Calibration Method and Calibration Jig Between Robot TCP and LVS

摘要

This invention relates to a calibration method and calibration jig between the robot and the LVS (Laser Vision System). ; is an object of the present invention is to provide a calibration method and calibration jig between the robot TCP and LVS to perform accurate calibration, regardless of the accuracy of the mechanical deformation occurs during LVS or LVS jig, or used This aims to: ; The present invention relates to the calibration jig to measure the position and the rotation angle between the coordinate system and the TCP LVS coordinate system in order to achieve the above object, ; is perpendicular to the bottom surface of the calibration jig and laser plane angle measurement plate forming the same direction as the joint direction; ; vertical in crossed between the bottom surface and the laser angle measurement of the calibration jig plate, the horizontal scale; ; Robots For the degree of freedom is rotational movement is not possible due to lack of height adjustment lever for adjusting the height of the calibration jig; ; joint that is used to measure the rotational angle between the TCP and the calibration jig provides a measuring point ; And ;, and displays an image acquired in the LVS, characterized in that the direction of laser irradiation on the bottom side of the y-axis of the calibration jig including LVS the LVS video monitor used to examine whether matching presents a calibration jig.