CN112720570B - Leveling target and method for mechanical arm calibration - Google Patents
Leveling target and method for mechanical arm calibration Download PDFInfo
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- CN112720570B CN112720570B CN202011417511.5A CN202011417511A CN112720570B CN 112720570 B CN112720570 B CN 112720570B CN 202011417511 A CN202011417511 A CN 202011417511A CN 112720570 B CN112720570 B CN 112720570B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 239000000126 substance Substances 0.000 claims 1
- 210000001503 joint Anatomy 0.000 description 28
- 238000005259 measurement Methods 0.000 description 14
- 238000009434 installation Methods 0.000 description 10
- 238000000691 measurement method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention provides a leveling target for mechanical arm calibration. Wherein the prism is arranged in the outer frame and the prism is connected with the outer frame through a rotating shaft which is transversely arranged. The support legs are arranged at the bottom of the outer frame, and the support legs are vertically arranged on the horizontal base. The horizontal base is provided with horizontal bubbles and a vertical plate which is vertical to the horizontal base. A method for calibration of a robotic arm is also included. The calibration accuracy of the mechanical arm can be ensured, the measuring process is simple and rapid, and therefore the calibration efficiency can be improved.
Description
Technical Field
The invention belongs to the technical field of engineering machinery measurement, and particularly relates to a leveling target and method for mechanical arm calibration.
Background
In the prior art, the calibration method is suitable for calibrating the mechanical arm of the engineering machinery, and a manual measurement mode is generally adopted, so that the calibration error is large, and the efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a leveling target and a leveling method for mechanical arm calibration, which can ensure the calibration accuracy of the mechanical arm and improve the calibration efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a leveling target for mechanical arm calibration comprises a prism, an outer frame, a rotating shaft, supporting legs and a horizontal base. Wherein the prism is arranged in the outer frame and the prism is connected with the outer frame through a rotating shaft which is transversely arranged. The support legs are arranged at the bottom of the outer frame, and the support legs are vertically arranged on the horizontal base. The horizontal base is provided with horizontal bubbles and a vertical plate which is vertical to the horizontal base.
According to the leveling target for calibrating the mechanical arm, the prism is arranged, and the leveling target is matched with measuring tools such as a total station, so that the measurement calibration of different arm frames can be completed, and the measuring process is simple and rapid. Therefore, compared with a manual measurement calibration mode in the prior art, the error is greatly reduced, and the efficiency is higher.
With respect to the above technical solution, further improvements as described below can be made.
In a preferred embodiment, the prism can rotate around the central axis of the rotation shaft. The prism can realize fine adjustment of the position through rotation around the central axis of the rotating shaft, so that the accuracy of a measuring result can be further ensured.
Further, in a preferred embodiment, the outer frame is rotatable about the central axis of the leg. The frame drives the prism and rotates around the landing leg axis, can further realize the fine setting of prism position to further improve measuring result's accuracy.
Further, in a preferred embodiment, the horizontal bubble is configured as a T-shaped horizontal bubble, which can be used for individual leveling in two dimensions.
Further, in a preferred embodiment, the bottom of the horizontal base is provided with a first mounting opening used for being matched with the protruding end cover of the mechanical arm joint, and the central axis of the first mounting opening is coincident with the central axis of the supporting leg. The joint of the mechanical arm is fixedly installed through the first installation opening coinciding with the central axis of the supporting leg, so that the joint can be extremely accurately, stably and reliably positioned, and a measurement calibration result is accurate.
Further, in a preferred embodiment, a second mounting opening used for being matched with the mechanical arm joint protrusion end cover is formed in the vertical plate, and a central axis of the second mounting opening is perpendicular to and intersects with a central axis of the first mounting opening. The joint of the mechanical arm is fixedly installed through the second installation opening which coincides with the central axis of the first installation opening, so that the joint can be extremely accurately, stably and reliably positioned, and a measurement calibration result is accurate.
The method for calibrating the mechanical arm according to the second aspect of the invention comprises the following steps: the method comprises the following steps: and judging the relative position relation of the joints of the arm support to be detected. Step two: and determining a measuring method according to the judgment result of the step one. Step three: and mounting the leveling target for calibrating the mechanical arm according to the measuring method determined in the second step. Step four: and measuring the coordinate parameters of the prism on the leveling target for calibrating the mechanical arm in the third step by adopting a total station. Step five: and calculating the size of the arm support according to the coordinate parameters measured in the step four.
