CN104236629B - Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot - Google Patents
Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot Download PDFInfo
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- CN104236629B CN104236629B CN201410474330.4A CN201410474330A CN104236629B CN 104236629 B CN104236629 B CN 104236629B CN 201410474330 A CN201410474330 A CN 201410474330A CN 104236629 B CN104236629 B CN 104236629B
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- draw wire
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Abstract
The invention discloses a pull wire type measuring system and method applied to spatial location accuracy and track measurement of an industrial robot. The system comprises the industrial robot. A measuring assembly comprises a measurement adapter, pull wire encoders, a data acquisition card and a computing terminal. The measurement adapter is mounted on an end effector of the industrial robot. The four pull wire encoders are connected with the measurement adapter through four testing cables. Base points of the four pull wire encoders are located in the same plane and are non-colinear. Extension lines of the four testing cables intersect at one point in space. The pull wire encoders are connected with the data acquisition card through wires. The data acquisition card is connected with the computing terminal. By means of the method, position information of the end effector of the industrial robot can be obtained, and the moving track of the industrial robot can be described in real time and the real-time speed and acceleration of the industrial robot can be computed when the industrial robot moves. The pull wire type measuring system is simple in structure, convenient to operate, large in movement space and high in accuracy.
Description
Technical field
The present invention relates to a kind of stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement and
Measuring method.
Background technology
Industrial robot, as the representative of the production automation, the every field being widely used with industry, such as automobile system
Make, the arc-welding on the industry automation production line such as chemical industry, spot welding, carrying, in the operation such as packaging.Industrial robot is in automatic metaplasia
Replace people to complete high-quality work in product, improve production efficiency and the quality of product, therefore to industrial robot in motion
When being accurately positioned and will have strict requirements with the size of speed, acceleration spatially.Generally, industrial robot goes out
It is required for carrying out the calibration of positioning precision when factory, and the detection of motor process medium velocity and acceleration.Existing on market
The robot calibration mode first be tracked using photographic head, using manual programming, its precision is low, and due to image light
Higher to environmental requirement etc. reason；It two is using tracking calibrations such as laser interferometer, typically applies on lathe, its precision
Height, but space detection realizes difficulty greatly, and expensive.
Content of the invention
It is an object of the invention to solving the problems, such as prior art, one kind is provided to be used for industrial robot space orientation
The stay-supported measuring system of precision and trajectory measurement and measuring method, its certainty of measurement is high, good reliability, space scope
Greatly, and low to environmental requirement it is adaptable to industry spot.
For reaching above-mentioned purpose, insight of the invention is that
Using four test cables of draw wire encoder pull-out, the measurement adaptation installed is caught on end effector of robot
Device so that four test cables bearing of trend meet at a bit, according to data collecting card reflection test cable length change,
And the space geometry relation of test cable and measurement bar, converse the coordinate position on end effector of robot, and according to
Coordinate position during robot continuous moving depicts real time kinematics track, calculates the speed of end effector of robot and adds
Speed.
Conceived according to foregoing invention, the present invention adopts following technical proposals:
A kind of stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement, including industrial machine
People, measurement assembly includes measuring adapter, draw wire encoder, data collecting card and computing terminal；Described measurement adapter is installed
On industrial robot end effector；Four described draw wire encoder connect measurement adapters by four test cables, and four
The basic point of individual draw wire encoder be in approximately the same plane and 4 points not conllinear, four test cables extended lines spatially meet at
A bit；Described draw wire encoder connects data collecting card by wire, and described data collecting card connects computing terminal.
Described computing terminal is desk computer or portable computer.The system also includes two measurement bars, four institutes
State draw wire encoder to be separately mounted on the two ends of measurement bar.
