CN105466320B - Industrial robot track and position detecting device - Google Patents
Industrial robot track and position detecting device Download PDFInfo
- Publication number
- CN105466320B CN105466320B CN201510922536.3A CN201510922536A CN105466320B CN 105466320 B CN105466320 B CN 105466320B CN 201510922536 A CN201510922536 A CN 201510922536A CN 105466320 B CN105466320 B CN 105466320B
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- China
- Prior art keywords
- rotary encoder
- accurate
- mobile jib
- bead
- accurate bead
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/12—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring diameters
- G01B7/125—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring diameters of objects while moving
Abstract
The invention discloses a kind of industrial robot track and position detecting device.Mainly it is made up of club mechanism, pedestal, the first rotary encoder mechanism, the second rotary encoder mechanism and end effector, wherein end effector includes magnechuck and magnetic connecting rod, magnechuck is fixed in robot ring flange, magnetic connecting rod one end is tightly adsorbed on magnechuck, the other end band of magnetic connecting rod is magnetic, and is connected with the first accurate bead by spherical pair；The second accurate bead that first accurate small ball warp club mechanism is connected on pedestal, the second accurate bead horizontal rotatio direction are connected with the first rotary encoder mechanism and the second rotary encoder mechanism.The present invention can obtain position and the rail track feature of robot, be easy to carry, and installing/dismounting is very convenient, can meet the needs of Site Detection.
Description
Technical field
The present invention relates to a kind of detection means, more particularly to a kind of industrial robot track and position detection dress
Put.
Background technology
In the industrial robot method for testing performance that national standard GB/T 12642 is listed, industrial robot position is directed to
The method classification of detection and track detection has test probe method, track comparison method, trilateration, polar coordinate measuring method, triangle
Mensuration, inertia measurement method, coordinate survey, track picture etc..In terms of position and the track detection, comparative maturity at present
Method has laser tracker method, and newest laser tracker has Lycra AT960 series laser trackers, and it can utilize it internal absolutely
Accurate to industrial robot linear joint, high speed measurement is realized to rangefinder (AIFM), its measurement range can reach diameter
120 meters.Although this method is capable of the detection robot of precise and high efficiency, expensive short slab be present.
The content of the invention
The purpose of the present invention is providing a kind of industrial robot track and position detecting device, realizes industrial robot position
Put the detection of characteristic and arc track characteristic.
The technical solution adopted by the present invention is：
The present invention is mainly by club mechanism, pedestal, the first rotary encoder mechanism, the second rotary encoder mechanism and end
Actuator forms, and wherein end effector includes magnechuck and magnetic connecting rod, and magnechuck is fixed in robot ring flange,
Magnetic connecting rod one end is tightly adsorbed on magnechuck, and the other end band of magnetic connecting rod is magnetic, and small with the first precision
Ball is connected by spherical pair；The second accurate bead that first accurate small ball warp club mechanism is connected on pedestal, second is accurate small
Ball horizontal rotatio direction is connected with the first rotary encoder mechanism and the second rotary encoder mechanism.
Described club mechanism includes scalable fiber rod, high accuracy displacement sensor, the first mobile jib and the second mobile jib, can
One end of contractile fibre bar and the first accurate bead are affixed, the other end and first mobile jib one end Joint, are filled inside the first mobile jib
There is high accuracy displacement sensor, high accuracy displacement sensor is connected with the pars contractilis of scalable fiber rod measures its flexible quantitative change
Change, be coaxially socketed by screw thread pair between the first mobile jib other end and second mobile jib one end, the second mobile jib other end is secured to the
On two accurate beads.
Add the extension rod lengthened between described the first mobile jib and the second mobile jib, extension rod respectively with two masters
Coaxially be socketed by screw thread pair between bar, extension rod can use three kinds of different lengths the first extension rod or the second extension rod or
3rd extension rod.
The data wire of described high accuracy displacement sensor is connected to computer through the aperture of the first mobile jib bar side, can
The stroke change of contractile fibre bar is transferred to computer,
Described pedestal top is provided with the metal ball support that inwall is sphere, and the second accurate bead is arranged in metal ball support
And sphere-contact, the second accurate bead warp direction are machined with a circle ball, metal ball support inwall processing has small with the second precision
The magnetic groove that ball ball mutually agrees with, the centre of sphere of metal ball support sphere inwall and the second accurate bead centre of sphere are concentric, the second mobile jib
The other end is secured at the ball of the second accurate bead.
