CN208305108U - Calibration system - Google Patents
Calibration system Download PDFInfo
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- CN208305108U CN208305108U CN201820461819.1U CN201820461819U CN208305108U CN 208305108 U CN208305108 U CN 208305108U CN 201820461819 U CN201820461819 U CN 201820461819U CN 208305108 U CN208305108 U CN 208305108U
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- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 8
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Abstract
The utility model discloses a kind of calibration systems, comprising: robot, the mechanical precision of the mechanical precision height XY translation mechanism of robot, robot are controlled so as to that XY translation mechanism is followed to move same distance in the same direction along X-axis or Y-axis；Truing tool is mounted in robot, and so as to random device, people is moved together；And video camera, it is mounted on XY translation mechanism, the final position of initial position of the truing tool in camera coordinate system and the truing tool after movement in camera coordinate system to be moved with XY translation mechanism along X-axis and Y-axis, before camera vision identification is mobile.Location error when difference between final position and initial position is moved as XY translation mechanism along X-axis or Y-axis, and position compensation is carried out to XY translation mechanism with location error, so that position precision when XY translation mechanism is moved along X-axis or Y-axis reaches Robot X-axis or position precision when Y-axis moves, so that the accuracy of manufacture of product can be improved.
Description
Technical field
The utility model relates to a kind of calibration systems, the machine error for corrected X Y translation mechanism.
Background technique
In the prior art, it in the manufacturing process of some products, needs to use robot and XY translation mechanism simultaneously.It is logical
Cooperating for robot and XY translation mechanism is crossed, the assembling or manufacturing procedure of some products can be completed.But in existing skill
In art, the accuracy of manufacture of XY translation mechanism is typically well below the accuracy of manufacture of robot.Therefore, position when XY translation mechanism is mobile
Position precision of the precision far below robot when mobile is set, this can reduce the accuracy of manufacture of product.
Utility model content
The purpose of this utility model aims to solve the problem that at least one aspect of the above-mentioned problems in the prior art and defect.
One aspect according to the present utility model provides a kind of calibration method, and the machinery for corrected X Y translation mechanism is accidentally
Difference.The calibration method the following steps are included:
S100: a calibration system is provided, the calibration system includes robot, the calibration work being mounted in robot
Tool and the video camera being mounted on XY translation mechanism, the mechanical precision of the robot are higher than the machinery of the XY translation mechanism
Precision；
S210: first initial bit of the truing tool in camera coordinate system is identified using the camera vision
It sets；
S220: controlling the XY translation mechanism respectively and the Robot X-axis moves identical first in the same direction
Distance；
S230: first termination of the truing tool in the camera coordinate system is identified using the camera vision
Position；
S240: using the difference between first initial position and first final position as the XY translation mechanism
First position error when moving along the x-axis, and position compensation is carried out to the XY translation mechanism with the first position error, make
Position precision of XY translation mechanism when moving along the x-axis reaches the position precision when robot moves along the x-axis.
The embodiment of an exemplary according to the present utility model, the calibration method further comprise the steps of:
S310: identify that the truing tool is second initial in the camera coordinate system using the camera vision
Position；
S320: controlling the XY translation mechanism respectively and the Robot Y-axis moves identical second in the same direction
Distance；
S330: second termination of the truing tool in the camera coordinate system is identified using the camera vision
Position；
S340: using the difference between second initial position and second final position as the XY translation mechanism
Second position error when being moved along Y-axis, and position compensation is carried out to the XY translation mechanism with the second position error, make
Position precision of XY translation mechanism when moving along Y-axis reaches the position precision when Robot Y-axis moves.
The embodiment of another exemplary according to the present utility model, one is formed on the truing tool has rule
The alignment features of geometry then, the camera vision identifies the position of the geometric center of the alignment features, and will know
Position of the position of the geometric center for the alignment features being clipped to as the truing tool.
The embodiment of another exemplary according to the present utility model, the alignment features are to be formed in the truing tool
On round hole.
The embodiment of another exemplary according to the present utility model, the optical axis of the video camera and the X-axis and the Y
Axis is vertical, and the central axis of the alignment features is vertical with the X-axis and the Y-axis.
The embodiment of another exemplary according to the present utility model, the truing tool are mounted on the end of the robot
It holds on actuator.
The embodiment of another exemplary according to the present utility model, the end effector are suitable for clamping the calibration
The clamper of tool.
