公开(公告)号：EP1016506A1

公开(公告)日：2000-07-05

申请号：EP98900411.4

申请日：1998-01-16

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： WATANABE, Shinsuke-Kabushiki Kaisha Yaskawa Denki ,  INOUE, Yasuyuki,Kabushiki Kaisha Yaskawa Denki ,  MORITA, Hirotaka-Kabushiki Kaisha Yaskawa Denki ,  NAGATA, Hideo-Kabushiki Kaisha Yaskawa Denki ,  TANAKA, Youichi-Kabushiki Kaisha Yaskawa Denki

IPC分类号： B25J13/00 ,  B25J9/10

CPC分类号： B25J9/1692 ,  G05B2219/39007 ,  G05B2219/39019

摘要： A calibrating device 2 is composed of a movable portion having a degree of freedom movable in three axis directions orthogonal to each other, displacement detecting means (212, 222, and 232) for detecting displacement of said movable portion as per degree of freedom, a universal joint (25) having a three-axis rotating degree of freedom, which is attached to the tip end portion of said movable portion, a fixture (26) attached to a free end of the universal joint (25), which is capable of being easily connected to the tip end portion (16) of the wrist of the robot. The calibrating device (2) measures displacement of the wrist tip end portion (16). That is, the invention provides a comparatively simple calibrating device and a calibrating method, in which automation is easy without requiring any complicated operations, using the calibrating device.

摘要翻译： 校准装置2由具有可在相互正交的三个轴方向上移动的自由度的可动部分构成，位移检测装置（212,222和232），用于检测所述可动部分的自由度的位移， 具有安装在所述可动部的前端部的具有三轴旋转自由度的万向接头（25），安装在所述万向接头（25）的自由端的固定装置（26），能够 容易地连接到机器人手腕的末端部分（16）。 校准装置（2）测量手腕前端部（16）的位移。 也就是说，本发明提供了一种比较简单的校准装置和校准方法，其中自动化是容易的，而不需要使用校准装置的任何复杂的操作。

公开(公告)号：EP1016506B1

公开(公告)日：2008-12-03

申请号：EP98900411.4

申请日：1998-01-16

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： WATANABE, Shinsuke-Kabushiki Kaisha Yaskawa Denki ,  INOUE, Yasuyuki,Kabushiki Kaisha Yaskawa Denki ,  MORITA, Hirotaka-Kabushiki Kaisha Yaskawa Denki ,  NAGATA, Hideo-Kabushiki Kaisha Yaskawa Denki ,  TANAKA, Youichi-Kabushiki Kaisha Yaskawa Denki

IPC分类号： B25J13/00 ,  B25J9/10

CPC分类号： B25J9/1692 ,  G05B2219/39007 ,  G05B2219/39019

摘要： A calibrating device (2) is constituted of a mobile section having degrees of moving freedom in three orthogonal axial directions, displacement detecting means (212, 222 and 232) which respectively detect the displacement of the mobile section at every degree of freedom, a universal joint (25) which is attached to the front end of the mobile section and has a degree of rotational freedom around the three axes, and a jig (26) which is attached to the free end of the joint (25) and can be easily coupled with the front end section (16) of the wrist of a robot. The calibrating device (2) is used for measuring the displacement of the front end section (16) of the wrist of the robot. The present invention, therefore, provides a relatively simple calibrating device and a calibration method using the calibrating device which can be easily automated and which does not involve any complicated operation.