Method for calibrating a robot

Patent metadata

Field	Value
Publication number	US-2025262768-A1
Application number	US-202218293157-A
Country	US
Kind code	A1
Filing date	Jun 2, 2022
Priority date	Jul 30, 2021
Publication date	Aug 21, 2025
Grant date	—

Abstract

A method for calibrating a robot is disclosed. A working space of the robot at least partly overlaps with a working space of a machining and/or production tool. The robot is moved such that a reference point of the robot is at a first position within the working space of the machining and/or production tool. A first position value for the robot at the first position is compared with a first position value for the machining and/or production tool at the position. If the first position value for the robot differs from the first position value for the machining and/or production tool, the first position value for the robot is corrected or the first position value for the machining and/or production tool is corrected such that the first position value for the robot and the first position value for the machining and/or production tool are the same.

First claim

1 .- 13 . (canceled)

14 . A method for calibrating a robot, the method comprising:
moving a robot such that a reference point of the robot is located at a first position within a working space of the machine tool and/or production machine; comparing a first position value for the robot at the first position with a first position value for the machine tool and/or production machine at the first position; and based on the comparing, when the first position value for the robot differs from the first position value for the machine tool and/or production machine, the first position value for the robot is corrected, or the first position value for the machine tool and/or production machine is corrected, such that the first position value for the robot and the first position value for the machine tool and/or production machine are the same, wherein a working space of the robot at least partially overlaps a working space of the machine tool and/or the production machine.

15 . The method of claim 14 , wherein the first position values have a first coordinate, a second coordinate, and a third coordinate.

16 . The method of claim 14 , further comprising:
moving the robot such that the reference point of the robot is located at a second position within the working space of the machine tool and/or production machine; comparing a second position value for the robot at the second position with a second position value for the machine tool and/or production machine at the second position; and based on the comparing, when the second position value for the robot differs from the second position value for the machine tool and/or production machine, the second position value for the robot is corrected or the second position value for the machine tool and/or production machine is corrected such that the second position value for the robot and the second position value for the machine tool and/or production machine are the same.

17 . The method of claim 16 , further comprising ascertaining a third position value by interpolation or extrapolation based on the corrected first position value for the robot or for the machine tool and/or production machine and the corrected second position value for the robot or the machine tool and/or production machine.

18 . The method of claim 14 , further comprising moving the robot such that the reference point of the robot is located at a plurality of positions within the working space of the machine tool and/or production machine.

19 . The method of claim 18 , wherein the plurality of positions are arranged in a grid-like manner and/or in an array-like manner or wherein the plurality of positions are arranged such that the positions are located at or close to critical points of a workpiece to be machined.

20 . The method of claim 14 , wherein the reference point of the robot is arranged at an end effector of the robot.

21 . The method of claim 14 , further comprising moving the robot such that the reference point of the robot is located at a position on a worktable of the machine tool and/or production machine.

22 . The method of claim 21 , wherein the position on the worktable is in a corner of the worktable of the machine tool and/or production machine.

23 . The method of claim 14 , further comprising moving the robot such that the reference point of the robot is located at a spindle of the machine tool and/or production machine.

24 . The method of claim 23 , further comprising detecting contact with the worktable and/or the spindle is detected by a sensor probe present on and/or in an end effector of the robot.

25 . The method of claim 23 , further comprising detecting contact with the spindle by a sensor probe present on and/or in the spindle.

26 . A system, comprising:
a robot; a machine tool and/or production machine arranged such that a working space of the robot at least partially overlaps a working space of the machine tool and/or production machine; and a controller configured to move the robot such that a reference point of the robot is located at a first position within the working space of the machine tool and/or production machine; compare a first position value for the robot at the first position with a first position value for the machine tool and/or production machine at the first position; and based on the comparing, when the first position value for the robot differs from the first position value for the machine tool and/or production machine, correct the first position value for the robot, or correct the first position value for the machine tool and/or production machine, such that the first position value for the robot and the first position value for the machine tool and/or production machine are the same.

27 . The system of claim 26 , wherein the machine tool and/or production machine has a sensor probe and the machine tool and/or production machine is configured to function as a measuring tool.

28 . The system of claim 27 , wherein the machine tool and/or production machine has a spindle and the sensor probe is present on and/or in the spindle.

Assignees

• Siemens Ag

Inventors

• Hamm Carsten
• Seeger Guido

Classifications

• B25J9/1692 Primary

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