Other side according to the present utility model provides a kind of calibration system, the machinery for corrected X Y translation mechanism
Error, the calibration system include: robot, the machinery essence of XY translation mechanism described in the mechanical precision height of the robot
Degree；Truing tool is mounted in the robot, to move together with the robot；And video camera, it is mounted on the XY
On translation mechanism, to be moved with the XY translation mechanism along X-axis and Y-axis.The robot is controlled so as to follow the XY flat
Telephone-moving structure moves same distance along X-axis or Y-axis in the same direction, and the truing tool before the camera vision identification is mobile exists
Final position of the truing tool after initial position and movement in the camera coordinate system in camera coordinate system；Institute
The position when difference between final position and the initial position is moved as the XY translation mechanism along X-axis or Y-axis is stated to miss
Difference, and position compensation is carried out to the XY translation mechanism with the location error, so that the XY translation mechanism is along X-axis or Y-axis
Position precision when mobile reaches the position precision when Robot X-axis or mobile Y-axis.
The embodiment of an exemplary according to the present utility model, one is formed on the truing tool has rule
Geometry alignment features, the camera vision identifies the position of the geometric center of the alignment features, and will identification
Position of the position of the geometric center of the alignment features arrived as the truing tool.
The embodiment of another exemplary according to the present utility model, the alignment features are to be formed in the truing tool
On round hole.
The embodiment of another exemplary according to the present utility model, the optical axis of the video camera and the X-axis and the Y
Axis is vertical, and the central axis of the alignment features is vertical with the X-axis and the Y-axis.
The embodiment of another exemplary according to the present utility model, the truing tool are mounted on the end of the robot
It holds on actuator.
The embodiment of another exemplary according to the present utility model, the end effector are suitable for clamping the calibration
The clamper of tool.
In the embodiment of aforementioned each exemplary according to the present utility model, by being calibrated to XY translation mechanism,
Position precision when XY translation mechanism can be made mobile reaches position precision when robot movement, so that the system of product can be improved
Manufacturing accuracy.
It is described by below with reference to attached drawing to made by the utility model, the other objects and advantages of the utility model will
It is clear that can simultaneously help to be fully understood by the utility model.
Detailed description of the invention
Fig. 1 shows the schematic diagram of the calibration system of the embodiment of an exemplary according to the present utility model；
Fig. 2 shows the stereoscopic schematic diagram of truing tool shown in FIG. 1.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.?
In specification, the same or similar drawing reference numeral indicates the same or similar component.It is following real to the utility model referring to attached drawing
The explanation for applying mode is intended to explain the overall utility model design of the utility model, and is not construed as practical to this
A kind of novel limitation.
In addition, in the following detailed description, to elaborate many concrete details to provide to present disclosure convenient for explaining
The comprehensive understanding of embodiment.It should be apparent, however, that one or more embodiments without these specific details can also be with
It is carried out.In other cases, well known construction and device is diagrammatically embodied to simplify attached drawing.
General technical design according to the present utility model, provides a kind of calibration method, is used for corrected X Y translation mechanism
Machine error.The calibration method the following steps are included: provide a calibration system, the calibration system include robot,
The mechanical precision of the truing tool being mounted in robot and the video camera being mounted on XY translation mechanism, the robot is high
In the mechanical precision of the XY translation mechanism；Identify the truing tool in the camera coordinates using the camera vision
The first initial position in system；Control the XY translation mechanism respectively and the Robot X-axis move in the same direction it is identical
First distance；First stop bit of the truing tool in the camera coordinate system is identified using the camera vision
It sets；It is moved along the x-axis the difference between first initial position and first final position as the XY translation mechanism
When first position error, and position compensation is carried out to the XY translation mechanism with the first position error, so that the XY
Position precision when translation mechanism moves along the x-axis reaches the position precision when robot moves along the x-axis.
Another general technical design according to the present utility model, provides a kind of calibration system, translates machine for corrected X Y
The machine error of structure, the calibration system include: robot, XY translation mechanism described in the mechanical precision height of the robot
Mechanical precision；Truing tool is mounted in the robot, to move together with the robot；And video camera, it is mounted on
On the XY translation mechanism, to be moved with the XY translation mechanism along X-axis and Y-axis.The robot is controlled so as to follow institute
It states XY translation mechanism and moves same distance in the same direction along X-axis or Y-axis, the calibration before the camera vision identification is mobile
Termination of the truing tool in the camera coordinate system after initial position of the tool in camera coordinate system and movement
Position；When difference between the final position and the initial position is moved as the XY translation mechanism along X-axis or Y-axis
Location error, and position compensation is carried out to the XY translation mechanism with the location error, so that the XY translation mechanism is along X-axis
Or Y-axis it is mobile when position precision of position precision when reaching the Robot X-axis or mobile Y-axis.
