CN103940335A - Device for measuring repeated positioning accuracy of industrial robot - Google Patents
Device for measuring repeated positioning accuracy of industrial robot Download PDFInfo
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- CN103940335A CN103940335A CN201410101895.8A CN201410101895A CN103940335A CN 103940335 A CN103940335 A CN 103940335A CN 201410101895 A CN201410101895 A CN 201410101895A CN 103940335 A CN103940335 A CN 103940335A
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- industrial robot
- positioning accuracy
- measurement
- laser range
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- 230000003252 repetitive Effects 0.000 claims description 19
- 230000001105 regulatory Effects 0.000 claims description 13
- 238000010586 diagrams Methods 0.000 description 9
- 230000001413 cellular Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005259 measurements Methods 0.000 description 2
- 238000000034 methods Methods 0.000 description 2
- 238000009795 derivation Methods 0.000 description 1
- 238000005516 engineering processes Methods 0.000 description 1
- 230000002452 interceptive Effects 0.000 description 1
- 230000003287 optical Effects 0.000 description 1
Abstract
Description
Technical field
The present invention relates to industrial robot repetitive positioning accuracy and measure, relate in particular to a kind of industrial robot repetitive positioning accuracy measurement mechanism, belong to industrial automatic control field.
Background technology
At present, the repetitive positioning accuracy of industrial robot adopts laser tracker to measure mostly.Laser tracker is carrying out in industrial robot repetitive positioning accuracy measuring process, must limit the speed of robot within the specific limits, lose optical phenomenon otherwise just there will be, need re-start measurement, the repetitive positioning accuracy obtaining under measuring is at a slow speed inaccurate, and this device has certain requirement to operating personnel, and complex operation, cost is high, measure as being only used in industrial robot repetitive positioning accuracy, can form the wasting of resources, and in the finished product factory testing process of industrial robot, can not each station joining a laser tracker detects industrial robot, so it is low to invent a kind of cost, easy to operate industrial robot repetitive positioning accuracy test measurement device is just very necessary.
Summary of the invention
The invention discloses a kind of industrial robot repetitive positioning accuracy measurement mechanism, solve laser tracker and have circumscribed problem in industrial robot repetitive positioning accuracy is measured, overcome the defect that existing equipment exists.
For achieving the above object, the technical scheme that the present invention takes is: a kind of industrial robot repetitive positioning accuracy measurement mechanism, comprises three laser range sensors, measures piece, data acquisition and processing unit;
The light that described three laser range sensors send between two mutually vertical Qie San road ray intersection, in a bit, forms three-dimensional measurement coordinate system;
Described measurement piece is arranged in industrial robot end flange, in the time that robot drives measurement piece to move in described three-dimensional measurement coordinate system, three laser range sensors are irradiated to respectively on three orthogonal surfaces measuring piece, measure each the distance to laser range sensor by reflection, draw and measure the position of piece in three-dimensional measurement coordinate system, thereby obtain robot end position;
Described data acquisition and processing unit are connected with three laser range sensors, obtain and measure the position data of piece in three-dimensional measurement coordinate system, and repeatedly duplicate measurements carry out data processing, can draw robot repetitive positioning accuracy value.
Described industrial robot repetitive positioning accuracy measurement mechanism also can comprise three laser range sensor positions and perpendicularity regulating device, three laser range sensors respectively correspondence are arranged on each laser range sensor position and perpendicularity regulating device, by regulating laser range finder sensing station and perpendicularity regulating device, ensures light that three laser range sensors send between two mutually vertically Qie San road ray intersection in a bit.
Industrial robot repetitive positioning accuracy measurement mechanism in the present invention, compared with existing equipment, easy to use, simple to operate, cost is low, the mass that can be used for industrial robot workshop uses, reduce the input of equipment and human cost, and improved the accuracy that industrial robot repetitive positioning accuracy is measured.
Brief description of the drawings
Fig. 1 is apparatus of the present invention schematic diagram.
Fig. 2 is apparatus of the present invention partial schematic diagram.
Fig. 3 is perpendicularity regulating device schematic diagram.
Fig. 4 is for measuring piece schematic diagram.
