Mechanical arm system and its parallelism correction method

Abstract

The present invention relates to a robot arm system and a method for calibrating a parallelization degree thereof. The robot arm system includes an robot arm, a controller, and a parallelization degree calibrating device. The robot arm includes an end shaft, and the end shaft has an end cross section. The parallelization degree calibrating device has at least a range finder and is installed at the end cross section. The method for calibrating a parallelization degree of a robot arm system includes: a step of moving the end shaft to a calibrating position adjacent to a datum plane; a step of transmitting a measurement signal to the controller by measuring a distance difference between at least three measured points on the datum plane and the end by using the parallelization calibrating device; and a step of controlling a posture of the robot arm according to the measurement signal and enabling the distance between the measured points and the end cross section to be same as each other by using the controller. Thereby, the robot arm system and the method for calibrating a parallelization degree thereof enables the robot arm to rapidly perform accurate parallelization and form a working plane in various working situations.

Description

technical field [0001] The present invention is related to a mechanical arm, in particular to a mechanical arm system with parallelism correction function and its parallelism correction method. Background technique [0002] When the mechanical arm performs specific work, an end face thereof often needs to be parallel to a working plane, so that an end effector disposed on the end face can work smoothly. For example, the end effector may be a gripper for gripping a shaft and inserting the shaft into an insertion hole on the working plane of an orifice plate, the robotic arm must cause the shaft to The insertion hole is perpendicular to the working plane, at this time, the end surface must be parallel to the working plane. [0003] Please refer to the U.S. patent US5218550, which provides a bearing surface on a machine platform, and fixes the base of a robot arm on the bearing surface so that a specific part of the robot arm is parallel to a specific axis of the machine platf...

AI Technical Summary

Problems solved by technology

However, the method provided by the aforementioned patents cannot arbitrarily change the angle of the robot arm according to different work requirements, and if the machining accuracy of the bearing surface is not good, the parallelism between the robot arm and the machine cannot be ensured

[0004] In fact, the robot arm is often used in a variety of tasks, and its coordinate system is difficult to match the coordinate system of the corresponding working device (such as pick-and-place platform, orifice plate, etc.), so the end surface of the robot arm corresponds to The parallelism between the working planes of the working device is quite difficult to correct. In particular, the robot arm may require a tilted working plane with a relatively complex coordinate system. In this case, it is even more difficult to perform parallelism correction.

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