# US 9,114,534 B2 · Robot calibration systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,114,534 B2 - Document ID: US9114534B2 - Status: Granted - Kind: B2 - Application number: 14/098,977 - Filed: 2013-12-06 - Published: 2015-06-11 - Granted: 2015-08-25 - Earliest claimed: 2013-01-14 - Applicants: Matthew E Trompeter - Inventors: Matthew E Trompeter - Web page: https://patentgrep.com/patent/US9114534B2 ## CPC - B25J 9/1692: {Calibration of manipulator} - G05B 2219/39024: Calibration of manipulator - G05B 2219/50028: Beam detects x, y deviation on surface, compensates beam of position scanner - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract The robot work finder calibration systems combine a visual datum reference tool with either a manual or automatic tool finder. Two different visual datum reference tools can be used with either an automatic or manual work finder. This technology enables the user to visually see a robotic reference frame, a frame in space that is relative to an industrial robot and workpiece tool that is otherwise abstract. Enabling the user to visually see the robotic reference frame on the shop floor enables adjustment of the robotic frame to the shop floor and correction of a robotic path or off-line program to enhance accuracy. Two laser beams are emitted and intersect at a tool center point. The tool center point and the laser beams are then used to define a robotic reference frame. The technology improves cost and time factors in applications where absolutely accurate robots are not really necessary. ## Claims ### Claim 1 A robot calibration system comprising: a. a visual datum reference tool, having a first and second lasers, said first laser emitting a first laser beam, said second laser emitting a second laser beam, said first laser beam intersecting said second laser beam at a tool center point, said tool center point defining the location of a robotic reference frame; and b. a robotic tool finder being disposed onto a robot tool, said robotic tool finder enabling generation of said robotic reference frame, said robotic reference frame enabling calibration of said robot work path; whereby angular positions of said robot tool are adjustable relative to said robotic reference frame. ### Claim 2 (depends on 1) The robot calibration system of claim 1, wherein said robotic reference frame is defined by a first point disposed at said tool center point, a second point disposed along said first laser beam other than at said tool center point, and a third point disposed along said second laser beam other than said tool center point. ### Claim 3 (depends on 1) The robot calibration system of claim 1, wherein said robotic tool finder is a manual tool finder, said manual tool finder, in use, enables user alignment of said robot work path by moving said robot into until said first or second laser is visible through either said first passageway or said second passageway unobstructed. ### Claim 4 (depends on 1) The robot calibration system of claim 1, wherein said robotic tool finder is a manual robot tool finder having a first passageway and a second passageway, said first passageway intersecting said second passageway, and mounting means for retaining said manual robot tool finder onto a robot tool, said manual robot tool finder, in use, moving said robot tool until said first or second laser of said visual datum reference tool is unobstructed either through said first passageway or through said second passageway enabling alignment of said robot work path. ### Claim 5 (depends on 3) The robot calibration system of claim 3, wherein said robotic tool finder is a manual robot tool finder having: a. a first passageway enabling a first laser beam to pass therethrough unobstructed; b. a second passageway enabling a second laser beam to pass therethrough unobstructed, said second passageway intersecting said first passageway; and c. mounting means for retaining said manual tool finder onto a robot tool; whereby said manual tool finder includes a closed position and an open position, said open position enabling access to said first and said second passageways. ### Claim 6 (depends on 1) The robot calibration system of claim 1, wherein said robotic tool finder is an automatic tool finder having mounting means for retaining said calibration device onto a robot tool; said automatic tool finder having a plurality of LEDs mounted thereon, said plurality of LEDs being in close prose proximity to each other, an LED being illuminated when struck by said first or second laser beam. ### Claim 7 (depends on 1) The robot calibration system of claim 1, wherein said robotic tool finder is an automatic tool finder mounting means for retaining said calibration device onto a robot tool; and a plurality of LEDs mounted thereon, said plurality of LEDs in close prose proximity to each other, each of said LEDs being illuminated when struck by a laser; whereby said automatic tool finder, in use, when attached to said robot tool, automatically programs a robot work path when said LEDs contact either said first or said second laser beam. ### Claim 8 A robot calibration system comprising: a. a visual datum reference tool, having a first and second lasers, said first laser emitting a first laser beam, said second laser emitting a second laser beam, said first laser beam intersecting said second laser beam at a tool center point, said tool center point defining the location of a robotic reference frame; and b. means for adjusting angular positions of said robot tool relative to said robotic reference frame, said adjusting means being disposed relative to a robot tool, said adjusting means enabling generation of said robotic reference frame; whereby angular positions of said robot tool are adjustable relative to said robotic reference frame. ### Claim 9 (depends on 8) The robot calibration system of claim 8, wherein said adjusting means is a manual tool