CN209224099U - A kind of multirobot basis coordinates system geometric calibration tooling - Google Patents
A kind of multirobot basis coordinates system geometric calibration tooling Download PDFInfo
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- CN209224099U CN209224099U CN201821770077.7U CN201821770077U CN209224099U CN 209224099 U CN209224099 U CN 209224099U CN 201821770077 U CN201821770077 U CN 201821770077U CN 209224099 U CN209224099 U CN 209224099U
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- guide rod
- base station
- coordinates system
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Abstract
The utility model relates to a kind of multirobot basis coordinates system geometric calibration toolings, including substrate, absorption magnetically attractive pedestal on the surface of the substrate, the bracing wire measuring device being connect with robot and guide rod, magnetically attractive pedestal is flexibly connected with the lower end of guide rod, and bracing wire measuring device is flexibly connected with the upper end of guide rod；Magnetically attractive pedestal includes magnetically attractive base station, magnetically attractive knob, elastic axle sleeve and rotatable locking knob, magnetically attractive base station is arranged on magnetically attractive pedestal, magnetically attractive knob be located at the side of magnetically attractive base station and for control magnetically attractive base station and the absorption of substrate with separate, elastic axle sleeve is movably connected on magnetically attractive base station by rotatable locking knob, the lower end of guide rod is sheathed in elastic axle sleeve, by rotatable locking knob be adjusted guide rod pose and elastic state；Bracing wire measuring device includes rope sensor and installation slide.The utility model provides a kind of portable calibration tooling for multirobot basis coordinates system, and structure is simple, and at low cost, operation is simple, versatile.
Description
Technical field
The utility model relates to Robot calibration technical field, especially a kind of multirobot basis coordinates system geometric calibration work
Dress.
Background technique
With the raising of the degree of automation, the especially rapid rising of robot industry, so that entire manufacturing industry is from ginseng
It is worked into unmanned fully-automatic production direction advance with cooperating, the innovation again and again of technology stimulates novel robot technology in work
The extensive use of the industries such as industry scientific research, and Robot calibration is as an important technology concerning robot precision, by vast
The very big attention of scientific research institution, the multifunctionality of calibration tool, portability and scaling method it is simple, conveniently, versatility
The problems such as become an important problem of new era robot industry research.
Robot basis coordinates are demarcated, it is existing the most commonly used is by external equipment such as laser tracker or double camera,
By irradiation tracking other side's robot identity point to obtain the pose transformational relation between two robot ends, this kind of method institute
The instrument of use is typically all imported product, and price is particularly expensive, and excessively high to the technical requirements of operator, needs to carry out
Prolonged ex-period training moreover also has certain limitation to application.Press down strong, Wang Tianqi et al. in addition, waiting
" 3 two-step methods based on public target " proposed although easy to operate, meet dual robot basis coordinates stated accuracy requirement,
But it is only applicable to dual robot cooperation occasion, and the dual robot must have the situation that working space has intersection.And it is special
Application No. is " the robot geometric calibration methods based on draw wire encoder " of CN201710704692.1 using bracing wire coding for benefit
Device carries out single robot geometric calibration, and the patent proposes the method for a kind of pair of robot body geometrical structure parameter identification, letters
Easy row, but it is suitable only for single robot body calibration and can not carry out dual robot even multirobot basis coordinates calibration.
Utility model content
Technical problem to be solved in the utility model is in view of the above shortcomings of the prior art, to provide a kind of multirobot
Basis coordinates system geometric calibration tooling.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
A kind of multirobot basis coordinates system geometric calibration tooling, including substrate, the magnetically attractive being adsorbed on the substrate surface
Pedestal, the bracing wire measuring device connecting with robot and guide rod, the magnetically attractive pedestal are flexibly connected with the lower end of the guide rod, institute
Bracing wire measuring device is stated to be flexibly connected with the upper end of the guide rod.
The beneficial effects of the utility model are: by magnetically attractive pedestal and the absorption of substrate and separating, both may be implemented entire
Stabilization of the tooling in calibration is demarcated, guarantees the accuracy of calibration, and can be convenient disassembly, Portable practical；It is measured by bracing wire
Device is flexibly connected with guide rod, both can be convenient the posture of adjustment calibration tooling, has been chosen multiple calibration points, and can be convenient drawing
The fixation of line measuring device guarantees the stability and accuracy of calibration, and entire tool structure of demarcating is simple, Portable practical, operation
Simply, at low cost, versatile, the Robot calibration being suitable under different occasions, market application value with higher.
