero correction, comprises the following steps：
Clutch on UC unit control robot arm described in one, draws correction plug, moves to initial position；
2nd, the current X-axis and Y-axis coordinate of the upper end test point of the light sensors correction plug and lower end test point,
The current Z axis coordinate of the anchor ring of detection correction plug, the present rotation angel degree of the anchor ring breach of detection correction plug；
UC unit described in three, the current X-axis and Y of upper end test point and lower end test point according to correction plug
The correction plug current center line that axial coordinate determines corrects the lower extreme point and upper extreme point of plug with equipment zero-bit when error free
Error between the initial centerline that initial X-axis and Y-axis coordinate determine, in the production product program of the robot
Heart line relative coordinate is corrected；
According to correction plug anchor ring current Z axis coordinate with the error between the initial z-axis coordinate, to the machine
The Z axis relative coordinate of the production product program of device people is corrected；
Present rotation angel degree according to anchor ring breach with the error between the initial rotation angle, to the robot
The Z axis rotational angle relative coordinate for producing product program is corrected.
Preferably, the production product program of the robot, using the programmed method of relative coordinate, production product program
Initial origin is using equipment zero-bit in space coordinates the upper end test point of correction plug and lower end test point when error free
Initial centerline, the initial rotation of the initial z-axis coordinate, anchor ring breach of anchor ring that initial X-axis and Y-axis coordinate determine
Gyration.
Preferably, when equipment zero-bit is error free, being assemblied in the correction core rod position on the clutch on the arm of the robot
When initial position, lower end test point corresponds to the initial X-axis of lower extreme point and Y-axis coordinate of the space coordinates, upper end
Test point corresponds to the initial X-axis of upper extreme point and Y-axis coordinate of the space coordinates, and anchor ring breach is sat corresponding to space
The initial rotation angle of system is marked, anchor ring corresponds to the initial z-axis coordinate of space coordinates.
Preferably, the error correction device, including first laser sensor, second laser sensor, the 3rd laser
Three optical sensors of sensor；
First laser sensor, for detecting the upper end test point of correction plug and the X-axis and Y-axis coordinate of lower end test point；
Second laser sensor, the Z axis coordinate of the anchor ring for detecting correction plug；
3rd laser sensor, the corresponding anglec of rotation of anchor ring breach for detecting correction plug；
The UC unit, the clutch on control robot arm draws correction plug, moves to initial position,
Using the upper end test point and the current X-axis and Y-axis coordinate of lower end test point of first laser sensor detection correction plug；
Using the current Z axis coordinate of the anchor ring of second laser sensor detection correction plug；Detected using the 3rd laser sensor
The present rotation angel degree of the anchor ring breach of plug.
Preferably, the clutch, can automatically switch frock；
The artificial six-joint robot of machine or four axle robots；
The first laser sensor, is cross correlation laser sensor.
The error correction device of the equipment zero-bit of robot of the invention, corrects plug and moves to just by light sensors
The upper end test point of plug and the current X-axis and Y-axis coordinate of lower end test point, the annulus of correction plug are corrected during beginning position
The current Z axis coordinate in face, the corresponding present rotation angel degree of the anchor ring breach of correction plug, can correct the hand of robot
The error of the spatial attitude position of the arm spatiality original to recover robot arm.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, is below made to the accompanying drawing used required for the present invention simple Jie
Continue, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill
For personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the correction plug schematic diagram of the error correction device of the equipment zero-bit of robot of the invention；
Fig. 2 is the upper end detection of the correction plug of the embodiment of error correction device one of the equipment zero-bit of robot of the invention
Point and the current X-axis and Y-axis coordinate of lower end test point, the current Z axis coordinate of anchor ring, anchor ring breach is corresponding works as
Preceding anglec of rotation detects schematic diagram.