finder, said manual tool finder, in use, enables user alignment of said robot work path by moving said robot into until said first or second laser is visible through either said first passageway or said second passageway unobstructed. ### Claim 10 (depends on 8) The robot calibration system of claim 8, wherein said adjusting means is a manual robot tool finder having a first passageway and a second passageway, said first passageway intersecting said second passageway, and mounting means for retaining said manual robot tool finder onto a robot tool, said manual robot tool finder, in use, moving said robot tool until said first or second laser of said visual datum reference tool is unobstructed either through said first passageway or through said second passageway enabling alignment of said robot work path. ### Claim 11 (depends on 8) The robot calibration system of claim 8, wherein said adjusting means is a manual robot tool finder having: a. a first passageway enabling a first laser beam to pass therethrough unobstructed; b. a second passageway enabling a second laser beam to pass therethrough unobstructed, said second passageway intersecting said first passageway; and c. mounting means for retaining said manual tool finder onto a robot tool; whereby said robot calibration device includes a closed position and an open position, said open position enabling access to said first and said second passageways. ### Claim 12 (depends on 8) The robot calibration system of claim 8, wherein said adjusting means is an automatic tool finder having mounting means for retaining said calibration device onto a robot tool; said automatic tool finder having a plurality of LEDs mounted thereon, said plurality of LEDs being in close prose proximity to each other, an LED being illuminated when struck by said first or second laser beam. ### Claim 13 (depends on 8) The robot calibration system of claim 8, wherein said adjusting means is an automatic tool finder mounting means for retaining said calibration device onto a robot tool; and a plurality of LEDs mounted thereon, said plurality of LEDs in close prose proximity to each other, each of said LEDs being illuminated when struck by a laser; whereby said automatic tool finder, in use, when attached to said robot tool, automatically programs a robot work path when said LEDs contact either said first or said second laser beam. ### Claim 14 A robot calibration system comprising: a. means for emitting a first and second lasers, said first laser emitting a first laser beam, said second laser emitting a second laser beam, said first laser beam intersecting said second laser beam at a tool center point, said first laser and said first laser beam defining the location of a robotic reference frame; and b. means for adjusting angular positions of said robot tool relative to said robotic reference frame, said adjusting means being disposed relative to a robot tool, said adjusting means enabling generation of said robotic reference frame; whereby angular positions of said robot tool are adjustable relative to said robotic reference frame. ### Claim 15 (depends on 14) The robot calibration system of claim 14, wherein said robotic reference frame is defined by a first point disposed at said tool center point, a second point disposed along said first laser beam other than at said tool center point, and a third point disposed along said second laser beam other than said tool center point. ### Claim 16 (depends on 14) The robot calibration system of claim 14, wherein said adjusting means is a manual tool finder, said manual tool finder, in use, enables user alignment of said robot work path by moving said robot into until said first or second laser is visible through either said first passageway or said second passageway unobstructed. ### Claim 17 (depends on 14) The robot calibration system of claim 14, wherein said adjusting means is a manual robot tool finder having a first passageway and a second passageway, said first passageway intersecting said second passageway, and mounting means for retaining said manual robot tool finder onto a robot tool, said manual robot tool finder, in use, moving said robot tool until said first or second laser of said emitting means is unobstructed either through said first passageway or through said second passageway enabling alignment of said robot work path. ### Claim 18 (depends on 14) The robot calibration system of claim 14, wherein said adjusting means is a manual robot tool finder having: a. a first passageway enabling a first laser beam to pass therethrough unobstructed; b. a second passageway enabling a second laser beam to pass therethrough unobstructed, said second passageway intersecting said first passageway; and c. mounting means for retaining said manual tool finder onto a robot tool; whereby said robot calibration device includes a closed position and an open position, said open position enabling access to said first and said second passageways. ### Claim 19 (depends on 14) The robot calibration system of claim 14, wherein said adjusting means is an automatic tool finder having mounting means for retaining said calibration device onto a robot tool; said automatic tool finder having a plurality of LEDs mounted thereon, said plurality of LEDs being in close prose proximity to each other, an LED being illuminated when struck by said first or second laser beam. ### Claim 20 (depends on 14) The robot calibration system of claim 14, wherein said adjusting means is an automatic tool finder mounting means for retaining said calibration device onto a robot tool; and a plurality of LEDs mounted thereon, said plurality of LEDs in close prose proximity to each other, each of said LEDs being illuminated when struck by a laser; whereby said automatic tool finder, in use, when attached to said robot tool, automatically programs a robot work path when said LEDs contact either said first or said second laser beam.