Based on the above technical solution, the utility model can also do following improvement:
Further, the magnetically attractive pedestal includes magnetically attractive base station, magnetically attractive knob, elastic axle sleeve and rotatable locking knob, it is described
Magnetically attractive base station is arranged on the magnetically attractive pedestal, and the magnetically attractive knob is located at the side of the magnetically attractive base station and is used to control described
Magnetically attractive base station and the absorption of the substrate with separate, the elastic axle sleeve is movably connected in described by the rotatable locking knob
On magnetically attractive base station, the lower end of the guide rod is sheathed in the elastic axle sleeve, adjustable described by the rotatable locking knob
The pose of guide rod and elastic state.
The beneficial effect of above-mentioned further scheme is: revolving by the magnetic field effect of magnetically attractive base station and substrate, and by magnetically attractive
The adjusting of button, realize magnetically attractive base station and the absorption of substrate with separate, facilitate the fixation and portable use of magnetically attractive base station, pass through rotation
Turn the elastic of the adjustable elastic axle sleeve of hook knob, and then adjusts the elastic state of guide rod, it is adjustable after elastic axle sleeve tune is loose
The deflection direction of the length and guide rod of guide rod in perpendicular is saved, facilitates and determines calibration tooling basis coordinates system and adjusting calibration work
Different calibration postures is filled, convenient for the calibration to robot basis coordinates system.
Further, the magnetically attractive base station is made of magnetic material.
The beneficial effect of above-mentioned further scheme is: the magnetically attractive base station made of magnetic material, convenient for carrying out with substrate
Absorption and separation, facilitate the fixation and portable use of magnetically attractive base station.
Further, the elastic axle sleeve include the first clamping part and the second clamping part, one end of first clamping part with
One end of second clamping part is fixedly connected with and is formed the clamp port of perforation, and the guide rod is through in the clamp port, institute
The other end spacing side by side of the other end and second clamping part of stating the first clamping part is arranged, and the two is equipped with for the rotation
Turn the through-hole that hook knob passes through, rotates the other end and described that first clamping part is adjusted in the rotatable locking knob
The distance between the other end of two clamping parts, with adjust the guide rod pose and elastic state.
The beneficial effect of above-mentioned further scheme is: by the first clamping part and the second clamping part convenient for clamp port is arranged,
It realizes the clamping to guide rod, and passes through the through-hole of the other end of the first clamping part and the other end of the second clamping part, convenient for rotation
Hook knob passes through, and convenient for adjusting the another of the other end of the first clamping part and the second clamping part by rotatable locking knob
The distance between end, i.e., elastic axle sleeve only need tightening and unscrew that deformation occurs by rotatable locking knob, can be realized
The pose of adjusting guide rod and elastic state, such as length and the deflection direction of guide rod, it is simple for structure.
Further, one end of the rotatable locking knob is equipped with threaded rod, on the magnetically attractive base station with the spin locking
Knob corresponding position be equipped with matched tapped blind hole, the threaded rod pass through first clamping part the other end with
The through-hole of the other end of second clamping part, and be threadedly coupled by the tapped blind hole with the magnetically attractive base station.
Above-mentioned further scheme the utility model has the advantages that unscrewing and tighten by the threaded rod of rotatable locking knob, convenient for adjusting
The pose of section guide rod and elastic state.
Further, on the magnetically attractive pedestal with the elastic axle sleeve is ipsilateral is additionally provided with vertical limited block and horizontal stop block,
When the guide rod deflects to vertical direction by the rotatable locking knob, the lower end of the guide rod just with the vertical limit
Position block abuts against, and when the guide rod deflects to horizontal direction by the rotatable locking knob, the lower part of the guide rod is lucky
It is abutted against with the horizontal stop block.
Above-mentioned further scheme the utility model has the advantages that for convenient for determine demarcate tooling basis coordinates system, it is thus necessary to determine that calibration tooling
The origin of basis coordinates system and the direction of reference axis deflect to vertical side by vertical limited block and horizontal stop block convenient for guide rod
To and horizontal direction, convenient for choosing calibration point of the calibration tooling on vertically and horizontally, and then determine calibration tooling
Reference axis of the basis coordinates system on vertically and horizontally, it is final to determine calibration tooling basis coordinates system.