A kind of stay-supported measuring method for industrial robot spatial positioning accuracy and trajectory measurement, concrete steps are such as
Under:
A. arbitrarily choose two draw wire encoder, two test cables of computing terminal are fed back to by data collecting card
Length value, measures the distance of this two draw wire encoder, obtains the triangle being made up of this three sides；
B. obtain testing the angle of cable and the two draw wire encoder basic point lines in base by iteration Method；
C. solved by the space geometry relation of triangle at the beginning of the space coordinatess of point on industrial robot end effector
Value；
D. repeat step a-c, obtains the space coordinatess of end effector being obtained with two-by-two from different draw wire encoder
Value, carries out error minimize process, finally gives end effector position coordinate；
E. the end effector of mobile industrial robot is so as to change position, thus obtaining the length of different test cables
Angle value；Repeat step a-d, is calculated the different position coordinate of end effector with computing terminal；
F. manipulate industrial robot, so that end effector is moved, the real-time space of end effector recorded by computing terminal
Coordinate position, forms real-time track route；According to the sampling interval, end execution is gone out by the moving track calculation that computing terminal obtains
The speed of device and acceleration.
The present invention compared with prior art, has and obviously projects substantive distinguishing features and notable technology as follows and enter
Step:
The present invention adopts draw wire encoder as the main body of measurement, and the test length of cable using draw wire encoder converts
It is adaptable to industry spot, test equipment long service life, robot transports position coordinate value changes on end effector of robot
Dynamic space is big, and the data accuracy recording is high.
Brief description
Fig. 1 is the measurement apparatus schematic diagram of the embodiment of the present invention one.
Fig. 2 is the measurement apparatus schematic diagram of the embodiment of the present invention two.
Specific embodiment
It is as follows that embodiments of the invention combine detailed description:
Embodiment one:
Referring to Fig. 1, a kind of stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement, including
Industrial robot 1, measurement assembly includes measuring adapter 2, measurement bar 3, draw wire encoder 4, data collecting card 5 and desk-top calculating
Machine 6；Described measurement adapter 2 is arranged on industrial robot 1 end effector；Four described draw wire encoder 4 are respectively mounted
On the two ends of measurement bar 3, four described draw wire encoder 4 connect measurement adapter 2, four bracing wires by four test cables
The basic point of encoder 4 be in approximately the same plane and 4 points not conllinear, four test cables extended lines spatially meet at a bit；
Described draw wire encoder 4 connects data collecting card 5 by wire, and described data collecting card 5 connects desk computer 6.This enforcement
Data collecting card 5 in example adopts ni pxi6602 industrial computer.
A kind of stay-supported measuring method for industrial robot spatial positioning accuracy and trajectory measurement, concrete steps are such as
Under:
A. choose two draw wire encoder 4 in same measurement bar 3, desk-top calculating is fed back to by data collecting card 5
The length value of 6 two test cables of machine, measures the distance of this two draw wire encoder 4, obtains the triangle being made up of this three sides
Shape；
B. obtain testing the angle of cable and two, base draw wire encoder 4 basic point line by iteration Method；
C. the space coordinatess of the point on industrial robot 1 end effector are solved by the space geometry relation of triangle
Initial value；
D. repeat step a-c, the space of end effector obtaining being obtained with two-by-two from different draw wire encoder 4 is sat
Scale value, carries out error minimize process, finally gives end effector position coordinate；
E. the end effector of mobile industrial robot 1 is so as to change position, thus obtaining different test cables
Length value；Repeat step a-d, is calculated the different position coordinate of end effector with desk computer 6；
F. manipulate industrial robot 1, so that end effector is moved, it is real-time that end effector recorded by desk computer 6
Spatial coordinate location, forms real-time track route；According to the sampling interval, gone out by the moving track calculation that desk computer 6 obtains
The speed of end effector and acceleration.
Embodiment two:
Referring to Fig. 2, the present embodiment is essentially identical with embodiment one, and difference is, by two surveys in embodiment one
Gauge rod 3 removes, and so that four draw wire encoder 4 is installed on other Plane Installation pedestals it is ensured that four draw wire encoder 4 mount points
Substantially coplanar and not conllinear, adopt portable computer 7 simultaneously, repeat the measuring method of embodiment one, also can obtain identical knot
Really, fully demonstrated the simplicity of this method, reliability and low to environmental requirement it is adaptable to industry spot operation.