Specific embodiment
Below in conjunction with accompanying drawing, clear, complete description is carried out to the technical scheme in the present invention, it is clear that described
Embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
All other embodiment that domain those of ordinary skill is obtained on the premise of creative work is not made, belongs to this hair
The scope of bright protection.
Embodiment one
The error correction device of the equipment zero-bit of robot, it includes a correction plug, at least one optical sensor, and
UC unit；
The correction plug, upper end is assembled on the arm of robot and is located in robot working range；
In the robot working range, a space coordinates are provided with；
The correction plug 1 as shown in figure 1, be provided with upper end test point 11, lower end test point 12 in the axial direction；
The correction plug 1, top is provided with an anchor ring 13；
The anchor ring 13, positioned at upper end test point 11 and the top of lower end test point 12；The anchor ring 13, is provided with
One breach 131；
The optical sensor, during for detecting that correction plug moves to initial position, corrects the upper end test point 11 of plug
And current X-axis and Y-axis coordinate of the lower end test point 12 in the space coordinates, correct the anchor ring 13 of plug 1
Current Z axis coordinate in the space coordinates, corrects the breach 131 of anchor ring 13 of plug in the space coordinates
Corresponding present rotation angel degree in system.
The UC unit, for according to the current of the upper end test point 11 and lower end test point 12 for correcting plug 1
X-axis and Y-axis coordinate, the current Z axis coordinate of anchor ring, the corresponding present rotation angel degree of anchor ring breach, with the sky
Between when equipment zero-bit is error free in coordinate system the upper end test point of correction plug and the initial X-axis and Y-axis of lower end test point sit
Mark, the difference between the initial z-axis coordinate of anchor ring, the initial rotation angle of anchor ring breach, to the robot
The relative coordinate for producing product program is corrected.
The error correction device of the equipment zero-bit of the robot of embodiment one, corrects plug and moves to by light sensors
The upper end test point of plug and the current X-axis and the annulus of Y-axis coordinates correction plug of lower end test point are corrected during initial position
The current Z axis coordinate in face, the corresponding present rotation angel degree of the anchor ring breach of correction plug, can correct the hand of robot
The error of the spatial attitude position of the arm spatiality original to recover robot arm.
Embodiment two
The error correction device of the equipment zero-bit of the robot based on embodiment one, with switching on the arm of the robot
The clutch of frock,
The arm of the robot, by correcting plug described in the clutch adhesive and driving positive plug to move.
Preferably, as shown in Fig. 2 the error correction device, including first laser sensor, second laser sensor,
3rd optical sensor of laser sensor three；
First laser sensor, for detecting the upper end test point of correction plug and the X-axis and Y-axis coordinate of lower end test point；
Second laser sensor, the Z axis coordinate of the anchor ring for detecting correction plug；
3rd laser sensor, the corresponding anglec of rotation of anchor ring breach for detecting correction plug.
Preferably, the clutch, can automatically switch frock；
The artificial six-joint robot of machine or four axle robots.
Preferably, the first laser sensor, is cross correlation laser sensor.
The error correction device of the equipment zero-bit of the robot of embodiment two, is passed by first laser sensor, second laser
When sensor, the 3rd laser sensor detect that correction plug moves to initial position respectively the upper end test point of correction plug and under
Hold current X-axis and Y-axis coordinate, the current Z axis coordinate of anchor ring and the corresponding current rotation of anchor ring breach of test point
Angle, simple structure is easy to operate.
Embodiment three
The method that the error correction device of the equipment zero-bit of the robot based on embodiment one carries out equipment zero correction, including
Following steps：
Clutch on UC unit control robot arm described in one, draws correction plug, moves to initial position；
2nd, the current X-axis and Y-axis coordinate of the upper end test point of the light sensors correction plug and lower end test point,
The current Z axis coordinate of the anchor ring of detection correction plug, the present rotation angel degree of the anchor ring breach of detection correction plug；
UC unit described in three, is according to the upper end test point of correction plug and the current X-axis and Y-axis of lower end test point
Coordinate determine correction plug current center line, correct when error free with equipment zero-bit plug lower extreme point and upper extreme point at the beginning of
Error between the initial centerline that beginning X-axis and Y-axis coordinate determine, to the center line of the production product program of the robot
Relative coordinate is corrected；
According to correction plug anchor ring current Z axis coordinate with the error between the initial z-axis coordinate, to the machine
The Z axis relative coordinate of the production product program of device people is corrected；
Present rotation angel degree according to anchor ring breach with the error between the initial rotation angle, to the robot
The Z axis rotational angle relative coordinate for producing product program is corrected.