Further, the bracing wire measuring device includes rope sensor and installation slide, the rope sensor is fixed on
The side of the installation slide, and the rope sensor is connect by drawstring with the robot, the installation slide socket
It can slide up and down in the upper of the guide rod and along the guide rod.
The beneficial effect of above-mentioned further scheme is: being connect by rope sensor with robot, can obtain machine in real time
The device people rope length between calibration tooling during exercise, convenient for establishing kinematics solution model, and then obtains calibration tooling and machine
Relative positional relationship between device people obtains position of the calibration tooling relative to robot coordinate system, rope sensor yard
It is few to close limitation, it is versatile；And slide is installed by can slide up and down, sliding up and down for rope sensor is realized, convenient for obtaining
The different calibration points of tooling in the vertical direction must be demarcated, and then facilitates and determines calibration tooling relative to robot coordinate system's
Position.
Further, the rope sensor is fixed on the side of the installation slide by multiple bolts.
The beneficial effect of above-mentioned further scheme is: by multiple bolt fixed pulling rope sensors, so that rope sensor
Fixed more preferably guarantee rope sensor is more stable when connecting with robot, guarantees the accuracy of calibration.
Further, the other side of the installation slide is additionally provided with location hole, the installation slide is by passing through the positioning
The fixing screws in hole are fixed on the guide rod.
The beneficial effect of above-mentioned further scheme is: since installation slide can be slided up and down along guide rod, can pass through
Location hole and fixing screws are fixed on slide is installed on guide rod, to facilitate determining rope sensor in calibration tooling basis coordinates
It is the specific location coordinate on vertical direction, and then facilitates and determine calibration tooling during the calibration process relative to robot coordinate system
Position.
Further, the substrate is made of rigid material.
Above-mentioned further scheme the utility model has the advantages that rigid material have preferable resistance to deformation performance, it is ensured that mark
Determine the stability of tooling during the calibration process, to guarantee the precision of calibration, is made of rigid material, such as metallic iron, both
Can guarantee stability, can also facilitate with the absorption of magnetically attractive pedestal with separate, portable use is versatile.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the calibration tooling of the utility model；
Fig. 2 is the structural schematic diagram for the magnetically attractive pedestal that the utility model is demarcated in tooling；
Fig. 3 is the structural schematic diagram for the elastic axle sleeve that the utility model is demarcated in tooling.
In attached drawing, parts list represented by the reference numerals are as follows:
1, magnetically attractive pedestal, 2, bracing wire measuring device, 3, substrate, 4, guide rod, 11, magnetically attractive base station, 12, magnetically attractive knob, 13, pine
Mandrel set, 14, vertical limited block, 15, horizontal stop block, 16, rotatable locking knob, 21, rope sensor, 22, installation slide,
23, fixing screws, 24, location hole, the 131, first clamping part, the 132, second clamping part, 133, clamp port, 134, through-hole.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiment obtained without making creative work, fall within the protection scope of the utility model.
Embodiment, as shown in Figure 1-3, a kind of multirobot basis coordinates system geometric calibration tooling, including substrate 3, be adsorbed on
Magnetically attractive pedestal 1 on 3 surface of substrate, the bracing wire measuring device 2 being connect with robot and guide rod 4, the magnetically attractive pedestal 1 with
The lower end of the guide rod 4 is flexibly connected, and the bracing wire measuring device 2 is flexibly connected with the upper end of the guide rod 4.
The calibration tooling of the utility model is by magnetically attractive pedestal and the absorption of substrate and separates, and both may be implemented entirely to demarcate
Stabilization of the tooling in calibration, guarantees the accuracy of calibration, and can be convenient disassembly, Portable practical；Pass through bracing wire measuring device
With being flexibly connected for guide rod, it both can be convenient the posture of adjustment calibration tooling, choose multiple calibration points, and can be convenient bracing wire survey
The fixation for measuring device guarantees the stability and accuracy of calibration, and entire calibration tool structure is simple, and Portable practical is easy to operate,
It is at low cost, versatile, the Robot calibration being suitable under different occasions, market application value with higher.
