Hon Hai Precision Industry Co., Ltd.

Hong-fu Jin Precision Industry (shenzhen) Co., Ltd.

Fulian Yuzhan Precision Technology Co., Ltd

Long-En Chiu

Yong Wu

Gang Zhao

Shu-Jun Fu

An inspection method for a speed variator including a first gear and a second gear includes obtaining a first position of the first gear based on a contact between a first gear tooth of the first gear and a third gear tooth of the second gear, driving the first gear to rotate in a first direction to bring a second gear tooth of the first gear into contact with the third gear tooth, obtaining a second position of the first gear based on a contact between the second gear tooth and the third gear tooth, and determining a condition of the speed variator based on the first position and the second position. Also, an inspection device is provided.

Inspection device and inspection method for speed variator

A calibration method for a coordinate system of a workpiece held by a robot manipulator, which includes the following steps: setting a predicted coordinate system on the workpiece; controlling the drive mechanism to drive the workpiece to move a specific distance along a coordinate axis in the predicted coordinate system and measuring the distance change of the workpiece in a direction perpendicular to the move; using the measured distance change to determine an orientation error between the predicted coordinate system and the actual coordinate system; correcting the orientation parameters of the predicted coordinate system; controlling the drive mechanism to drive the workpiece to rotate by a specific angle around a coordinate axis of the predicted coordinate system and measuring the distance change after being rotated; using the measured distance change to determine a position error; correcting the position parameters of the predicted coordinate system.

Calibration method for coordinate system of robot manipulator

A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system Twith the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system Tto establish a visual coordinate system T; calculating a scaling ratio &#x3bb; of the vision coordinate system Trelative to the preset coordinate system T; rotating the TCP relative to axes of the preset coordinate system T; capturing pictures of the TCP prior to and after rotation; calculating the deviation &#x394;P between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system Tusing &#x394;P, and repeating the rotation through correction steps until &#x394;P is less than or equal to a maximum allowable deviation of the robot manipulator.

Vision correction method for tool center point of a robot manipulator

A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of &#x394;w; updating the position parameters of the preset TCP, defining a new preset coordinate system TG'; rotating the TCP relative to the UG&#x2032;-axis by about 90 degrees, calculating the value of &#x394;v; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG&#x2033;; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of &#x394;u; repeating the aforementioned steps until the deviation &#x394;P (&#x394;w, &#x394;v, &#x394;u) is less than or equal to a maximum allowable deviation of the robot manipulator.

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Taipei, Taiwan

Long-En Chiu