Claims (4)
1. a kind of stay-supported measuring system for industrial robot spatial positioning accuracy and trajectory measurement, including industrial robot
(1) it is characterised in that measurement assembly includes measuring adapter (2), draw wire encoder (4), data collecting card (5) and calculating end
End；Described measurement adapter (2) is arranged on industrial robot (1) end effector；Four described draw wire encoder (4) are passed through
Article four, test cable connects measurement adapter (2), and the basic point of four draw wire encoder (4) is in approximately the same plane and at 4 points not altogether
Line, the extended line of four test cables spatially meets at a bit；Described draw wire encoder (4) connects data acquisition by wire
Card (5), described data collecting card (5) connects computing terminal.
2. the stay-supported measurement system for industrial robot spatial positioning accuracy and trajectory measurement according to claim 1
System is it is characterised in that described computing terminal is desk computer (6) or portable computer (7).
3. the stay-supported measurement system for industrial robot spatial positioning accuracy and trajectory measurement according to claim 1
It is characterised in that the system also includes two measurement bars (3), four described draw wire encoder (4) are separately mounted to measurement bar to system
(3) on two ends.
4. a kind of stay-supported measuring method for industrial robot spatial positioning accuracy and trajectory measurement is it is characterised in that have
Body step is as follows:
A. arbitrarily choose two draw wire encoder (4), two test cables of computing terminal are fed back to by data collecting card (5)
Length value, measures the distance of this two draw wire encoder (4), obtains the triangle being made up of this three sides；
B. obtain testing the angle of cable and two draw wire encoder (4) the basic point lines in base by iteration Method；
C. solved by the space geometry relation of triangle at the beginning of the space coordinatess of the point on industrial robot (1) end effector
Value；
D. repeat step a-c, obtains the space coordinatess of end effector being obtained with two-by-two from different draw wire encoder (4)
Value, carries out error minimize process, finally gives end effector position coordinate；
E. the end effector of mobile industrial robot (1) is so as to change position, thus obtaining the length of different test cables
Angle value；Repeat step a-d, is calculated the different position coordinate of end effector with computing terminal；
F. manipulate industrial robot (1), so that end effector is moved, the real-time space of end effector recorded by computing terminal
Coordinate position, forms real-time track route；According to the sampling interval, end execution is gone out by the moving track calculation that computing terminal obtains
The speed of device and acceleration.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410474330.4A CN104236629B (en) | 2014-09-17 | 2014-09-17 | Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot |
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| CN201410474330.4A CN104236629B (en) | 2014-09-17 | 2014-09-17 | Pull wire type measuring system and method applied to spatial location accuracy and track measurement of industrial robot |
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| CN104236629A CN104236629A (en) | 2014-12-24 |
| CN104236629B true CN104236629B (en) | 2017-01-18 |
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| CN104236543B (en) * | 2014-09-17 | 2017-06-23 | 上海大学 | For industrial robot spatial pose precision and the stay-supported measuring system and measuring method of trajectory measurement |
| CN106468548B (en) * | 2015-08-18 | 2019-12-03 | 成都卡诺普自动化控制技术有限公司 | A kind of method of three axis dynamic robot measurement movement |
| CN106042001B (en) * | 2016-06-04 | 2018-12-07 | 上海大学 | Robot end's spatial position measuring device |
| CN106092009B (en) * | 2016-06-29 | 2018-07-20 | 南京航空航天大学 | A kind of initial position calibration method of the movable measuring mechanism of website based on draw wire encoder |
| CN106514716B (en) * | 2016-11-14 | 2018-12-21 | 固高科技(深圳)有限公司 | Robot calibration system, distance-measuring device and scaling method |
| CN107363810B (en) * | 2017-07-17 | 2021-07-20 | 上海大学 | Multi-spherical surface stay wire measuring adapter mechanism |
| CN108106583A (en) * | 2018-02-14 | 2018-06-01 | 山东建筑大学 | A kind of numerical control device terminal position real-time measurement system and measuring method |
| CN109099873B (en) * | 2018-09-30 | 2023-10-13 | 成都睿乐达机器人科技有限公司 | Indexing single-line type space position measurement method and device |
| CN110801366B (en) * | 2019-11-01 | 2021-11-19 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Passive track error detection device and method for rocker type rehabilitation mechanism |
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