Fig. 5 is data receiver cellular construction schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is apparatus of the present invention schematic diagram, comprises fixed side 1-1, laser range sensor 1-2, perpendicularity regulating device 1-4, measures piece 1-3 and data receiver and processing unit 1-5.As shown in Figure 2, this device comprise three road laser range sensors (2-1,2-2 and 2-3) and three perpendicularity regulating devices (2-1 ', 2-2 ' and 2-3 '), laser range sensor is arranged on respectively on perpendicularity regulating device, the light sending by perpendicularity regulating device Shi San road laser range sensor is mutually vertical between two, forms three-dimensional measurement coordinate system.Measuring piece 1-3 is arranged on robot end's flange, robot drives measurement piece to move in three-dimensional measurement coordinate system, can obtain measuring the position data of piece in three-dimensional measurement coordinate system by data receiver and processing unit 1-5, can obtain robot end's positional value simultaneously, repeatedly duplicate measurements carry out data processing, can draw robot repetitive positioning accuracy value.
Fig. 3 is perpendicularity regulating device schematic diagram, by regulating direction adjusting apparatus A, the direction adjusting apparatus B in figure, can carry out to laser sensor the adjusting of left and right angle, regulate direction adjusting apparatus C, the direction adjusting apparatus D shown in figure, can carry out to laser sensor the adjusting of upper lower angle.Fix a road laser sensor, regulate respectively other two-way, can ensure that three road laser range sensors are mutually vertical between two.
Fig. 4 is for measuring piece schematic diagram, measuring piece 4-1 is canonical measure piece, be generally standard cube body, this measurement piece 4-1 is arranged on robot end's flange 4-2, in the time that robot drives measurement piece 4-1 to move in three-dimensional measurement coordinate system, three road laser range sensors are irradiated to respectively on three orthogonal surfaces measuring piece 4-1, measure each the position to laser range sensor by reflection, draw and measure the position of piece in three-dimensional measurement coordinate system, thereby obtain robot end position.
Fig. 5 is data receiver cellular construction schematic diagram.Wherein, central processing unit is flush bonding processor, is the control module of whole system, mainly comprises and the function such as the reception of user's mutual, data, data processing, data storage; Touch-screen, for system and user's interactive function, comprises the functions such as default, setting parameter, data are checked, data importing derivation; RTC clock is responsible for providing clock information to system; Storer is responsible for the storage of data; Ethernet is for communicating by letter with external system, as the function such as system upgrade, system debug; USB is mainly used in importing and the export function of measurement data; Three road laser range sensor interfaces receive respectively the data of three laser range sensors.
In the time that system starts to measure, robot drives measures piece 1-3 circular flow repeatedly, and while arriving measurement point, data receiver unit 1-5 records current positional value at every turn, after measurement completes, calculate radius of a ball value taking position cluster centers as the centre of sphere and be the repetitive positioning accuracy of robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410101895.8A CN103940335A (en) | 2014-04-25 | 2014-04-25 | Device for measuring repeated positioning accuracy of industrial robot |
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| CN201410101895.8A CN103940335A (en) | 2014-04-25 | 2014-04-25 | Device for measuring repeated positioning accuracy of industrial robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104236459A (en) * | 2014-09-24 | 2014-12-24 | 烟台拓伟机械有限公司 | Six-point positioning type relative posture detection system |
| CN104330025A (en) * | 2014-10-22 | 2015-02-04 | 中国计量学院 | Industrial robot pose detection device |
| CN104535029A (en) * | 2014-12-30 | 2015-04-22 | 苏州博众精工科技有限公司 | Three-dimensional detection mechanism for repeated positioning |
| CN104534986A (en) * | 2014-12-22 | 2015-04-22 | 华北水利水电大学 | Material yard material measuring system based on laser measurement technology |
| CN105547172A (en) * | 2016-01-06 | 2016-05-04 | 上海大学 | System and method for measuring repeatability precision of industrial robot on the basis of acupuncture luminescence method |
| CN105716497A (en) * | 2016-01-16 | 2016-06-29 | 长春北方化工灌装设备有限公司 | Method for testing repeated positioning accuracy of machine |
