TW202421398A - Inspection method and device for industrial robots - Google Patents
Inspection method and device for industrial robots Download PDFInfo
- Publication number
- TW202421398A TW202421398A TW111144805A TW111144805A TW202421398A TW 202421398 A TW202421398 A TW 202421398A TW 111144805 A TW111144805 A TW 111144805A TW 111144805 A TW111144805 A TW 111144805A TW 202421398 A TW202421398 A TW 202421398A
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- TW
- Taiwan
- Prior art keywords
- industrial robot
- fixture
- spherical fixture
- spatial coordinates
- inspection method
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- 238000007689 inspection Methods 0.000 title abstract 4
- 238000000034 method Methods 0.000 title abstract 2
- 238000005259 measurement Methods 0.000 abstract 2
- 239000000523 sample Substances 0.000 abstract 1
Abstract
一種工業機器人的檢驗裝置，該工業機器人停駐在數個停駐點，該檢驗裝置包含一連接於該工業機器人且具有至少一球體治具的治具單元、一三次元量測單元，及一控制單元。本發明的檢驗方法包含下列步驟：驅動該三次元量測單元的一探針探測該球體治具在每一該停駐點的數個接觸點，用以獲得該至少一球體治具的一中心點的實際空間座標，及根據每一該實際空間座標與每一該理想空間座標，計算出一相關於該工業機器人的空間座標數據。藉此，通過該至少一球體治具在三維空間中的位置變化，精準的描繪出該工業機器人在三維空間中的實際位置與角度。An inspection device for an industrial robot, the industrial robot stops at a plurality of stop points, the inspection device comprising a fixture unit connected to the industrial robot and having at least one spherical fixture, a three-dimensional measurement unit, and a control unit. The inspection method of the present invention comprises the following steps: a probe of the three-dimensional measurement unit is driven to detect a plurality of contact points of the spherical fixture at each of the stop points to obtain the actual spatial coordinates of a center point of the at least one spherical fixture, and a spatial coordinate data related to the industrial robot is calculated based on each of the actual spatial coordinates and each of the ideal spatial coordinates. In this way, the actual position and angle of the industrial robot in the three-dimensional space are accurately depicted through the position change of the at least one spherical fixture in the three-dimensional space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW111144805A TWI821041B (en) | 2022-11-23 | 2022-11-23 | Inspection methods and devices for industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW111144805A TWI821041B (en) | 2022-11-23 | 2022-11-23 | Inspection methods and devices for industrial robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TWI821041B TWI821041B (en) | 2023-11-01 |
| TW202421398A true TW202421398A (en) | 2024-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW111144805A TWI821041B (en) | 2022-11-23 | 2022-11-23 | Inspection methods and devices for industrial robots |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI821041B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2596439B (en) * | 2019-03-14 | 2023-04-19 | Tokyo Seimitsu Co Ltd | Three-dimensional measuring system, and three-dimensional measuring method |
| GB2582972B (en) * | 2019-04-12 | 2021-07-14 | Renishaw Plc | Coordinate positioning machine |
| TWI708667B (en) * | 2019-09-27 | 2020-11-01 | 國立臺灣大學 | Method and device and system for calibrating position and orientation of a motion manipulator |
| CN113799130B (en) * | 2021-09-22 | 2023-05-02 | 西北工业大学 | Robot pose calibration method in man-machine cooperation assembly |
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2022
- 2022-11-23 TW TW111144805A patent/TWI821041B/en active
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