Tool calibration apparatus for robotic arm

Patent metadata

Field	Value
Publication number	US-2019381668-A1
Application number	US-201816212273-A
Country	US
Kind code	A1
Filing date	Dec 6, 2018
Priority date	Jun 19, 2018
Publication date	Dec 19, 2019
Grant date	—

Abstract

A tool calibration apparatus includes a first measuring device, a second measuring device, a third measuring device, a fourth measuring device and a fifth measuring device. The first measuring device includes a first measuring surface, a first measuring edge and a sensor. The second measuring device includes a second measuring surface, a second measuring edge and a sensor. The third measuring device includes a third measuring edge and a sensor. The fourth measuring device includes a fourth measuring edge and a sensor. The fifth measuring device includes a third measuring surface and a sensor. The first measuring surface, the first measuring edge and the third measuring edge are movable in an X-axis direction. The second measuring surface, the second measuring edge and the fourth measuring edge are movable in a Y-axis direction. The third measuring surface is movable in a Z-axis direction.

First claim

What is claimed is:

1 . A tool calibration apparatus for a robotic arm with a tool, the robotic arm being controlled by a controller, the controller recording a position point of the robotic arm and being in communication with the tool calibration apparatus, the tool calibration apparatus comprising:
a base; a first measuring device disposed on the base, and comprising a first measuring surface, a first sensor and a first measuring edge, wherein the first measuring surface and the first measuring edge are movable in an X-axis direction, wherein when a tool center point of the tool is contacted with the first measuring surface to drive a movement of the first measuring surface and trigger the first sensor, the first sensor generates a first feedback signal to the controller, and the controller records the position point of the robotic arm according to the first feedback signal, wherein when any region of the tool is contacted with the first measuring edge to drive a movement of the first measuring edge and trigger the first sensor, the first sensor generates the first feedback signal to the controller, and the controller records the position point of the robotic arm according to the first feedback signal; a second measuring device disposed on the base, and comprising a second measuring surface, a second sensor and a second measuring edge, wherein the second measuring surface and the second measuring edge are movable in a Y-axis direction, wherein when the tool center point of the tool is contacted with the second measuring surface to drive a movement of the second measuring surface and trigger the second sensor, the second sensor generates a second feedback signal to the controller, and the controller records the position point of the robotic arm according to the second feedback signal, wherein when any region of the tool is contacted with the second measuring edge to drive a movement of the second measuring edge and trigger the second sensor, the second sensor generates the second feedback signal to the controller, and the controller records the of the robotic arm according to the second feedback signal; a third measuring device disposed on the base and opposed to the first measuring device, and comprising a third sensor and a third measuring edge, wherein the third measuring edge is movable in the X-axis direction, wherein when any region of the tool is contacted with the third measuring edge to drive a movement of the third measuring edge and trigger the third sensor, the third sensor generates a third feedback signal to the controller, and the controller records the position point of the robotic arm according to the third feedback signal; a fourth measuring device disposed on the base and opposed to the second measuring device, and comprising a fourth sensor and a fourth measuring edge, wherein the fourth measuring edge is movable in the Y-axis direction, wherein when any region of the tool is contacted with the fourth measuring edge to drive a movement of the fourth measuring edge and trigger the fourth sensor, the fourth sensor generates a fourth feedback signal to the controller, and the controller records the position point of the robotic arm according to the fourth feedback signal; and a fifth measuring device disposed on the base, and comprising a fifth sensor and a third measuring surface, wherein the third measuring surface is movable in a Z-axis direction, wherein when the tool center point of the tool is contacted with the third measuring surface to drive a movement of the third measuring surface and trigger the fifth sensor, the fifth sensor generates a fifth feedback signal to the controller, and the controller records the position point of the robotic arm according to the fifth feedback signal, wherein the tool drives at least one of the first measuring device, the second measuring device, the third measuring device, the fourth measuring device and the fifth measuring device to generate at least one of the first feedback signal, the second feedback signal, the third feedback signal, the fourth feedback signal and the fifth feedback signal to the controller, so that a required information of the tool is acquired according the position point of robotic arm recorded by the controller.

2 . The tool calibration apparatus according to claim 1 , wherein the first measuring device, the second measuring device, the third measuring device and the fourth measuring device are disposed on the base in a rectangular arrangement, a sensing space is formed in the base and arranged between the first measuring device, the second measuring device, the third measuring device and the fourth measuring device, and the tool is movable within the sensing space.

3 . The tool calibration apparatus according to claim 2 , wherein the base further comprises a hollow portion corresponding to the sensing space, wherein when a measuring altitude of the tool within the sensing space is adjusted, the tool is inserted into the hollow portion.

4 . The tool calibration apparatus according to claim 2 , wherein the first measuring device further comprises a main body and a sharp-shaped block, wherein the first measuring surface is perpendicularly protruded from a top surface of the main body, and the sharp-shaped block is horizontally protruded from the main body and tapered in a direction toward the sensing space, so that a shape edge of the sharp-shaped block is formed as the first measuring edge.

5 . The tool calibration apparatus according to claim 4 , wherein the first measuring device further comprises a linear track and an elastic element, wherein when the main body is slid relative to the linear track, the first measuring surface or the first measuring edge is correspondingly moved and the elastic element is compressed to generate an elastic restoring force.

6 . The tool calibration apparatus according to claim 5 , wherein the first measuring device and the second measuring device have the same structure.

7 . The tool calibration apparatus according to claim 2 , wherein the third measuring device further comprises a main body and a sharp-shaped block, wherein the sharp-shaped block is horizontally protruded from the main body and tapered in a direction toward the sensing space, so that a shape edge of the sharp-shaped block is formed as the third measuring edge.

8 . The tool calibration apparatus according to claim 7 , wherein the third measuring device and the fourth measuring device have the same structure.

9 . The tool calibration apparatus according to claim 2 , wherein the fifth measuring device is located over the base and located outside the sensing space, wherein the fifth measuring device comprises a main body, and the third measuring surface is horizontally protruded from a top surface of the main body.

10 . The tool calibration apparatus according to claim 1 , further comprising:
a sixth measuring device disposed on the base, arranged near and aligned with the first measuring device, and comprising a sixth sensor and a sixth measuring edge, wherein the sixth measuring edge of the sixth measuring device is movable in the X-axis direction, wherein when any region of the tool is contacted with the sixth measuring edge of the sixth measuring device to drive a movement of the sixth measuring edge of the sixth measuring device and trigger the sixth sensor of the sixth measuring device, the sixth sensor of the sixth measuring device generates a sixth feedback signal to the controller, and the controller records the position point of the robotic arm according to the sixth feedback signal; a seventh measuring device disposed on the base, arranged near and aligned with the second measuring device, and comprising a seventh senso

Assignees

• Delta Electronics Inc

Inventors

• Huang Cheng-Hao
• Hsu Chih-Ming

Classifications

• B25J19/0095

  Means or methods for testing manipulators · CPC title

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• G05B2219/39021

  With probe, touch reference positions · CPC title

• G05B2219/39024

  Calibration of manipulator · CPC title

• B25J19/02

  Sensing devices · CPC title