The production product program of the robot, using the programmed method of relative coordinate, produces the initial origin of product program
Corrected when error free using equipment zero-bit in space coordinates the upper end test point of plug and the initial X-axis of lower end test point and
Initial centerline, the initial z-axis coordinate of anchor ring, the initial rotation angle of anchor ring breach that Y-axis coordinate determines.
When equipment zero-bit is error free, the correction plug being assemblied on the clutch on the arm of the robot is located at initial bit
When putting, lower end test point corresponds to the initial X-axis of lower extreme point and Y-axis coordinate of the space coordinates, upper end test point pair
The initial X-axis of upper extreme point and Y-axis coordinate of space coordinates described in Ying Yu, anchor ring breach correspond to the first of space coordinates
The beginning anglec of rotation, anchor ring corresponds to the initial z-axis coordinate of space coordinates.
The method of the equipment zero correction of embodiment three, designs a calibration coordinate system, machine in the working range of robot
The production product program of device people uses the programmed method of relative coordinate, robot to move to initial bit by detecting correction plug
The upper end test point of plug and the current X-axis and Y-axis coordinate of lower end test point, the anchor ring of correction plug are corrected when putting
The corresponding present rotation angel degree of current Z axis coordinate, the anchor ring breach of correction plug, and according to upper end test point and under
Hold current X-axis and Y-axis coordinate, the current Z axis coordinate of anchor ring, the corresponding current rotation of anchor ring breach of test point
The upper end test point of correction plug and the initial X-axis and Y-axis of lower end test point of the angle with equipment zero-bit when error free are sat
Mark, difference between the initial z-axis coordinate of anchor ring, the initial rotation angle of anchor ring breach proofread correction plug
The error of spatial attitude position, carries out error correction automatically, with such automatic detection, correction, the method corrected, comes extensive
The original spatiality of multiple robot arm.
The method of the equipment zero correction of embodiment three, is the process of a relative space position offset correction and amendment.When
After maintenance of equipment well or after product transformation, the method that robot is detected first with space automatically, the arm of mensuration machine people
Physical location and robot device's zero-bit are compared, and if any the automatic round-off error of error robot, so significantly reduce
The workload of artificial check and correction, it is ensured that the quality of product.
The method of the equipment zero correction of embodiment three, encounters same fault type, and equipment will resume production, robot
Can automatic detection, correction quickly, the original preferably spatiality of arm can be completely recovered to, not only reduce manual intervention
Time, while also ensure that the quality of production of transfer matic.
Example IV
The method of the equipment zero correction based on embodiment three, the error correction device, including first laser sensor,
Second laser sensor, three optical sensors of the 3rd laser sensor；
First laser sensor, for detecting the upper end test point of correction plug and the X-axis and Y-axis coordinate of lower end test point；
Second laser sensor, the Z axis coordinate of the anchor ring for detecting correction plug；
3rd laser sensor, the corresponding anglec of rotation of anchor ring breach for detecting correction plug；
The UC unit, the clutch on control robot arm draws correction plug, moves to initial position,
Using the upper end test point and the current X-axis and Y-axis coordinate of lower end test point of first laser sensor detection correction plug；
Using the current Z axis coordinate of the anchor ring of second laser sensor detection correction plug；Detected using the 3rd laser sensor
The present rotation angel degree of the anchor ring breach of plug.