According to the method for calibrating the mechanical arm, a proper measuring method can be selected according to the relative position relation of the joint of the arm support to be measured, and the total station is matched with the adjustable leveling target calibrated by the mechanical arm for measurement, so that the whole measuring process is simple and rapid, the efficiency is high, and compared with manual measurement calibration, the accuracy is high.
With respect to the above technical solution, further improvements as described below can be made.
According to the method for calibrating the mechanical arm, in a preferred embodiment, in the third step, the leveling target for calibrating the mechanical arm is installed at two different joint rotation center points, and the arm support is adjusted in posture to be horizontal along a certain direction of the trolley, and the arm support and the leveling target for calibrating the mechanical arm are adjusted by using the horizontal bubble. The leveling target which is arranged on the rotation central points of two different joints and used for calibrating the mechanical arm is connected with the protruding end cover of the mechanical arm joint through a horizontal base and a vertical plate respectively, and the bottom surface of the horizontal base and the back surface of the vertical plate are matched with the protruding end cover of the mechanical arm joint respectively. And step five, calculating the distance between the rotation center points of the two joints according to the coordinates of the prisms on the two adjustable flat targets for calibrating the mechanical arm, thereby obtaining the size of the arm support.
For the arm supports with two joint axes perpendicular to each other, the leveling targets are installed at the rotation centers of two joints to be measured on the arm supports, the arm supports and the leveling targets are adjusted to be horizontal through horizontal bubbles, coordinates of prisms in the leveling targets installed on the two joints to be measured are obtained through a total station, and the size of the arm supports is obtained through calculating the distance between coordinate points of the rotation centers of the two joints to be measured.
Further, in a preferred embodiment, in step three, the above-mentioned leveling targets for calibrating the mechanical arm are installed at different joint rotation center points. And the posture of the arm support is adjusted to be parallel to a determined reference surface, the adjustable leveling targets for calibrating the mechanical arm are connected with the joints through vertical plates, and the back surfaces of the vertical plates are matched with protruding end covers of the joints of the mechanical arm. And adjusting the levelness of the levelable target for calibrating the mechanical arm by utilizing the horizontal bubble. And step five, calculating the distance between the rotation center points of the two joints according to the coordinates of the prisms on the two adjustable flat targets for calibrating the mechanical arm, thereby obtaining the size of the arm support.
When the axes of two joints to be measured on the arm support are parallel to each other, the vertical plate of the leveling target can be directly installed on the end surface of the joint, the leveling target for calibrating the mechanical arm is adjusted through the horizontal bubble, the coordinate of the prism on the leveling target is measured by using the total station and is the coordinate of the rotation center of the joint, and therefore the distance between the rotation center points of the two joints can be conveniently calculated according to the coordinates of the rotation center points of the two joints, and the size of the arm support is obtained.
Further, in another preferred embodiment, in step three, the above-mentioned leveling targets for calibrating the robot arm are installed at different joint rotation center points. And the posture of the arm support is adjusted to be parallel to a determined reference surface, the adjustable leveling targets for calibrating the mechanical arm are connected with the joints through the horizontal base, and the bottom surface of the horizontal base is matched with the protruding end cover of the joint of the mechanical arm. And step five, calculating the distance between the rotation center points of the two joints according to the coordinates of the prisms on the two adjustable flat targets for calibrating the mechanical arm, thereby obtaining the size of the arm support.
When the axes of two joints to be measured on the arm support are parallel to each other, the bottom surface of the horizontal base of the leveling target can be directly installed on the end surface of the joint, and the coordinates of the prism on the leveling target measured by the total station are the coordinates of the rotation center of the joint, so that the distance between the rotation center points of the two joints can be conveniently calculated according to the coordinates of the rotation center points of the two joints, and the size of the arm support can be obtained.