The first described rotary encoder mechanism includes the first rotary encoder, and pedestal bottom is semi-closed hollow cylinder knot
Structure, the first metal shaft top are coaxially affixed through pedestal and the bottom of metal ball support；First metal shaft bottom is through first shaft coupling
It is connected with the first rotary encoder installed in base interior, the first rotary encoder is installed in the hollow cylinder of pedestal, the
One metal shaft is with the second accurate bead centre of sphere on the same axis with horizontal plane.
The second described rotary encoder mechanism includes the second rotary encoder, and second metal shaft one end is secured to the second essence
The center side of close bead, the second metal shaft pass through perpendicular to the second mobile jib and the first metal shaft, the axis of the second metal shaft
The centre of sphere of two accurate beads；The other end of second metal shaft is connected by second shaft coupling with the second rotary encoder, and second
Rotary encoder is installed on support, and the roller that support is installed by bottom is in base top surface, and in the second accurate small ball rotation
Rotated under drive around its center of circle.
The first accurate bead and the second accurate bead use stainless steel material.
The present invention, the detection for realizing industrial robot position and track, height is provided with its telescopic fiber rod
Accuracy Displacement sensor, when its length change, interior bar moves into coil, and induction coefficient changes, and detection circuit believes inductance
It is 0.1 μ m displacement signal number to be transformed into resolution ratio, and PC is passed to by interface, and its precision reaches ± 0.5 μ through laser interferometer detection
M (at 20 DEG C).Circular motion is done, so as to analyze circular arc by high accuracy displacement sensor using two-axle interlocking by club mechanism
The track characteristic of radius change and circular arc.
The present invention using the centre of sphere of the second accurate bead as the origin of coordinates, z-axis direction straight up, y-axis direction and marble
Flat board long side is parallel and points to robot by pedestal, and coordinate system is established in x-axis direction depending on the right-hand rule.Pass through the first essence
The centre of sphere distance r of close bead and the second accurate bead, the azimuth that the first rotary encoder measuresSecond rotary encoder is surveyed
Elevation angle theta, three spherical coordinates parameters determine the actual arrival position (x, y, z) of robot, due to robot the location of instruction, it is known that
The position characteristic of robot is obtained so as to the computational methods according to as defined in GB/T12642.
The present invention measures aforementioned movement by allowing robot to run one section of circular arc or full circle week by high accuracy displacement sensor
The minor shifts amount of middle radius, data acquisition is got off by BALLBAR V5.8.1 softwares, and machine is drawn out according to these data
The actual arrival track of device people, because the instruction track of robot so as to the computational methods according to as defined in GB/T12642, it is known that obtain
Take the rail track feature of robot.
The invention has the advantages that：
The present invention realizes the track of robot and the detection of position characteristic obtains, and by installing different extension rods additional
So as to obtain multi-group data on different hemisphere faces, and then make detection data not single.
The present invention is easy to carry, and installing/dismounting is very convenient, can meet the needs of Site Detection.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention.
Fig. 2 is the close-up schematic view of the second rotary encoder mechanism.
Fig. 3 is the close-up schematic view of the first rotary encoder mechanism.
Fig. 4 is the perspective view of the first mobile jib.
Fig. 5 is the structural representation of extension rod.
In figure：1st, magnechuck, 2, magnetic connecting rod, the 3, first accurate bead, 4, scalable fiber rod, the 5, first master
Bar, the 6, second mobile jib, 7, metal ball support, the 8, second accurate bead, the 9, second rotary encoder, 10, support, the 11, first rotation
Encoder, 12, pedestal, 13, marble flat board, 14, robot, 15, computer, 16, second shaft coupling, the 17, second metal shaft,
18th, the first metal shaft, 19, first shaft coupling, 20, high accuracy displacement sensor, the 21, first extension rod, the 22, second extension rod,
23rd, the 3rd extension rod.
Embodiment
Below in conjunction with drawings and examples, the invention will be further described.