Preferably, as depicted in figs. 1 and 2, the magnetically attractive pedestal 1 includes magnetically attractive base station 11, magnetically attractive knob 12, elastic axle sleeve
13 and rotatable locking knob 16, the magnetically attractive base station 11 is arranged on the magnetically attractive pedestal 1, and the magnetically attractive knob 12 is located at described
The side of magnetically attractive base station 11 and for control the magnetically attractive base station 11 and the absorption of the substrate 3 with separate, the elastic axle sleeve
13 can be movably connected on the magnetically attractive base station 11 by the rotatable locking knob 16, and the lower end of the guide rod 4 is sheathed on institute
State in elastic axle sleeve 13, by the rotatable locking knob 16 be adjusted the guide rod 4 pose and elastic state.
By the magnetic field effect of magnetically attractive base station and substrate, and pass through the adjusting of magnetically attractive knob, realizes magnetically attractive base station and substrate
Absorption with separate, facilitate the fixation and portable use of magnetically attractive base station, pass through the adjustable elastic axle sleeve of rotatable locking knob
It is elastic, and then adjust the elastic state of guide rod, after elastic axle sleeve tune is loose, the length and guide rod of adjustable guide rod are being put down vertically
Deflection direction in face facilitates the calibration posture for determining that calibration tooling basis coordinates system is different with calibration tooling is adjusted, convenient for machine
The calibration of device people's basis coordinates system.
Preferably, the magnetically attractive base station 11 is made of magnetic material.
The magnetically attractive base station made of magnetic material facilitates consolidating for magnetically attractive base station convenient for being adsorbed and being separated with substrate
Fixed and portable use.
Preferably, the elastic axle sleeve 13 includes the first clamping part 131 and the second clamping part 132, first clamping part
131 one end is fixedly connected with one end of second clamping part 132 and is formed the clamp port 133 of perforation, and the guide rod 4 runs through
In in the clamp port 133, the other end of the other end of first clamping part 131 and second clamping part 132 side by side between
Every setting, and the two is equipped with the through-hole 134 passed through for the rotatable locking knob 16, and rotating the rotatable locking knob 16 can
The other end of first clamping part 131 and the distance between the other end of second clamping part 132 are adjusted, described in adjusting
The pose of guide rod and elastic state.
By the first clamping part and the second clamping part convenient for setting clamp port, the clamping to guide rod is realized, and pass through first
The through-hole of the other end of the other end of clamping part and the second clamping part, passes through convenient for rotatable locking knob, and convenient for passing through rotation
Hook knob only needs the distance between the other end and the other end of the second clamping part that adjust the first clamping part, i.e., elastic axle sleeve
Will tightening and unscrew that deformation occurs by rotatable locking knob, the pose for adjusting guide rod and elastic state, example can be realized
Length and deflection direction such as guide rod, it is simple for structure.
The elastic axle sleeve of the present embodiment be it is U-shaped, as shown in Figure 3.
Preferably, as shown in Fig. 2, one end of the rotatable locking knob 16 is equipped with threaded rod, on the magnetically attractive base station with
The rotatable locking knob corresponding position is equipped with matched tapped blind hole, and the threaded rod 16 passes through first folder
Hold the through-hole 134 of the other end in portion 131 and the other end of second clamping part 132, and by the tapped blind hole with
The magnetically attractive base station 11 is threadedly coupled.
Unscrewing and tighten by the threaded rod of rotatable locking knob, convenient for adjust guide rod pose and elastic state.
Preferably, as depicted in figs. 1 and 2, on the magnetically attractive pedestal 1 with the elastic axle sleeve 13 is ipsilateral is additionally provided with vertical limit
Position block 14 and horizontal stop block 15, it is described to lead when the guide rod 4 deflects to vertical direction by the rotatable locking knob 16
The lower end of bar 4 is abutted against with the vertical limited block 14 just, when the guide rod 4 is deflected to by the rotatable locking knob 16
When horizontal direction, the lower part of the guide rod 4 is abutted against with the horizontal stop block 15 just.
To demarcate tooling basis coordinates system convenient for determining, it is thus necessary to determine that the origin of calibration tooling basis coordinates system and the side of reference axis
To being deflected to vertically and horizontally convenient for guide rod, convenient for choosing calibration work by vertical limited block and horizontal stop block
Calibration point on vertically and horizontally, and then determine calibration tooling basis coordinates system vertically and horizontally
On reference axis, it is final to determine calibration tooling basis coordinates system.
Preferably, as shown in Figure 1, the bracing wire measuring device 2 includes rope sensor 21 and installation slide 22, the drawing
Rope sensor 21 is fixed on the side of the installation slide 22, and the rope sensor is connected by drawstring and the robot
It connects, the installation slide 22 is socketed in the upper of the guide rod 4 and can slide up and down along the guide rod 4.
