Patent ID: 11951637
Assignee: DELTA ELECTRONICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B  G

Claim 10:
11. The calibration method in claim 10, wherein the alignment device is a 3D machine visual sensor, and the step b) further comprises:
b11) controlling the alignment device to perform an image analysis to the tool;
b12) controlling the tool to make the TCP arrive at the same positioning point in the three-dimensional space under multiple gestures based on data obtained from the image analysis;
b13) recording coordinate information of the tool under each of the gestures, and computing the displacement amount and obtaining a dimension of the tool according to the coordinate information;
b14) controlling the tool, by the processor, to move in the three-dimensional space based on multiple heights and angles; and
b15) performing the image analysis to the tool by the alignment device to obtain positions and tilted angles of the tool for computing a direction vector of the tool.