Compared with the prior art, the invention has the advantages that: the calibration accuracy of the mechanical arm can be ensured, the measuring process is simple and rapid, and therefore the calibration efficiency can be improved.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 schematically illustrates a front view configuration of a leveling target for robotic arm calibration according to an embodiment of the present invention;
FIG. 2 schematically shows the overall structure of a horizontal base of an embodiment of the invention;
fig. 3 schematically shows a boom structure with two joint axes perpendicular to each other according to an embodiment of the present invention;
fig. 4 schematically shows a boom measurement method in which two joint axes are perpendicular to each other according to an embodiment of the present invention;
fig. 5 schematically shows a boom structure with two joint axes parallel to each other according to an embodiment of the present invention;
fig. 6 schematically shows a measuring method of the arm support with two joint axes parallel to each other according to the embodiment of the present invention;
fig. 7 schematically shows a flow of a calibration method for a robot arm according to an embodiment of the present invention.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without thereby limiting the scope of protection of the invention.
Fig. 1 schematically illustrates a front view of a target 10 for leveling robotic arm calibration according to an embodiment of the present invention. Fig. 2 schematically shows the overall structure of the horizontal base 5 of the embodiment of the present invention. Fig. 3 schematically shows a boom structure with two joint axes perpendicular to each other according to an embodiment of the present invention. Fig. 4 schematically shows a boom measurement method in which two joint axes are perpendicular to each other according to an embodiment of the present invention. Fig. 5 schematically shows a boom structure with two joint axes parallel to each other according to an embodiment of the present invention; fig. 6 schematically shows a measuring method of the arm support with two joint axes parallel to each other according to the embodiment of the present invention; fig. 7 schematically shows a flow of a calibration method for a robot arm according to an embodiment of the present invention.
As shown in fig. 1 and 2, a target 10 for leveling mechanical arm calibration according to an embodiment of the present invention includes a prism 1, a frame 2, a rotation axis 3, a leg 4, and a horizontal base 5. In this case, the prism 1 is arranged in a housing 2, and the prism 1 is connected to the housing 2 via a pivot axis 3 arranged transversely. The legs 4 are arranged at the bottom of the outer frame 2 and the legs 2 are arranged vertically on a horizontal base 5. The horizontal base 5 is provided with horizontal air bubbles 6, and the horizontal base 5 is provided with a vertical plate 7 which is vertically arranged with the horizontal base 5. According to the leveling target for calibrating the mechanical arm, the prism is arranged, and the leveling target is matched with measuring tools such as a total station, so that the measuring calibration of different arm frames can be completed, and the measuring process is simple and rapid. Therefore, compared with a manual measurement calibration mode in the prior art, the method has the advantages of greatly reducing errors and being higher in efficiency. Further, in a preferred embodiment, the horizontal air bubbles 6 are configured as T-shaped horizontal air bubbles. Specifically, the T-shaped horizontal air bubbles include two horizontal air bubbles arranged on the horizontal base 5 in mutually perpendicular directions, including horizontal air bubbles in the x direction and the y direction, and the horizontal base 5 can be made to be in a horizontal state by adjusting the horizontal air bubbles to a middle position. The leveling of the horizontal plane of the arm support and the leveling target or the leveling in a single direction can be very conveniently realized through the arranged T-shaped bubbles.
In a preferred embodiment, the prism 1 can be rotated about the central axis of the rotation axis 3. The prism can realize fine adjustment of the position through rotation around the central axis of the rotating shaft, so that the accuracy of a measuring result can be further ensured. Further, in a preferred embodiment, the outer frame 2 is rotatable about the central axis of the leg 4. The frame drives the prism and rotates around the landing leg axis, can further realize the fine setting of prism position to further improve measuring result's accuracy.
Further, in a preferred embodiment, the bottom of the horizontal base 5 is provided with a first mounting opening 51 for matching with the protruding end cover of the mechanical arm joint, and the central axis of the first mounting opening 51 is coincident with the central axis of the supporting leg 4. The joint of the mechanical arm is fixedly installed through the first installation opening coincident with the central axis of the supporting leg, so that the joint can be accurately, stably and reliably positioned, and a measurement calibration result is accurate. In a preferred embodiment, the riser 7 is provided with a second mounting opening 71 for matching with the end cover of the joint protrusion of the mechanical arm, and the central axis of the second mounting opening 71 is perpendicular to and intersects with the central axis of the first mounting opening 51. The joint of the mechanical arm is fixedly installed through the second installation opening which is coincident with the central axis of the first installation opening, so that the joint can be accurately, stably and reliably positioned, and the measurement calibration result is accurate.
