Calibration tool for a delta robot
View Patent ↗A jig for calibrating a Delta robot fixes the longitudinal axes of drive arms to be parallel. With this configuration, the jig always fixes the drive arms at the same reference angle no matter what the drive arm length is.
1. A jig for calibrating a robot comprising at least three drive arms, characterized in that the jig is configured to fix respective longitudinal axes of at least two of the at least three drive arms to be parallel relative to one another.
2. The jig according to claim 1 , wherein the jig is configured to fix respective longitudinal axes of the at least three drive arms to be parallel relative to one another.
3. The jig according to claim 1 , wherein the jig comprises an attachment element configured to interact directly with a drive arm.
4. The jig according to claim 3 , wherein the attachment element is a jig socket configured to interact with a ball.
5. A Delta robot comprising at least three drive arms and a jig according to claim 1 attached to the Delta robot.
6. A method for calibrating a robot comprising at least three drive arms, the method comprising the steps of:
fixing respective longitudinal axes of at least two of the at least three drive arms to be parallel relative to one another; and
using corresponding positions of the at least two drive arms as reference positions for the calibration.
7. The method according to claim 6 , wherein the method further comprises the step of fixing respective longitudinal axes of the at least three drive arms to be parallel relative to one another.
8. The method according to claim 6 , wherein a jig is attached directly to the at least two drive arms during the fixing step.
9. A delta robot, comprising:
a first drive arm extending along a first longitudinal axis;
a second drive arm extending along a second longitudinal axis;
a third drive arm extending along a third longitudinal axis; and
a jig connected to the first and second drive arms, and configured to positionally fix the first and second drive arms such that first and second longitudinal axes are parallel relative to one another.
10. The delta robot according to claim 9 , wherein the jig is removably connected to respective distal ends of the first and second drive arms.
11. The delta robot according to claim 9 , wherein the jig is connected to the first, second, and third drive arms, and is configured to positionally fix the first, second and third drive arms such that the first, second, and third second longitudinal axes are parallel relative to one another.
12. The delta robot according to claim 11 , wherein the jig is removably connected to respective distal ends of the first, second, and third drive arms.
13. The delta robot according to claim 12 , wherein the respective distal ends of the first, second, and third drive arms are configured to be removably connected to an end effector when the jig is removed from connection with the respective distal ends of the first, second, and third drive arms.