Connect by rope sensor with robot, can obtain in real time robot during exercise calibration tooling between
Rope length convenient for establishing kinematics solution model, and then obtains the relative positional relationship between calibration tooling and robot, is marked
Determine position of the tooling relative to robot coordinate system, the limitation of rope sensor workplace is few, versatile；And by can be upper and lower
The installation slide of sliding, realizes sliding up and down for rope sensor, readily available calibration tooling in the vertical direction different
Calibration point, and then facilitate the position for determining calibration tooling relative to robot coordinate system.
Preferably, as shown in Figure 1, the rope sensor 21 is fixed on the one of the installation slide 22 by multiple bolts
Side.
By multiple bolt fixed pulling rope sensors so that rope sensor is fixed more preferably, guarantee rope sensor with
Robot is more stable when connecting, and guarantees the accuracy of calibration.
Preferably, as shown in Figure 1, the other side of the installation slide 22 is additionally provided with location hole 24, the installation slide 22
Fixing screws 23 by passing through the location hole 24 are fixed on the guide rod 4.
Since installation slide can be slided up and down along guide rod, can be consolidated by location hole and fixing screws by slide is installed
It is scheduled on guide rod, thus facilitate specific location coordinate of the determining rope sensor on calibration tooling basis coordinates system vertical direction,
And then facilitates and determine calibration tooling during the calibration process relative to the position of robot coordinate system.
Preferably, the substrate 3 is made of material that is rigid and can attracting each other with the magnetically attractive pedestal 1.Rigid material
Performance with preferable resistance to deformation, it is ensured that the stability of calibration tooling during the calibration process, to guarantee calibration
Precision is made of material that is rigid and can attracting each other with magnetically attractive pedestal, such as metallic iron, can both guarantee stability, also
It can be convenient portable use, it is versatile.
The working principle for carrying out the calibration of multirobot basis coordinates system using the calibration tooling of the utility model is as follows: adjustment mark
Tooling is determined in multiple calibration points, and bracing wire measuring device is connected with the end of robot to be calibrated；By teaching machine control to
Calibration robot successively move to multiple taught points, and obtain multiple robots to be calibrated terminal position and multiple calibration points with
Rope length between taught point；According to the terminal position of multiple robots to be calibrated and multiple rope lengths, simultaneous kinematical equation, and ask
Solve position of multiple calibration points relative to robot basis coordinates system to be calibrated；According to multiple calibration points relative to robot to be calibrated
The position of basis coordinates system, simultaneous homogeneous transform matrix equation obtain calibration tooling relative to robot basis coordinates system to be calibrated
Module and carriage transformation matrix；Wherein, the quantity of calibration point is at least three, and calibration point is distributed in calibration tooling basis coordinates system at least
In two reference axis.
When demarcating to dual robot basis coordinates system, calibration tooling phase is solved respectively using above-mentioned same method
For the module and carriage transformation matrix between Liang Ge robot basis coordinates system, and by matrixing, Liang Ge robot base is solved
Dual robot object pose transformation matrix between mark system；(it is greater than two machines when demarcating to multirobot basis coordinates system
Device people), similarly, calibration tooling is solved respectively using the above method relative to the position between each robot basis coordinates system
Appearance transformation matrix, and by matrixing, the multirobot object pose of robot basis coordinates system between any two can be solved and become
Change matrix.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of multirobot basis coordinates system geometric calibration tooling, which is characterized in that including substrate (3), be adsorbed on the substrate
(3) the magnetically attractive pedestal (1) on surface, the bracing wire measuring device (2) that is connect with robot and guide rod (4), the magnetically attractive pedestal (1)
It is flexibly connected with the lower end of the guide rod (4), the bracing wire measuring device (2) is flexibly connected with the upper end of the guide rod (4).
2. a kind of multirobot basis coordinates system geometric calibration tooling according to claim 1, which is characterized in that the magnetically attractive
Pedestal (1) includes magnetically attractive base station (11), magnetically attractive knob (12), elastic axle sleeve (13) and rotatable locking knob (16), the magnetically attractive
Base station (11) is arranged on the magnetically attractive pedestal (1), and the magnetically attractive knob (12) is located at the side of the magnetically attractive base station (11) simultaneously
For control the magnetically attractive base station (11) and the absorption of the substrate (3) with separate, the elastic axle sleeve (13) passes through the rotation
Turn hook knob (16) to be movably connected on the magnetically attractive base station (11), the lower end of the guide rod (4) is sheathed on the elastic axis
Cover (13) in, by the rotatable locking knob (16) be adjusted the guide rod (4) pose and elastic state.