The method of the equipment zero correction of example IV, when detecting that correction plug moves to initial position by laser sensor
Correct plug upper end test point and the current X-axis and Y-axis coordinate of lower end test point, the current Z axis coordinate of anchor ring and
The corresponding present rotation angel degree of anchor ring breach, simple structure is easy to operate.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in spirit of the invention
Within principle, any modification, equivalent substitution and improvements done etc. should be included within the scope of protection of the invention.
Claims (10)
1. the error correction device of the equipment zero-bit of a kind of robot, it is characterised in that including a correction plug, at least
One optical sensor, and UC unit；
The correction plug, upper end is assembled on the arm of robot and is located in robot working range；
In the robot working range, a space coordinates are provided with；
The correction plug, is provided with upper end test point, lower end test point in the axial direction；
The correction plug, top is provided with an anchor ring；The anchor ring, positioned at upper end test point and lower end test point
Top；The anchor ring, is provided with a breach；
The optical sensor, for detect correction plug move to initial position when, correct plug upper end test point and under
Current X-axis and Y-axis coordinate of the end test point in the space coordinates, the anchor ring for correcting plug are sat in the space
Mark system in current Z axis coordinate, correct plug anchor ring breach in the space coordinates corresponding present rotation angel
Degree；
The UC unit, for upper end test point and the current X-axis and Y of lower end test point according to correction plug
Axial coordinate, the current Z axis coordinate of anchor ring, the corresponding present rotation angel degree of anchor ring breach, with the space coordinates
The initial X-axis and Y-axis coordinate, annulus of the upper end test point of correction plug and lower end test point when middle equipment zero-bit is error free
Difference between the initial z-axis coordinate in face, the initial rotation angle of anchor ring breach, to the production product of the robot
The relative coordinate of program is corrected.
2. the error correction device of the equipment zero-bit of robot according to claim 1, it is characterised in that
With the clutch of switching frock on the arm of the robot,
The arm of the robot, by correcting plug described in the clutch adhesive and driving positive plug to move.
3. the error correction device of the equipment zero-bit of robot according to claim 1, it is characterised in that
The error correction device, including first laser sensor, second laser sensor, the 3rd laser sensor three
Optical sensor；
First laser sensor, for detecting the upper end test point of correction plug and the X-axis and Y-axis coordinate of lower end test point；
Second laser sensor, the Z axis coordinate of the anchor ring for detecting correction plug；
3rd laser sensor, the corresponding anglec of rotation of anchor ring breach for detecting correction plug.
4. the error correction device of the equipment zero-bit of robot according to claim 1, it is characterised in that
The clutch, can automatically switch frock；
The artificial six-joint robot of machine or four axle robots.
5. the error correction device of the equipment zero-bit of robot according to claim 3, it is characterised in that
The first laser sensor, is cross correlation laser sensor.
6. a kind of error correction device of the equipment zero-bit of robot using described in claim 1 carries out equipment zero-bit school
Positive method, it is characterised in that comprise the following steps：
Clutch on UC unit control robot arm described in one, draws correction plug, moves to initial bit
Put；
2nd, the current X-axis and Y-axis coordinate of the upper end test point of the light sensors correction plug and lower end test point,
The current Z axis coordinate of the anchor ring of detection correction plug, the present rotation angel degree of the anchor ring breach of detection correction plug；
UC unit described in three, the current X-axis and Y of upper end test point and lower end test point according to correction plug
The correction plug current center line that axial coordinate determines corrects the lower extreme point and upper extreme point of plug with equipment zero-bit when error free
Error between the initial centerline that initial X-axis and Y-axis coordinate determine, in the production product program of the robot
Heart line relative coordinate is corrected；
According to correction plug anchor ring current Z axis coordinate with the error between the initial z-axis coordinate, to the machine
The Z axis relative coordinate of the production product program of device people is corrected；
Present rotation angel degree according to anchor ring breach with the error between the initial rotation angle, to the robot
The Z axis rotational angle relative coordinate for producing product program is corrected.