As shown in figure 1, the present invention is mainly by club mechanism, pedestal 12, the first rotary encoder mechanism, the second rotary coding
Device mechanism and end effector composition, wherein end effector includes magnechuck 1 and magnetic connecting rod 2, and magnechuck 1 is affixed
In the ring flange of robot 14, the one end of magnetic connecting rod 2 is tightly adsorbed on magnechuck 1, it is ensured that magnetic connecting rod 2 is inhaled with electromagnetism
Relative motion will not be produced between disk 1, the other end band of magnetic connecting rod 2 is magnetic, and passes through sphere with the first accurate bead 3
Pair connection；The second accurate bead 8 that first accurate bead 3 is connected on pedestal 12 through club mechanism, the second accurate bead 8 are horizontal
Direction of rotation is connected with the first rotary encoder mechanism and the second rotary encoder mechanism.
To be capable of the general structure of more preferable expression device in Fig. 1, industrial robot 14 only serves signal and acted on, not table
Show its actual size.
As shown in figs. 1 and 4, club mechanism includes scalable fiber rod 4, high accuracy displacement sensor 20, the and of the first mobile jib 5
Second mobile jib 6, one end of scalable fiber rod 4 and the first accurate bead 3 are affixed, the other end and one end Joint of the first mobile jib 5,
The inside of first mobile jib 5 is equipped with high accuracy displacement sensor 20, the pars contractilis of high accuracy displacement sensor 20 and scalable fiber rod 4
Connection measures the change of its stroke, is coaxially socketed by screw thread pair between the other end of the first mobile jib 5 and the one end of the second mobile jib 6, the
The other end of two mobile jib 6 is secured on the second accurate bead 8.
Add the extension rod lengthened between first mobile jib 5 and the second mobile jib 6, extension rod respectively with two mobile jibs
Between be coaxially socketed by screw thread pair, as shown in figure 5, extension rod can use the first extension rod 21 or the of three kinds of different lengths
Two extension rods 22 or the 3rd extension rod 23.
The data wire of high accuracy displacement sensor 20 is connected to computer 15 through the aperture of the bar side of the first mobile jib 5, can
The stroke change of contractile fibre bar 4 is transferred to computer 15,
As shown in figure 3, the top of pedestal 12 is provided with the metal ball support 7 that inwall is sphere, the second accurate bead 8 is arranged on gold
Belong in ball support 7 and sphere-contact, the second accurate warp direction of bead 8 is machined with a circle ball, the inwall processing of metal ball support 7 have with
The magnetic groove that the second accurate ball of bead 8 mutually agrees with, the centre of sphere of the sphere inwall of metal ball support 7 and the second accurate centre of sphere of bead 8
With one heart, the other end of the second mobile jib 6 is secured at the ball of the second accurate bead 8.
As shown in figure 3, the first rotary encoder mechanism includes the first rotary encoder 11, the bottom of pedestal 12 is that semi-closed is empty
Heart cylindrical structure, the top of the first metal shaft 18 is coaxially affixed through pedestal 12 and the bottom of metal ball support 7, hollow cylinder upper bottom surface
Circle centre position be provided with the first aperture that metal shaft 18 passes through and diameter mutually agrees with, the upper bottom surface of hollow cylinder, which is machined with, to be used for
The annular magnetic patch of adsorbing metal ball support 7, the upper bottom surface of hollow cylinder by the cooperation and metal ball support 7 of annular magnetic patch and aperture it
Between form revolute pair；The bottom of first metal shaft 18 is through first shaft coupling 19 and the first rotary encoder inside pedestal 12
11 connections, the first rotary encoder 11 are installed in the hollow cylinder of pedestal 12, the first metal shaft 18 and the second accurate ball of bead 8
The heart is on the same axis with horizontal plane.
As shown in Fig. 2 the second rotary encoder mechanism includes the second rotary encoder 9, the one end of the second metal shaft 17 is affixed
To the center side of the second accurate bead 8, the second metal shaft 17 is perpendicular to the second mobile jib 6 and the first metal shaft 18, the second metal
The centre of sphere that the axis of axle 17 passes through the second accurate bead 8；The other end of second metal shaft 17 passes through second shaft coupling 16 and second
Rotary encoder 9 is connected, and the second rotary encoder 9 is installed on support 10, and the roller that support 10 is installed by bottom is in base
12 top surfaces of seat, and rotated in the case where the second accurate rotation of bead 8 drives around its center of circle.