3. a kind of multirobot basis coordinates system geometric calibration tooling according to claim 2, which is characterized in that the magnetically attractive
Base station (11) is made of magnetic material.
4. a kind of multirobot basis coordinates system geometric calibration tooling according to claim 2, which is characterized in that described elastic
Axle sleeve (13) include the first clamping part (131) and the second clamping part (132), one end of first clamping part (131) with it is described
One end of second clamping part (132) is fixedly connected with and is formed the clamp port (133) of perforation, and the guide rod (4) is through described
In clamp port (133), the other end of the other end of first clamping part (131) and second clamping part (132) side by side between
Every setting, and the two is equipped with the through-hole (134) passed through for the rotatable locking knob (16), rotates the rotatable locking knob
(16) other end of first clamping part (131) and the distance between the other end of second clamping part (132) is adjusted,
With adjust the guide rod (4) pose and elastic state.
5. a kind of multirobot basis coordinates system geometric calibration tooling according to claim 4, which is characterized in that the rotation
One end of hook knob (16) is equipped with threaded rod, on the magnetically attractive base station (11) with the rotatable locking knob (16) corresponding position
Place is equipped with matched tapped blind hole, and the threaded rod passes through the other end and described the of first clamping part (131)
The through-hole (134) of the other end of two clamping parts (132), and pass through the tapped blind hole and magnetically attractive base station (11) screw thread
Connection.
6. a kind of multirobot basis coordinates system geometric calibration tooling according to claim 2, which is characterized in that the magnetically attractive
On pedestal (1) with the elastic axle sleeve (13) is ipsilateral is additionally provided with vertical limited block (14) and horizontal stop block (15), led when described
When bar (4) deflects to vertical direction by the rotatable locking knob (16), the lower end of the guide rod (4) just with it is described vertical
Limited block (14) abuts against, described to lead when the guide rod (4) deflects to horizontal direction by the rotatable locking knob (16)
The lower part of bar (4) is abutted against with the horizontal stop block (15) just.
7. a kind of multirobot basis coordinates system geometric calibration tooling according to claim 1, which is characterized in that the bracing wire
Measuring device (2) includes rope sensor (21) and installation slide (22), and the rope sensor (21) is fixed on the installation
The side of slide (22), and the rope sensor is connect by drawstring with the robot, installation slide (22) socket
It can slide up and down in the upper of the guide rod (4) and along the guide rod (4).
8. a kind of multirobot basis coordinates system geometric calibration tooling according to claim 7, which is characterized in that the drawstring
Sensor (21) is fixed on the side of installation slide (22) by multiple bolts.
9. a kind of multirobot basis coordinates system geometric calibration tooling according to claim 7, which is characterized in that the installation
The other side of slide (22) is additionally provided with location hole (24), and installation slide (22) passes through the fixation across the location hole (24)
Screw (23) is fixed on the guide rod (4).
10. a kind of -9 described in any item multirobot basis coordinates system geometric calibration toolings, feature exist according to claim 1
In the substrate (3) is made of rigid material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821770077.7U CN209224099U (en) | 2018-10-30 | 2018-10-30 | A kind of multirobot basis coordinates system geometric calibration tooling |
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| CN201821770077.7U CN209224099U (en) | 2018-10-30 | 2018-10-30 | A kind of multirobot basis coordinates system geometric calibration tooling |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116294987A (en) * | 2022-11-25 | 2023-06-23 | 无锡中车时代智能装备研究院有限公司 | Coordinate conversion method and system in automatic measurement polishing system with double robots |
-
2018
- 2018-10-30 CN CN201821770077.7U patent/CN209224099U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116294987A (en) * | 2022-11-25 | 2023-06-23 | 无锡中车时代智能装备研究院有限公司 | Coordinate conversion method and system in automatic measurement polishing system with double robots |
| CN116294987B (en) * | 2022-11-25 | 2023-12-08 | 无锡中车时代智能装备研究院有限公司 | Coordinate conversion method and system in automatic measurement polishing system with double robots |
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