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US 11,260,532 B2Granted
Calibration method for robot arm and calibration device thereof
AssigneeDelta Electronics, Inc.
InventorsYuan-Kun Hsiao, Jian-Jang Lai, Ko-Yueh Chen
Life of this patent
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Abstract
A calibration device is provided. The calibration device includes a frame, a first optical sensing device, a second optical sensing device and a third optical sensing device. The frame includes a bottom plate and at least four sidewalls, wherein the sidewalls have a first grating hole, a second grating hole, a third grating hole and a fourth grating hole at a first height. The bottom plate has an image recognition pattern, a first measurement point, a second measurement point and a third measurement point.
Claims14
A calibration device, comprising:
- a frame, comprising a bottom plate and at least four sidewalls, wherein there are a first grating hole, a second grating hole, a third grating hole and a fourth grating hole at a first height on the sidewalls, and an image recognition pattern, a first measurement point, a second measurement point and a third measurement point on the bottom plate;
- a first optical sensing device, comprising a first light-emitting unit disposed on one of the sidewalls of the frame and configured to provide a first light, and a first receiving unit disposed on a sidewall corresponding to the sidewall on which the first light-emitting unit is disposed and configured to receive the first light;
- a second optical sensing device, comprising a second light-emitting unit disposed on one of the sidewalls of the frame and configured to provide a second light, and a second receiving unit disposed on a sidewall corresponding to the sidewall on which the second light-emitting unit is disposed and configured to receive the second light;
- and
- a third optical sensing device, comprising a third light-emitting unit disposed on one of the sidewalls of the frame and configured to provide a third light, and a third receiving unit disposed on a sidewall corresponding to the sidewall on which the third light-emitting unit is disposed and configured to receive the third light.
2 more elements
A calibration method for a robot arm, comprising:
- providing a robot arm with an end point of reference, a connection stage and an image capturing device, wherein the image capturing device is disposed on the connection stage;
- providing a machine tool disposed on the connection stage;
- providing a calibration device comprising an image recognition pattern, a first measurement point, a second measurement point and a third measurement point;
- capturing images of the image recognition pattern, the first measurement point, the second measurement point and the third measurement point, wherein a first transfer matrix of the image capturing device relative to the end point of reference is calculated according to the image recognition pattern, and actual coordinates of the image capturing device relative to the end point of reference are obtained;
- and
- obtaining a second transfer matrix of the first measurement point, the second measurement point and the third measurement point relative to the end point of reference from measured size values of the images of the first measurement point, the second measurement point and the third measurement point, and actual size values of the images of the first measurement point, the second measurement point and the third measurement point.
3 more elements
Dependencies are inferred from the claim text.