First accurate 3 and second accurate bead 8 of bead uses stainless steel material.
Specific implementation process of the present invention is as follows：
Track detection：Operation robot 14 is using the centre of sphere o of the second accurate bead 8 as the center of circle, with the second accurate bead 8 and
The initial centre of sphere between one accurate bead 3 is radius away from d (the now displacement of scalable fiber rod 4 is 0), accurate small crossing second
Run on the centre of sphere o of ball 8 horizontal plane a segment limit from 0 ° to 360 ° circular arc, or cross the second accurate bead 8 centre of sphere o and
Run on the vertical plane parallel with circumferential plane where the second accurate ball of bead 8 segment limit from 0 ° to 180 ° circular arc, by height
Accuracy Displacement sensor measures the minor shifts amount of radius in aforementioned movement, by BALLBAR V5.8.1 softwares by under data acquisition
Come, and the actual arrival track of robot 14 is drawn out according to these cloud datas, install or change extension rod additional according to the method described above and obtain
Multi-group data is taken, further the ANALYSIS OF CALCULATING according to as defined in GB/T12642 obtains the track spy of robot 14 to these data
Property.
Detect position：Using the centre of sphere o of the second accurate bead 8 as the origin of coordinates, z-axis direction straight up, y-axis direction with it is big
The long side of reason stone flat board 13 is parallel and points to robot 14 by pedestal 12, and x-axis direction obeys the right-hand rule, establishes coordinate system.Operation
Robot 14 is moved to using point o as the centre of sphere, the initial centre of sphere between the second accurate 8 and first accurate bead 3 of bead away from d (now
Zero) displacement of scalable fiber rod 4 is for a specified location (a, b, c) on the hemisphere face of radius, high precision displacement sensing
The displacement s of scalable fiber rod 4 is fed back to computer 15 by device 20, can be obtained between the first accurate 3 and second accurate bead 8 of bead
The current location centre of sphere away from r=d+s, by 11 detectable azimuth of the first rotary encoderCan by the second rotary encoder 9
The elevation angle theta measured.
According toThree spherical coordinates parameters obtain the actual arrival position (x, y, z) of robot 14 by conversion, whereinZ=rcos θ, in this manner, install additional or change again after obtaining multigroup detection data
Extension rod repeats above step, finally counts all detection data summarizations, these detection data according to specified in GB/T12642
Calculation method is analyzed to obtain the position characteristic of robot 14.
In this implementation process, barrier should not be encountered in the running of robot 14, pass through the running of robot 14
In can reduction fiber rod 4 change in displacement, obtain robot 14 run arc track.If the path accuracy of robot 14 is enough
Height, then the circle where the arc track that its cloud data is drawn is proper circle, proper circle will be caused to deform if there is error.
In this implementation process, the first rotary encoder 11, the second rotary encoder 9 with can be inside reduction fiber rod 4
High accuracy displacement sensor 20 coordinates, and the space bit that robot 14 is run on a specific hemisphere face is determined in the form of spherical coordinates
Put.
Said process is visible, and the present invention has prominent significant technique effect, and track and the position for realizing robot are special
Property etc. the detections of various data obtain, and be convenient for carrying and dismantle, can meet the needs of Site Detection.
Claims (7)
1. a kind of industrial robot track and position detecting device, it is characterised in that：Mainly by club mechanism, pedestal (12),
One rotary encoder mechanism, the second rotary encoder mechanism and end effector composition, wherein end effector are inhaled including electromagnetism
Disk (1) and magnetic connecting rod (2), magnechuck (1) affixed robot (14) ring flange, magnetic connecting rod (2) one end is tightly inhaled
Invest on magnechuck (1), the other end band of magnetic connecting rod (2) is magnetic, and passes through spherical pair with the first accurate bead (3)
Connection；The second accurate bead (8) that first accurate bead (3) is connected on pedestal (12) through club mechanism, the second accurate bead
(8) horizontal rotatio direction is connected with the first rotary encoder mechanism and the second rotary encoder mechanism；
Described club mechanism includes scalable fiber rod (4), high accuracy displacement sensor (20), the first mobile jib (5) and second
Mobile jib (6), one end of scalable fiber rod (4) and the first accurate bead (3) are affixed, the other end and the first mobile jib (5) one end phase
It is affixed, high accuracy displacement sensor (20), high accuracy displacement sensor (20) and scalable fiber are housed inside the first mobile jib (5)
The pars contractilis connection of bar (4) measures the change of its stroke, passes through between the first mobile jib (5) other end and the second mobile jib (6) one end
Screw thread pair is coaxially socketed, and the second mobile jib (6) other end is secured on the second accurate bead (8).