As shown in fig. 7, the method for calibrating a robot arm according to the embodiment of the second aspect of the present invention includes: the method comprises the following steps: and judging the relative position relation of the joints of the arm support to be detected. Step two: and determining a measuring method according to the judgment result of the step one. Step three: and mounting the leveling target 10 for calibrating the mechanical arm according to the measuring method determined in the step two. Step four: and measuring coordinate parameters of the prism on the leveling target 10 for calibrating the mechanical arm in the third step by using a total station. Step five: and calculating the size of the arm support according to the coordinate parameters measured in the step four. According to the calibration method for the mechanical arm, a proper measuring method can be selected according to the relative position relation of the joint of the arm support to be measured, and the total station is matched with the leveling target calibrated by the mechanical arm for measurement, so that the whole measuring process is simple and rapid, the efficiency is high, and compared with manual measurement calibration, the accuracy is high.
As shown in fig. 3 and 4, according to the method for calibrating a robot arm of the present invention, in a preferred embodiment, in step three, the above-mentioned adjustable target 10 for calibrating a robot arm is installed at two different joint rotation center points 11, 12, and the arm support is adjusted in posture to be along a certain direction of the trolley, the adjustable target 10 for calibrating a robot arm installed at the two different joint rotation center points 11, 12 is connected with the robot arm joint protrusion end cap through a horizontal base 5 and a vertical plate 7, respectively, and a first installation opening 51 on the bottom surface of the horizontal base 5 and a second installation opening 71 on the vertical plate 7 are respectively matched with the robot arm joint protrusion end cap. And the horizontal bubble 6 is utilized to adjust the level of the arm support and the leveling target 10 for calibrating the mechanical arm. Specifically, the right T-shaped horizontal bubble of the leveling target 10 for calibration of the mechanical arm is used as a reference standard to move the boom, so that the x and y horizontal bubbles are both in the middle, that is, the horizontal base 5 of the leveling target 10 for calibration of the mechanical arm is in a horizontal state, and the boom can be regarded as being in a horizontal state at the moment because the horizontal base 5 is directly butted with the end face of the boom. Specifically, the T-shaped horizontal bubble of the left-side leveling target 10 is adjusted to center the horizontal bubble in the x-direction. And step five, calculating the distance between the two joint rotation center points according to the coordinates of the two joint rotation center points of the prism on the leveling target 10 for calibrating the mechanical arm, thereby obtaining the size of the arm support. For the arm supports with the two joint axes perpendicular to each other, the leveling targets are installed at the rotation centers of the two joints to be measured on the arm supports, the arm supports and the leveling targets are adjusted to be horizontal through the horizontal bubbles, coordinates of prisms in the leveling targets installed on the two joints to be measured are obtained through a total station, and the size of the arm supports is obtained through calculating the distance between coordinate points of the rotation centers of the two joints to be measured. Specifically, as shown in fig. 4, the boom posture is first adjusted to be along the x-axis direction of the trolley. The adjustable leveling target 10 is installed on the rotation center point of the joint to be measured, for the joint with the axis along the y-axis direction, the installation opening 71 on the vertical plate 7 of the adjustable leveling target 10 is in butt joint with the joint, and for the joint along the z-axis direction, the interface 51 on the horizontal base 5 of the adjustable leveling target 10 is in butt joint with the joint. The T-shaped bubbles are used for adjusting the level of the arm support and the leveling target 10. The prism 1 coordinates (x 1; y1; z 1), (x 2; y2; z 2) are measured with a total station. And calculating the coordinate difference value delta x = x1-x2 in the x-axis direction of the prism, namely the size of the arm support.
