CN103791871A - Multi-joint mechanical arm calibration method - Google Patents
Multi-joint mechanical arm calibration method Download PDFInfo
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- CN103791871A CN103791871A CN201410058088.2A CN201410058088A CN103791871A CN 103791871 A CN103791871 A CN 103791871A CN 201410058088 A CN201410058088 A CN 201410058088A CN 103791871 A CN103791871 A CN 103791871A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000013507 mapping Methods 0.000 claims abstract description 10
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
本发明介绍了一种多关节机械臂标定方法，包括下述步骤：（1）配备测绘设备；（2）采集设备数据；（3）获得高程位置；（4）获得空间坐标：（4.1）得到远离竖直轴的多关节水平摆动臂端点的Z坐标；（4.2）计算出远离竖直轴的多关节水平摆动臂端点的X坐标、Y坐标；（4.3）控制多关节机械臂对受测水轮机叶片实施空间坐标标定。该方法：1）克服了以往人工标定速度慢、精度差的缺陷，可广泛应用于现场对水轮机叶片型线测绘质量的控制，效果显著；2）操作简单，绝对标定误差≤±1mm，重复标定误差≤±0.5mm.，可瞬时标定；3）大幅提高了标定速度和精度。The present invention introduces a multi-joint robotic arm calibration method, including the following steps: (1) equipped with surveying and mapping equipment; (2) collecting equipment data; (3) obtaining the elevation position; (4) obtaining spatial coordinates: (4.1) obtaining The Z coordinate of the end point of the multi-joint horizontal swing arm away from the vertical axis; (4.2) Calculate the X and Y coordinates of the end point of the multi-joint horizontal swing arm far away from the vertical axis; (4.3) Control the multi-joint manipulator to the hydro turbine under test The blade implements spatial coordinate calibration. This method: 1) overcomes the shortcomings of slow speed and poor accuracy of manual calibration in the past, and can be widely used in the field control of the quality of turbine blade profile mapping, with remarkable results; 2) simple operation, absolute calibration error ≤ ± 1mm, repeated calibration Error ≤±0.5mm., can be calibrated instantaneously; 3) The calibration speed and accuracy have been greatly improved.
Description
Technical field
The invention belongs to hydro-electric power generating equipment technical field, be specifically related to a kind of multi-joint mechanical arm scaling method for the mapping of turbine blade molded line.
Background technology
Turbine runner blade is the curved surface of spatial warping, and after long-time running, wearing and tearing, seminess take place frequently, and need to overhaul repair welding processing.And in maintenance repair welding, require the strict vane type line of controlling to guarantee leaf quality, for this reason, must grasp feature and the spatial variations of vane type line comprehensively.Adopt widely multi-joint mechanical arm technology mapping turbine blade molded line, but according to the effect of on-the-spot mapping turbine blade molded line, use multi-joint mechanical arm tested turbine blade to be implemented to the demarcation of volume coordinate, often need to expend too much time and efforts, can not meet the requirement of on-the-spot duration.If blindly accelerated, make to demarcate and inaccurately more can bring error to the grasp of vane type line, directly affect quality control and the security of operation of blade maintenance.In view of this, urgently develop a kind of multi-joint mechanical arm that can use fast, accurately and efficiently in engineering construction tested turbine blade is implemented to the method that volume coordinate is demarcated, in the hope of can be with less input, strive for obtaining larger economic benefit.
Summary of the invention
The technical problem to be solved in the present invention is, for the defect of prior art, a kind of multi-joint mechanical arm scaling method is provided, uses the method can in engineering construction, use fast, accurately and efficiently multi-joint mechanical arm tested turbine blade to be implemented to the demarcation of volume coordinate.