| CN105737735A (en) * | 2016-03-08 | 2016-07-06 | 上海大学 | Portable self-calibration end performer repetition positioning precision measurement device and method |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
| CN105865341A (en) * | 2016-05-28 | 2016-08-17 | 上海大学 | Device and method for measuring repeated positioning accuracy of industrial robot spatial poses |
| CN106403762A (en) * | 2016-07-01 | 2017-02-15 | 佛山市业鹏机械有限公司 | Palletizing robot end part movement repeated positioning accuracy detection method and device |
| CN106610583A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Robot tail end position obtaining method based on sensor |
| CN106607921A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Robot terminal position obtaining method |
| CN106885513A (en) * | 2017-02-22 | 2017-06-23 | 上海砺晟光电技术有限公司 | A kind of robot three-dimensional repetitive positioning accuracy test system |
| CN107088892A (en) * | 2017-04-01 | 2017-08-25 | 西安交通大学 | A kind of industrial robot motion accuracy checking method based on binocular vision |
| CN107131831A (en) * | 2017-06-27 | 2017-09-05 | 上海木爷机器人技术有限公司 | Measuring method, device and system |
| CN109186969A (en) * | 2018-07-28 | 2019-01-11 | 西安交通大学 | A kind of servo feed movement dynamic property visible detection method |
| CN111496848A (en) * | 2020-03-19 | 2020-08-07 | 中山大学 | Mobile robot repeated positioning precision test based on Euclidean distance |
| CN109732403B (en) * | 2019-03-15 | 2020-08-18 | 河南理工大学 | Moving part repeated positioning precision detector |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104236459A (en) * | 2014-09-24 | 2014-12-24 | 烟台拓伟机械有限公司 | Six-point positioning type relative posture detection system |
| CN104236459B (en) * | 2014-09-24 | 2015-06-17 | 烟台拓伟机械有限公司 | Six-point positioning type relative posture detection system |
| CN104330025B (en) * | 2014-10-22 | 2016-12-07 | 中国计量学院 | Industrial robot apparatus for detecting position and posture |
| CN104330025A (en) * | 2014-10-22 | 2015-02-04 | 中国计量学院 | Industrial robot pose detection device |
| CN104534986A (en) * | 2014-12-22 | 2015-04-22 | 华北水利水电大学 | Material yard material measuring system based on laser measurement technology |
| CN104535029B (en) * | 2014-12-30 | 2017-10-20 | 苏州博众精工科技有限公司 | A kind of resetting three-dimensional values mechanism |
| CN104535029A (en) * | 2014-12-30 | 2015-04-22 | 苏州博众精工科技有限公司 | Three-dimensional detection mechanism for repeated positioning |
| CN106607921B (en) * | 2015-10-22 | 2020-08-04 | 沈阳新松机器人自动化股份有限公司 | Robot tail end position obtaining method |
| CN106607921A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Robot terminal position obtaining method |
| CN106610583A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Robot tail end position obtaining method based on sensor |
| CN105547172B (en) * | 2016-01-06 | 2018-05-01 | 上海大学 | System and method based on acupuncture luminescence method measurement industrial robot repeatable accuracy |
| CN105547172A (en) * | 2016-01-06 | 2016-05-04 | 上海大学 | System and method for measuring repeatability precision of industrial robot on the basis of acupuncture luminescence method |
| CN105716497A (en) * | 2016-01-16 | 2016-06-29 | 长春北方化工灌装设备有限公司 | Method for testing repeated positioning accuracy of machine |
| CN105737735A (en) * | 2016-03-08 | 2016-07-06 | 上海大学 | Portable self-calibration end performer repetition positioning precision measurement device and method |
| CN105737735B (en) * | 2016-03-08 | 2018-08-03 | 上海大学 | Portable self calibration end effector repetitive positioning accuracy measuring device and method |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
| CN105865341B (en) * | 2016-05-28 | 2018-07-13 | 上海大学 | Industrial robot spatial pose repetitive positioning accuracy measuring device and method |
| CN105865341A (en) * | 2016-05-28 | 2016-08-17 | 上海大学 | Device and method for measuring repeated positioning accuracy of industrial robot spatial poses |
| CN106403762A (en) * | 2016-07-01 | 2017-02-15 | 佛山市业鹏机械有限公司 | Palletizing robot end part movement repeated positioning accuracy detection method and device |
| CN106885513A (en) * | 2017-02-22 | 2017-06-23 | 上海砺晟光电技术有限公司 | A kind of robot three-dimensional repetitive positioning accuracy test system |
| CN107088892A (en) * | 2017-04-01 | 2017-08-25 | 西安交通大学 | A kind of industrial robot motion accuracy checking method based on binocular vision |
| CN107131831A (en) * | 2017-06-27 | 2017-09-05 | 上海木爷机器人技术有限公司 | Measuring method, device and system |
| CN109186969A (en) * | 2018-07-28 | 2019-01-11 | 西安交通大学 | A kind of servo feed movement dynamic property visible detection method |
| CN109732403B (en) * | 2019-03-15 | 2020-08-18 | 河南理工大学 | Moving part repeated positioning precision detector |
| CN111496848A (en) * | 2020-03-19 | 2020-08-07 | 中山大学 | Mobile robot repeated positioning precision test based on Euclidean distance |
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