Further, as shown in fig. 5 and 6, in a preferred embodiment, in step three, the above-mentioned adjustable leveling target 10 for calibration of the robot arm is installed at different joint revolution center points 13 and 14. And the posture of the arm support is adjusted to be parallel to a determined reference surface, the leveling targets 10 for calibrating the mechanical arm are connected with the joints through the vertical plates 7, and the second mounting holes 71 on the vertical plates 7 are matched with the protruding end covers of the mechanical arm joints. Leveling targets 10 for mechanical arm calibration are leveled using leveling bubble 6. Specifically, the x-direction horizontal bubble is adjusted to be in a neutral position, i.e., such that the legs of both of the levelable targets 10 are in a parallel state. And step five, calculating the distance between the two joint rotation center points according to the coordinates of the prism on the leveling target 10 which is arranged on the two joint rotation center points and used for calibrating the mechanical arm, thereby obtaining the size of the arm support. When the axes of two joints to be measured on the arm support are parallel to each other, the vertical plate of the leveling target can be directly installed on the end surface of the joint, the leveling target for calibrating the mechanical arm is adjusted through the horizontal bubble, the coordinate of the joint rotation center is obtained by measuring the coordinate of the prism on the leveling target through the total station, and therefore the distance between the two joint rotation center points can be conveniently calculated according to the coordinate of the two joint rotation center points, and the size of the arm support is obtained. Specifically, as shown in fig. 6, the boom posture is adjusted to make the boom parallel to the XOZ plane, the second mounting ports 71 of the two leveling targets 10 for robot arm calibration are butted with the boom joint A, B, the leveling target 10 for robot arm calibration is leveled by using T-shaped horizontal bubbles, and the horizontal bubbles in the x direction are in the middle position, that is, the support legs of the two leveling targets 10 are both in the parallel state. The coordinates of the prisms on the two leveling targets 10 for mechanical arm calibration are measured using a total station. And calculating the distance between the two leveling targets 10 for calibrating the mechanical arm according to the measurement coordinates of the prism on the leveling target 10 for calibrating the mechanical arm, namely the size of the arm support.
Further, in another preferred embodiment, in the third step, the above-mentioned leveling target for calibration of the mechanical arm is installed at different joint rotation center points. And the posture of the arm support is adjusted to be parallel to a determined reference surface, the adjustable leveling targets for calibrating the mechanical arm are connected with the joints through the horizontal base, and the bottom surface of the horizontal base is matched with the protruding end cover of the joint of the mechanical arm. And step five, calculating the distance between the two joint rotation center points according to the coordinates of the prisms, which are arranged on the two joint rotation center points and are used for calibrating the mechanical arm, on the leveling target, so as to obtain the size of the arm support. When the axes of the two joints to be measured on the arm support are parallel to each other, the bottom surface of the horizontal base 5 of the leveling target can be directly installed on the end surface of the joint, and the first installation opening 51 on the horizontal base 5 is ensured to be completely matched with the convex end surface of the joint. The coordinates of the prism on the leveling target are measured by the total station instrument to obtain the coordinates of the joint rotation center, so that the distance between the two joint rotation center points can be conveniently calculated according to the coordinates of the two joint rotation center points, and the size of the arm support can be obtained.
According to the embodiment, the leveling target and the leveling method for calibrating the mechanical arm can ensure that the mechanical arm is calibrated accurately, and the measuring process is simple and quick, so that the calibration efficiency can be improved.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (8)
1. A leveling target for mechanical arm calibration is characterized by comprising a prism, an outer frame, a rotating shaft, supporting legs and a horizontal base; wherein the content of the first and second substances,
the prism is arranged in the outer frame and is connected with the outer frame through the rotating shaft which is transversely arranged;
the supporting legs are arranged at the bottom of the outer frame and are vertically arranged on the horizontal base;
the horizontal base is provided with a horizontal bubble, and the horizontal base is provided with a vertical plate which is vertically arranged with the horizontal base;
a first mounting opening used for being matched with a protruding end cover of the mechanical arm joint is formed in the bottom of the horizontal base, and the central axis of the first mounting opening is overlapped with the central axis of the supporting leg;
and a second mounting opening matched with the protruding end cover of the mechanical arm joint is formed in the vertical plate, and the central axis of the second mounting opening is perpendicular to and intersected with the central axis of the first mounting opening.
2. The target of claim 1, wherein the prism is capable of rotating about the central axis of the pivot axis.
3. The target of claim 1 or 2, wherein the frame is rotatable about a central axis of the legs.
4. The target of claim 1 or 2, wherein the horizontal bubble is a T-shaped horizontal bubble, and can be used for leveling in two dimensions.
5. A method for calibration of a robotic arm, comprising:
the method comprises the following steps: judging the relative position relation of the joints of the arm support to be detected;
step two: determining a measuring method according to the judgment result of the step one;
step three: mounting the leveling target for calibration of the mechanical arm according to the measuring method determined in the second step and defined in any one of the claims 1 to 4;
step four: measuring coordinate parameters of a prism on the leveling target for calibrating the mechanical arm in the third step by using a total station;
step five: and calculating the size of the arm support according to the coordinate parameters measured in the step four.