Technical scheme of the present invention is that the multi-joint mechanical arm scaling method providing comprises the steps:
(1), be equipped with mapping equipment.Being equipped with one can be used for implementing the multi-joint mechanical arm that volume coordinate is demarcated to tested turbine blade.Described multi-joint mechanical arm generally by upright guide rail, the multi-joint horizontal pendulum swing arm that moves up and down along upright guide rail forms.From the product description of this multi-joint mechanical arm manufacturer dispensing, obtain performance parameter and the specifications parameter of this multi-joint mechanical arm.Measure the arm body length between each joint of multi-joint horizontal pendulum swing arm of this multi-joint mechanical arm; Measure the difference in height of every section of mechanical arm in elevation direction;
(2), collecting device data.The rotational angle of the each joint of the multi-joint mechanical arm code-disc that acquisition step (1) is equipped with;
(3), obtain elevation position.The motor shaft anglec of rotation that absolute type encoder on the vertical axes bottom servomotor of the multi-joint mechanical arm upright guide rail that acquisition step (1) is equipped with is measured, the multi-joint horizontal pendulum swing arm that calculates this multi-joint mechanical arm is done the elevation position up and down reciprocatingly moving freely on upright guide rail;
(4), obtain volume coordinate.The rotational angle of the difference in height with the arm body length between each joint of multi-joint horizontal pendulum swing arm of step (1) multi-joint mechanical arm of being surveyed and every section of mechanical arm in elevation direction, the each joint of the multi-joint mechanical arm code-disc that step (2) is gathered, and the elevation position that the multi-joint horizontal pendulum swing arm of the multi-joint mechanical arm that calculates of step (3) does up and down reciprocatingly to move freely on upright guide rail is foundation, use trigonometric function computing method to calculate as follows:
(4.1), utilize the absolute type encoder anglec of rotation on the vertical axes servomotor of described multi-joint mechanical arm, the each section of mechanical arm difference in height in elevation direction to calculate the height away from the multi-joint horizontal pendulum swing arm end points of vertical axes, obtain this Z coordinate away from the multi-joint horizontal pendulum swing arm end points of vertical axes;
(4.2), utilize the corner in each joint that the scrambler at the horizontal multistage shoulder joint place of the arm body length between each joint of described multi-joint mechanical arm, described multi-joint mechanical arm surveys, calculate X coordinate, Y coordinate away from the multi-joint horizontal pendulum swing arm end points of vertical axes;
(4.3) computing machine that, utilization is connected with the control system of described multi-joint mechanical arm, X volume coordinate, Y volume coordinate, the Z volume coordinate of the horizontal pendulum swing arm end points of the upright guide rail away from multi-joint mechanical arm calculating by step (4.1)～(4.2) are offered to the control system of multi-joint mechanical arm with serial port or network communication mode, to control multi-joint mechanical arm, tested turbine blade is implemented to volume coordinate demarcation.
The invention has the beneficial effects as follows:
1), made up the deficiency of multi-joint mechanical arm tradition demarcation mode, overcome that the speed of in the past manually demarcating is slow, the defect of low precision, thereby can be widely used in the on-the-spot control to turbine blade molded line mapping quality, effect is very remarkable;
2), have simple to operate, high, the fireballing feature of stated accuracy.Absolute calibration's error≤± 1mm, repeats calibrated error≤± 0.5mm., can realize thus instantaneous demarcation;
3), use high precision code-disc to measure joint rotation angle, introduce pulse and increase progressively technology, increased substantially demarcation speed and precision.
Embodiment:
Embodiment 1:
(1), be equipped with mapping equipment.Being equipped with one can be used for implementing the multi-joint mechanical arm that volume coordinate is demarcated to tested turbine blade.Institute joins multi-joint mechanical arm and adopts commercially available TBM-6 type multi-joint mechanical arm, and its vertical axes servomotor power is 200W, and upright guide rail effective travel is 1320mm, and multi-joint horizontal pendulum swing arm is five sections of mechanical arm interlinkage structures.From the product description of this multi-joint mechanical arm manufacturer dispensing, obtain performance parameter and the specifications parameter of this multi-joint mechanical arm.Measure the arm body length between each joint of multi-joint horizontal pendulum swing arm of this multi-joint mechanical arm; Measure the difference in height of every section of mechanical arm in elevation direction;
(2), collecting device data.The rotational angle of the each joint of the multi-joint mechanical arm code-disc that acquisition step (1) is equipped with;
(3), obtain elevation position.The motor shaft anglec of rotation that absolute type encoder on the vertical axes bottom servomotor of the multi-joint mechanical arm upright guide rail that acquisition step (1) is equipped with is measured, the multi-joint horizontal pendulum swing arm that calculates this multi-joint mechanical arm is done the elevation position up and down reciprocatingly moving freely on upright guide rail;
(4), obtain volume coordinate.The rotational angle of the difference in height with the arm body length between each joint of multi-joint horizontal pendulum swing arm of step (1) multi-joint mechanical arm of being surveyed and every section of mechanical arm in elevation direction, the each joint of the multi-joint mechanical arm code-disc that step (2) is gathered, and the elevation position that the multi-joint horizontal pendulum swing arm of the multi-joint mechanical arm that calculates of step (3) does up and down reciprocatingly to move freely on upright guide rail is foundation, use trigonometric function computing method to calculate as follows:
(4.1), utilize the absolute type encoder anglec of rotation on the vertical axes servomotor of described multi-joint mechanical arm, the each section of mechanical arm difference in height in elevation direction to calculate the height away from the multi-joint horizontal pendulum swing arm end points of vertical axes, obtain this Z coordinate away from the multi-joint horizontal pendulum swing arm end points of vertical axes;
(4.2), utilize the corner in each joint that the scrambler at the horizontal multistage shoulder joint place of the arm body length between each joint of described multi-joint mechanical arm, described multi-joint mechanical arm surveys, calculate X coordinate, Y coordinate away from the multi-joint horizontal pendulum swing arm end points of vertical axes;
(4.3) computing machine that, utilization is connected with the control system of described multi-joint mechanical arm, X volume coordinate, Y volume coordinate, the Z volume coordinate of the horizontal pendulum swing arm end points of the upright guide rail away from multi-joint mechanical arm calculating by step (4.1)～(4.2) are offered to the control system of multi-joint mechanical arm with serial port, to control multi-joint mechanical arm, tested turbine blade is implemented to volume coordinate demarcation.