Fig. 1 shows the schematic diagram of the calibration system of the embodiment of an exemplary according to the present utility model；Fig. 2 display figure
The stereoscopic schematic diagram of truing tool 210 shown in 1.
As depicted in figs. 1 and 2, in the illustrated embodiment, when the calibration system is mobile for corrected X Y translation mechanism 100
Position precision.As depicted in figs. 1 and 2, which specifically includes that robot 200, truing tool 210 and video camera
110。
In the illustrated embodiment, the mechanical precision of the mechanical precision height XY translation mechanism 100 of robot 200, therefore,
Position precision of the position precision lower than robot 200 when mobile before not calibrated, when XY translation mechanism 100 is mobile.
As depicted in figs. 1 and 2, in the illustrated embodiment, truing tool 210 is mounted in robot 200, so as to random
Device people 200 moves together.Video camera 110 is mounted on XY translation mechanism 100, so as to XY translation mechanism 100 along X-axis and Y-axis
It is mobile.
As depicted in figs. 1 and 2, in the illustrated embodiment, robot 200 is controlled so as to follow XY translation mechanism 100 along X
Axis or Y-axis move same distance in the same direction, and the truing tool 210 before 110 visual identity of video camera is mobile is in video camera
Initial position in 110 camera coordinate system and it is mobile after truing tool 210 video camera 110 camera coordinate system
In final position.
As depicted in figs. 1 and 2, in the illustrated embodiment, the difference conduct between aforementioned final position and initial position
Location error when XY translation mechanism 100 is moved along X-axis or Y-axis, and position is carried out to XY translation mechanism 100 with the location error
Compensation, so that position precision when XY translation mechanism 100 is moved along X-axis or Y-axis reaches robot 200 when moving along X-axis or Y-axis
Position precision.
In order to accurately and conveniently identify the position of truing tool 210, as depicted in figs. 1 and 2, in the embodiment of diagram
In, be formed with the alignment features 211 of a well-regulated geometry of tool on truing tool 210, the alignment features 211 it is several
Position of the position at what center as truing tool 210.Therefore, video camera 110 can pass through the visual identity alignment features 211
The position of geometric center determine the position of the truing tool 210.
As depicted in figs. 1 and 2, in the illustrated embodiment, the alignment features 211 on truing tool 210 can be formation
Round hole, cylindrical protrusions or other readily identified structures on truing tool 210.
As depicted in figs. 1 and 2, in the illustrated embodiment, the optical axis of video camera 110 is vertical with X-axis and Y-axis, and school
The central axis of quasi- feature 211 is vertical with X-axis and Y-axis.That is, video camera 110 optical axis and alignment features 211 central axis with
Z axis shown in FIG. 1 is parallel.
As depicted in figs. 1 and 2, in the illustrated embodiment, the end that truing tool 210 is mounted on robot 200 executes
On device 220.The end effector 220 can be for suitable for the clamper for clamping truing tool 210.
The process calibrated to the position precision of XY translation mechanism 100 is described in detail below with reference to Fig. 1 and Fig. 2,
The process mainly comprises the steps that
S100: providing a calibration system as depicted in figs. 1 and 2, which includes robot 200, is mounted on
Truing tool 210 in robot 200 and the video camera 110 being mounted on XY translation mechanism 100, the machinery essence of robot 200
Degree is higher than the mechanical precision of XY translation mechanism 100；
S210: using 110 visual identity truing tool 210 of video camera in the camera coordinate system of video camera 110
One initial position (x10,y10)；
S220: control respectively XY translation mechanism 100 and robot 200 moved in the same direction along X-axis identical first away from
From d1；
S230: first final position of the 110 visual identity truing tool 210 of video camera in camera coordinate system is utilized
(x11,y11)；
S240: by the first initial position (x10,y10) and the first final position (x11,y11) between difference (x11-x10,y11-
y10) first position error when being moved along the x-axis as XY translation mechanism 100, and with first position error to XY translation mechanism 100
Position compensation is carried out, so that position precision when XY translation mechanism 100 moves along the x-axis reaches when robot 200 moves along the x-axis
Position precision；
S310: second initial position of the 110 visual identity truing tool 210 of video camera in camera coordinate system is utilized
(x20,y20)；
S320: control respectively XY translation mechanism 100 and robot 200 moved in the same direction along Y-axis identical second away from
From d2；
S330: second final position of the 110 visual identity truing tool 210 of video camera in camera coordinate system is utilized
(x21,y21)；
S340: by the second initial position (x20,y20) and the second final position (x21,y21) between difference (x21-x20,y21-
y20) second position error when being moved as XY translation mechanism 100 along Y-axis, and with second position error to XY translation mechanism 100
Position compensation is carried out, so that position precision when XY translation mechanism 100 is moved along Y-axis reaches when robot 200 is moved along Y-axis
Position precision.