6. The method for calibrating the mechanical arm as claimed in claim 5, wherein when the axes of the joints at the two ends of the arm support are perpendicular to each other, the adjustable leveling target for calibrating the mechanical arm as claimed in any one of the above claims 1 to 4 is installed at two different joint rotation center points in the third step, and the arm support is adjusted to be horizontal along a certain direction of the trolley by using the horizontal bubble; the leveling target for calibrating the mechanical arm, which is arranged on two different joint rotation central points, is respectively connected with a protruding end cover of the mechanical arm joint through a horizontal base and a vertical plate, and the bottom surface of the horizontal base and the back surface of the vertical plate are respectively matched with the protruding end cover of the mechanical arm joint;
and step five, calculating the distance between the rotation center points of the two joints according to the coordinates of the prisms on the two leveling targets for calibrating the mechanical arm so as to obtain the size of the arm support.
7. The method for calibrating the mechanical arm as claimed in claim 5, wherein when the axes of the joints at the two ends of the arm support are parallel to each other, the leveling target for calibrating the mechanical arm as claimed in any one of the claims 1 to 4 is installed at different rotation center points of the joints in the third step; the posture of the arm support is adjusted to be parallel to a determined reference surface, the adjustable leveling targets for calibrating the mechanical arm are connected with the joints through the vertical plates, and the back surfaces of the vertical plates are matched with protruding end covers of the joints of the mechanical arm; adjusting the level of the leveling target for calibrating the mechanical arm by using the horizontal bubble;
and step five, calculating the distance between the rotation center points of the two joints according to the coordinates of the prism on the leveling target for calibrating the mechanical arm so as to obtain the size of the arm support.
8. The method for calibrating the mechanical arm as claimed in claim 5, wherein when the axes of the joints at the two ends of the arm support are parallel to each other, the leveling target for calibrating the mechanical arm as claimed in any one of the claims 1 to 4 is installed at different rotation center points of the joints in the third step; the posture of the arm support is adjusted to be parallel to a determined reference surface, the adjustable leveling targets for calibrating the mechanical arm are connected with the joints through the horizontal base, and the bottom surface of the horizontal base is matched with a protruding end cover of the joint of the mechanical arm;
and step five, calculating the distance between the rotation center points of the two joints according to the coordinates of the prisms on the two adjustable flat targets for calibrating the mechanical arm, thereby obtaining the size of the arm support.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011417511.5A CN112720570B (en) | 2020-12-07 | 2020-12-07 | Leveling target and method for mechanical arm calibration |
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|---|---|---|---|
| CN202011417511.5A CN112720570B (en) | 2020-12-07 | 2020-12-07 | Leveling target and method for mechanical arm calibration |
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| CN112720570A CN112720570A (en) | 2021-04-30 |
| CN112720570B true CN112720570B (en) | 2023-03-14 |
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| CN207456451U (en) * | 2017-11-03 | 2018-06-05 | 安阳大众煤业有限责任公司 | A kind of novel total station measuring prism |
| CN109262619A (en) * | 2018-12-20 | 2019-01-25 | 中国铁建重工集团有限公司 | A kind of engineering machinery localization method and system |
| CN109732643A (en) * | 2018-12-11 | 2019-05-10 | 中国铁建重工集团有限公司 | A kind of caliberating device and method for mechanical arm |
| CN110095082A (en) * | 2019-04-25 | 2019-08-06 | 南京龙测测绘技术有限公司 | Three-dimensional laser scanner complete set of equipments and mapping method applied to FARO software |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204405068U (en) * | 2015-02-13 | 2015-06-17 | 滨州学院 | Total station prism |
| CN105699100A (en) * | 2016-04-13 | 2016-06-22 | 吉林大学 | Synchronous position randomly adjustable image type calibrating device for four-wheel aligner |
| CN207456451U (en) * | 2017-11-03 | 2018-06-05 | 安阳大众煤业有限责任公司 | A kind of novel total station measuring prism |
| CN109732643A (en) * | 2018-12-11 | 2019-05-10 | 中国铁建重工集团有限公司 | A kind of caliberating device and method for mechanical arm |
| CN109262619A (en) * | 2018-12-20 | 2019-01-25 | 中国铁建重工集团有限公司 | A kind of engineering machinery localization method and system |
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| CN112720570A (en) | 2021-04-30 |
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