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Patent Agency Ranking
公开(公告)号：US20180194010A1
公开(公告)日：2018-07-12
申请号：US15917219
申请日：2018-03-09
Applicant: Delta Electronics, Inc.
Inventor： Cheng-Hao Huang
CPC classification number: B25J9/1692 , B25J9/161 , B25J9/1633 , B25J9/1674 , G01B21/042 , G05B2219/39001 , G05B2219/39021 , G05B2219/39048
Abstract: A mechanism-parametric-calibration method for a robotic arm system is provided, including: controlling the robotic arm to perform a plurality of actions so that one end of the robotic arm moves toward corresponding predictive positioning-points; determining a predictive relative-displacement between each two of the predictive positioning-points; after each of the actions is performed, sensing three-dimensional positioning information of the end of the robotic arm; determining, according to the three-dimensional positioning information, a measured relative-displacement moved by the end of the robotic-arm when each two of the actions are performed; deriving an equation corresponding to the robotic arm from the predictive relative-displacements and the measured relative-displacements; and utilizing a feasible algorithm to find the solution of the equation. When an ambient temperature changes or a stress variation on the robotic arm exceeds a predetermined range, re-obtaining the set of mechanism parametric deviations corresponds to a current robot configuration.
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公开(公告)号：US11951637B2
公开(公告)日：2024-04-09
申请号：US17339760
申请日：2021-06-04
Applicant: Delta Electronics, Inc.
Inventor： Cheng-Hao Huang , Shi-Yu Wang , Po-Chiao Huang , Han-Ching Lin , Meng-Zong Li
CPC classification number: B25J9/1692 , B25J9/023 , B25J9/1607 , B25J9/1664 , B25J9/1697 , B25J13/088
Abstract: A calibration apparatus includes a processor, an alignment device, and an arm. The alignment device captures images in a three-dimensional space, and a tool is arranged on a flange of the arm. The processor records a first matrix of transformation between an end-effector coordinate-system and a robot coordinate-system, and performs a tool calibration procedure according to the images captured by the alignment device for obtaining a second matrix of transformation between a tool coordinate-system and the end-effector coordinate-system. The processor calculates relative position of a tool center point of the tool in the robot coordinate-system based on the first and second matrixes, and controls the TCP to move in the three-dimensional space for performing a positioning procedure so as to regard points in an alignment device coordinate-system as points of the TCP, and calculates the relative positions of points in the alignment device coordinate-system and in the robot coordinate-system.
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公开(公告)号：US11084165B2
公开(公告)日：2021-08-10
申请号：US16220984
申请日：2018-12-14
Applicant: DELTA ELECTRONICS, INC.
Inventor： Yen-Po Wang , Cheng-Hao Huang , Ke-Hao Chang , Chun-Ying Chen
Abstract: An automatic alignment system of a robot manipulator is provided. The automatic alignment system includes a signal transmission module and a controller. The signal transmission module includes a first signal receiving and transmitting element and a second signal receiving and transmitting element. The first signal receiving and transmitting element is mounted on the robot manipulator. The second signal receiving and transmitting element is disposed neighboring to a target workpiece. A signal is transported between the signal receiving and transmitting elements. The controller is electrically connected with the signal transmission module for receiving the signal outputted from the signal transmission module. The controller acquires a relative position between the first signal receiving and transmitting element and the second signal receiving and transmitting element according to a variation in the signal. The controller controls the robot manipulator to be automatically aligned to the target workpiece in accordance with the relative position.
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公开(公告)号：US20190381668A1
公开(公告)日：2019-12-19
申请号：US16212273
申请日：2018-12-06
Applicant: DELTA ELECTRONICS, INC.
Inventor： Cheng-Hao Huang , Chih-Ming Hsu
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.
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公开(公告)号：US20170151670A1
公开(公告)日：2017-06-01
申请号：US15146725
申请日：2016-05-04
Applicant: DELTA ELECTRONICS, INC.
Inventor： Cheng-Hao Huang , Chih-Ming Hsu
IPC: B25J9/16
CPC classification number: B25J9/1692 , G05B2219/37231 , G05B2219/39019 , G05B2219/39021 , G05B2219/39026
Abstract: A tool calibration apparatus for a robot manipulator having a tool is disclosed. The tool calibration apparatus comprises a base, an X-axis measurement device, a Y-axis measurement device and a Z-axis measurement device. Each of the X-axis measurement device, the Y-axis measurement device and the Z-axis measurement device comprises a measuring plate and a sensor. The measuring plates of the X-axis measurement device, the Y-axis measurement device and the Z-axis measurement device move in a direction along the X-axis, Y-axis, and Z-axis, respectively. The sensors of the X-axis measurement device, the Y-axis measurement device and the Z-axis measurement device measure a displacement of the corresponding measuring plate. According to the displacements, information of a tool center point of the tool is acquired so as to calibrate the tool center point.
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