Embodiment 2:
(1), be equipped with mapping equipment.Being equipped with one can be used for implementing the multi-joint mechanical arm that volume coordinate is demarcated to tested turbine blade.Institute joins multi-joint mechanical arm and adopts commercially available TBM-5 type multi-joint mechanical arm, and its vertical axes servomotor power is 200W, and upright guide rail effective travel is 1200mm, and multi-joint horizontal pendulum swing arm is four sections of mechanical arm interlinkage structures.From the product description of this multi-joint mechanical arm manufacturer dispensing, obtain performance parameter and the specifications parameter of this multi-joint mechanical arm.Measure the arm body length between each joint of multi-joint horizontal pendulum swing arm of this multi-joint mechanical arm; Measure the difference in height of every section of mechanical arm in elevation direction;
Step (2)～(3) are with embodiment 1;
(4), obtain volume coordinate.The rotational angle of the difference in height with the arm body length between each joint of multi-joint horizontal pendulum swing arm of step (1) multi-joint mechanical arm of being surveyed and every section of mechanical arm in elevation direction, the each joint of the multi-joint mechanical arm code-disc that step (2) is gathered, and the elevation position that the multi-joint horizontal pendulum swing arm of the multi-joint mechanical arm that calculates of step (3) does up and down reciprocatingly to move freely on upright guide rail is foundation, use trigonometric function computing method to calculate as follows:
Step (4.1)～(4.2) are with embodiment 1;
(4.3) computing machine that, utilization is connected with the control system of described multi-joint mechanical arm, X volume coordinate, Y volume coordinate, the Z volume coordinate of the horizontal pendulum swing arm end points of the upright guide rail away from multi-joint mechanical arm calculating by step (4.1)～(4.2) are offered to the control system of multi-joint mechanical arm with network communication mode, to control multi-joint mechanical arm, tested turbine blade is implemented to volume coordinate demarcation.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436904A (en) * | 2018-01-24 | 2018-08-24 | 上海岭先机器人科技股份有限公司 | A kind of absolute angle measuring method of manipulator joint without encoder |
| CN108748154A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of system and method for calibration mechanical arm |
| CN109877840A (en) * | 2019-04-02 | 2019-06-14 | 哈尔滨工程大学 | A dual manipulator calibration method based on camera optical axis constraints |
| WO2020037989A1 (en) * | 2018-08-22 | 2020-02-27 | 中科新松有限公司 | Position information self-calibration method, storage medium, and computer device |
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2014
- 2014-02-20 CN CN201410058088.2A patent/CN103791871A/en active Pending
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| CN101149256A (en) * | 2007-11-05 | 2008-03-26 | 中山大学 | A Calibration Method of Follow-up Measuring Manipulator Based on Distance Constraint |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436904A (en) * | 2018-01-24 | 2018-08-24 | 上海岭先机器人科技股份有限公司 | A kind of absolute angle measuring method of manipulator joint without encoder |
| CN108748154A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of system and method for calibration mechanical arm |
| WO2020037989A1 (en) * | 2018-08-22 | 2020-02-27 | 中科新松有限公司 | Position information self-calibration method, storage medium, and computer device |
| CN109877840A (en) * | 2019-04-02 | 2019-06-14 | 哈尔滨工程大学 | A dual manipulator calibration method based on camera optical axis constraints |
| CN109877840B (en) * | 2019-04-02 | 2021-09-28 | 哈尔滨工程大学 | Double-mechanical-arm calibration method based on camera optical axis constraint |
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Application publication date: 20140514 |