Calibration of Robot Work Paths

摘要

The calibration device combines a work object with an industrial robot and a robot tool. The work object uses a pair of beam projecting lasers and three plane projecting lasers, the laser beams intersecting at a laser intersecting point. The laser intersection point of the laser beams and laser planes represent the location of the reference coordinate system which is selected to be the origin of the robot path being downloaded from the off-line programming. Once this off-line programming is created, the work object is placed onto the fixture on the manufacturing shop floor in the same place as the CAD environment. The user then manipulates the TCP into position of the laser intersection point and the laser planes. The robot is then manipulated down a first laser with the TCP recording a second point along a first laser beam and recording a third point along the opposing laser beam.

主权项

1. A work object for calibrating a robot work path on a manufacturing shop floor relative to a robot tool, said work object comprising:
a. a first laser mounted on said work object, said first laser projecting a first laser beam relative to said robot tool; b. a second laser mounted on said work object, said second laser projecting a second laser beam relative to said robot tool, said second laser beam intersecting said first laser beam at a laser intersection point; c. a reference coordinate system including said first and second laser, calibration of said robot work path deploying said reference coordinate system using CAD simulation software; and d. a plurality of plane-projecting lasers, each plane projecting laser projecting a laser plane, at least two of said laser planes intersecting each other; whereby said laser planes enable adjustment of angular positions of said robot tool on said manufacturing shop floor relative to said reference coordinate system.