2. a kind of industrial robot track according to claim 1 and position detecting device, it is characterised in that：Described
The extension rod lengthened is added between one mobile jib (5) and the second mobile jib (6), extension rod is logical between two mobile jibs respectively
Cross screw thread pair to be coaxially socketed, first extension rod (21) or second extension rod (22) or threeth of the extension rod using three kinds of different lengths
Extension rod (23).
3. a kind of industrial robot track according to claim 1 and position detecting device, it is characterised in that：Described height
The data wire of Accuracy Displacement sensor (20) is connected to computer (15) through the aperture of the first mobile jib (5) bar side, will be scalable
The stroke change of fiber rod (4) is transferred to computer (15).
4. a kind of industrial robot track according to claim 1 and position detecting device, it is characterised in that：Described base
Seat (12) top is provided with the metal ball support (7) that inwall is sphere, and the second accurate bead (8) is arranged in metal ball support (7) simultaneously
Sphere-contact, the second accurate bead (8) warp direction are machined with a circle ball, and metal ball support (7) inwall processing has and the second essence
The magnetic groove that close bead (8) ball mutually agrees with, the centre of sphere of metal ball support (7) sphere inwall and second accurate bead (8) centre of sphere
With one heart, the second mobile jib (6) other end is secured at the ball of the second accurate bead (8).
5. a kind of industrial robot track according to claim 1 and position detecting device, it is characterised in that：Described
One rotary encoder mechanism includes the first rotary encoder (11), and pedestal (12) bottom is semi-closed hollow cylinder structure, and first
Metal shaft (18) top is coaxially affixed through pedestal (12) and the bottom of metal ball support (7)；First metal shaft (18) bottom
One shaft coupling (19) is connected with installed in internal the first rotary encoder (11) of pedestal (12), the first rotary encoder (11) peace
In hollow cylinder loaded on pedestal (12), the first metal shaft (18) and second accurate bead (8) centre of sphere with horizontal plane
On same axis.
6. a kind of industrial robot track according to claim 1 and position detecting device, it is characterised in that：Described
Two rotary encoder mechanisms include the second rotary encoder (9), and the second metal shaft (17) one end is secured to the second accurate bead (8)
Center side, the second metal shaft (17) is perpendicular to the second mobile jib (6) and the first metal shaft (18), the axle of the second metal shaft (17)
The centre of sphere that line passes through the second accurate bead (8)；The other end of second metal shaft (17) passes through second shaft coupling (16) and the second rotation
Turn encoder (9) to be connected, the second rotary encoder (9) is installed on support (10), the rolling that support (10) is installed by bottom
Wheel rotates in pedestal (12) top surface in the case where the second accurate bead (8) rotation drives around its center of circle.
7. a kind of industrial robot track according to claim 1 and position detecting device, it is characterised in that：Described first
Accurate bead (3) and the second accurate bead (8) use stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510922536.3A CN105466320B (en) | 2015-12-11 | 2015-12-11 | Industrial robot track and position detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510922536.3A CN105466320B (en) | 2015-12-11 | 2015-12-11 | Industrial robot track and position detecting device |
Publications (2)
| Publication Number | Publication Date |
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| CN105466320A CN105466320A (en) | 2016-04-06 |
| CN105466320B true CN105466320B (en) | 2017-11-10 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108120370A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Position of mobile robot acquisition methods and device |
| CN108088370A (en) * | 2018-02-14 | 2018-05-29 | 山东建筑大学 | A kind of position measuring system and measuring method based on grating scale and encoder |
| CN110522336B (en) * | 2019-08-28 | 2021-06-15 | 江苏食品药品职业技术学院 | Intelligent window cleaning robot and operation method thereof |
| CN112747666B (en) * | 2020-12-17 | 2022-10-21 | 武昌船舶重工集团有限公司 | Shafting is detection device in school |
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