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1. (WO2018085984) METHOD FOR WORK PIECE CALIBRATION AND ROBOT SYSTEM USING THE SAME

Pub. No.:    WO/2018/085984    International Application No.:    PCT/CN2016/105054
Publication Date: Fri May 18 01:59:59 CEST 2018 International Filing Date: Wed Nov 09 00:59:59 CET 2016
IPC: B25J 9/10
G01B 21/04
G05B 19/404
Applicants: ABB SCHWEIZ AG
TAN, Jiajing
GU, Hao
LI, Jinsong
XU, Yan
CHENG, Shaojie
MAO, Lei
Inventors: TAN, Jiajing
GU, Hao
LI, Jinsong
XU, Yan
CHENG, Shaojie
MAO, Lei
Title: METHOD FOR WORK PIECE CALIBRATION AND ROBOT SYSTEM USING THE SAME
Abstract:
A method for calibration of work piece (WP) mounted in a predetermined manner to a work object (10) and a robot system (1) using the same. The work object (10) has a first surface (S1), a second surface (S2) and a third surface (S3), and wherein the work object (10) frame of reference (Fw) is defined by a first coordinate line (Xw), a second coordinate line (Yw), and a third coordinate line (Zw) at intersections of the first surface (S1), the second surface (S2) and the third surface (S3) converging on a point (Ow). The method includes: touching a first number of locations (S1a, S1b, S1c, S1d) on the first surface (S1) of the work object (10) positioned by the robot touch probe (12) to measure their actual locations on the first surface (S1) in the robot frame of reference (Fr), and storing the measured first coordinates for the measured locations;touching a second number of locations (S2a, S2b, S2c) on the second surface (S2) of the work object (10) positioned by the robot touch probe (12) to measure their actual locations on the second surface (S2) in the robot frame of reference (Fr), and storing the measured second coordinates for the measured locations;touching a third number of locations (S3a, S3b, S3c) on the third surface (S3) of the work object (10) positioned by the robot touch probe (12) to measure their actual locations on the third surface (S3) in the robot frame of reference (Fr), and storing the measured third coordinates for the measured locations;calculating orientation and origin of the work object (10) frame of reference (Fw) from the robot frame of reference (Fr) based on the measured first, second and third coordinates for the measured locations, where the work object (10) is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object (10) frame of reference (Fw) relative to the robot frame of reference (Fr). The method also enables the robot to perform machine operations accurately at locations on a work object (10).