METHOD FOR CALIBRATING TOOL CENTRE POINT FOR INDUSTRIAL ROBOT SYSTEM

摘要

A method for calibrating a tool centre point of tool for an industrial robot system comprising a cross beam sensor (1) that has a first beam (14a) and a second beam (14b) which are angled to each other with a vertex angle greater than zero and cross each other at a crossing point (R) is provided. The method includes: (a) relatively moving a first part (21a) of said tool (21) and cross beam sensor (1) by said industrial robot (20) with translational motion in an orientation (O) so that said first part (21a) of said tool (21) respectively interrupts said first beam (14a) and said second beam (14b) of said cross beam sensor (1); (b) recoding a first posture and a second posture of said industrial robot (21) during the interruptions of said first beam (14a) and said second beam (14b) of said cross beam sensor (1) by said first part (21a) of said tool (21); (c) relatively moving a second part (21b) of said tool (1) and said cross beam sensor (1) by said industrial robot (20) with translational motion in said orientation (O) so that said second part (21b) of said tool (21) respectively interrupts said first beam (14a) and said second beam (14b) of said cross beam sensor (1); (d) recording a third posture and fourth posture of said industrial robot (20) during the interruptions of said first beam (14a) and said second beam (14b) of said cross beam sensor (1) by said second part (21b) of said tool (21); (e) calculating the tool orientation (O) in consideration of said first posture, second posture, third posture and fourth posture of said industrial robot (20) as well as said first beam (14a) direction and said second beam (14b) direction; and (f) relatively moving said tool (21) interrupts said crossing point (R) of said cross beam sensor (1) in consideration of said tool orientation (O) and either the first and the second postures or the third and the fourth postures of said industrial robot (20). By using the method as above, upon ignorance of the position of the tool (21), the industrial robot (20) can guide the cross beam sensor (1) to approach TCP of the tool (21).