7. the method for equipment zero correction according to claim 6, it is characterised in that
The production product program of the robot, using the programmed method of relative coordinate, produces the initial origin of product program
Corrected when error free using equipment zero-bit in space coordinates the upper end test point of plug and the initial X-axis of lower end test point and
Initial centerline, the initial z-axis coordinate of anchor ring, the initial rotation angle of anchor ring breach that Y-axis coordinate determines.
8. the method for equipment zero correction according to claim 6, it is characterised in that
When equipment zero-bit is error free, the correction plug being assemblied on the clutch on the arm of the robot is located at initial bit
When putting, lower end test point corresponds to the initial X-axis of lower extreme point and Y-axis coordinate of the space coordinates, upper end test point pair
The initial X-axis of upper extreme point and Y-axis coordinate of space coordinates described in Ying Yu, anchor ring breach correspond to the first of space coordinates
The beginning anglec of rotation, anchor ring corresponds to the initial z-axis coordinate of space coordinates.
9. the method for equipment zero correction according to claim 6, it is characterised in that
The error correction device, including first laser sensor, second laser sensor, the 3rd laser sensor three
Optical sensor；
First laser sensor, for detecting the upper end test point of correction plug and the X-axis and Y-axis coordinate of lower end test point；
Second laser sensor, the Z axis coordinate of the anchor ring for detecting correction plug；
3rd laser sensor, the corresponding anglec of rotation of anchor ring breach for detecting correction plug；
The UC unit, the clutch on control robot arm draws correction plug, moves to initial position,
Using the upper end test point and the current X-axis and Y-axis coordinate of lower end test point of first laser sensor detection correction plug；
Using the current Z axis coordinate of the anchor ring of second laser sensor detection correction plug；Detected using the 3rd laser sensor
The present rotation angel degree of the anchor ring breach of plug.
10. the method for equipment zero correction according to claim 6, it is characterised in that
The clutch, can automatically switch frock；
The artificial six-joint robot of machine or four axle robots；
The first laser sensor, is cross correlation laser sensor.
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| CN201510778523.3A CN106695880B (en) | 2015-11-13 | 2015-11-13 | The error correction device and its equipment zero correction method of the equipment zero-bit of robot |
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| CN107877043A (en) * | 2017-09-29 | 2018-04-06 | 芜湖普威技研有限公司 | Robotic gun three-dimensional calibrating installation |
| CN108598025A (en) * | 2018-05-25 | 2018-09-28 | 深圳市朝阳光科技有限公司 | A kind of independent automatic correcting mechanism and chip mounter |
| CN108742846A (en) * | 2018-04-08 | 2018-11-06 | 上海联影医疗科技有限公司 | Operating robot space coordinates calibration equipment and apply its method of calibration |
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| CN107877043A (en) * | 2017-09-29 | 2018-04-06 | 芜湖普威技研有限公司 | Robotic gun three-dimensional calibrating installation |
| CN108742846A (en) * | 2018-04-08 | 2018-11-06 | 上海联影医疗科技有限公司 | Operating robot space coordinates calibration equipment and apply its method of calibration |
| CN108742846B (en) * | 2018-04-08 | 2020-06-19 | 武汉联影智融医疗科技有限公司 | Surgical robot space coordinate system calibration device and calibration method applying same |
| CN108598025A (en) * | 2018-05-25 | 2018-09-28 | 深圳市朝阳光科技有限公司 | A kind of independent automatic correcting mechanism and chip mounter |
| CN108598025B (en) * | 2018-05-25 | 2024-04-19 | 深圳市朝阳光科技有限公司 | Independent automatic correction mechanism and chip mounter |
| CN109297149A (en) * | 2018-08-24 | 2019-02-01 | 珠海格力电器股份有限公司 | Position control method, device, storage medium and the air-conditioning of people's nyctinastic movement device |
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