It will be understood to those skilled in the art that embodiment described above is all exemplary, and this field
Technical staff can make improvements, the rushing in terms of not recurring structure or principle of structure described in various embodiments
It can be freely combined in the case where prominent.
Although the utility model is illustrated in conjunction with attached drawing, embodiment disclosed in attached drawing is intended to practical to this
Novel preferred embodiment illustrates, and should not be understood as a kind of limitation to the utility model.
Although some embodiments of this totality utility model design have been shown and have illustrated, those of ordinary skill in the art will
Understand, in the case where the principle and spirit conceived without departing substantially from this totality utility model, these embodiments can be made a change, this
The range of utility model is limited with claim and their equivalent.
It should be noted that word " comprising " is not excluded for other element or steps, word "a" or "an" is not excluded for multiple.Separately
Outside, any element label of claim should not be construed as limitation the scope of the utility model.
Claims (6)
1. a kind of calibration system is used for the machine error of corrected X Y translation mechanism (100), which is characterized in that the calibration system
Include:
Robot (200), the mechanical precision of XY translation mechanism (100) described in the mechanical precision height of the robot (200), institute
Robot (200) is stated to be controlled so as to that the XY translation mechanism (100) is followed to move same distance in the same direction along X-axis or Y-axis；
Truing tool (210) is mounted on the robot (200), to move together with the robot (200)；With
Video camera (110) is mounted on the XY translation mechanism (100), so as to the XY translation mechanism (100) along X-axis and Y
Axis is mobile, initial bit of the truing tool (210) before video camera (110) visual identity is mobile in camera coordinate system
Final position of the truing tool (210) in the camera coordinate system after setting and moving,
Wherein, the difference between the final position and the initial position is as the XY translation mechanism (100) along X-axis or Y
Location error when axis is mobile, and position compensation is carried out to the XY translation mechanism (100) with the location error, so that described
When position precision when XY translation mechanism (100) is moved along X-axis or Y-axis reaches the robot (200) and moves along X-axis or Y-axis
Position precision.
2. calibration system according to claim 1, it is characterised in that:
The alignment features (211) of a well-regulated geometry of tool, the camera shooting are formed on the truing tool (210)
The position of the geometric center of alignment features (211) described in machine (110) visual identity, and the alignment features that will be recognized
(211) position of the position of geometric center as the truing tool (210).
3. calibration system according to claim 2, it is characterised in that: the alignment features (211) are to be formed in the school
Round hole on quasi- tool (210).
4. calibration system according to claim 3, it is characterised in that:
The optical axis of the video camera (110) is vertical with the X-axis and the Y-axis, and the central axis of the alignment features (211)
Line is vertical with the X-axis and the Y-axis.
5. calibration system according to claim 1, it is characterised in that:
The truing tool (210) is mounted on the end effector (220) of the robot (200).
6. calibration system according to claim 5, it is characterised in that:
The end effector (220) is the clamper suitable for clamping the truing tool (210).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820461819.1U CN208305108U (en) | 2018-04-03 | 2018-04-03 | Calibration system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820461819.1U CN208305108U (en) | 2018-04-03 | 2018-04-03 | Calibration system |
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| CN208305108U true CN208305108U (en) | 2019-01-01 |
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| CN201820461819.1U Withdrawn - After Issue CN208305108U (en) | 2018-04-03 | 2018-04-03 | Calibration system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202582A (en) * | 2019-07-03 | 2019-09-06 | 桂林电子科技大学 | A kind of robot calibration method based on three coordinates platforms |
| CN110340936A (en) * | 2018-04-03 | 2019-10-18 | 泰科电子(上海)有限公司 | Calibration method and calibration system |
-
2018
- 2018-04-03 CN CN201820461819.1U patent/CN208305108U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340936A (en) * | 2018-04-03 | 2019-10-18 | 泰科电子(上海)有限公司 | Calibration method and calibration system |
| CN110340936B (en) * | 2018-04-03 | 2024-01-30 | 泰科电子(上海)有限公司 | Calibration method and calibration system |
| CN110202582A (en) * | 2019-07-03 | 2019-09-06 | 桂林电子科技大学 | A kind of robot calibration method based on three coordinates platforms |
| CN110202582B (en) * | 2019-07-03 | 2021-11-26 | 桂林电子科技大学 | Robot calibration method based on three-coordinate platform |
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