CN105651329B - A kind of measuring system for measuring industrial robot path accuracy and multiplicity - Google Patents
A kind of measuring system for measuring industrial robot path accuracy and multiplicity Download PDFInfo
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- CN105651329B CN105651329B CN201510962498.4A CN201510962498A CN105651329B CN 105651329 B CN105651329 B CN 105651329B CN 201510962498 A CN201510962498 A CN 201510962498A CN 105651329 B CN105651329 B CN 105651329B
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- laser sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention discloses a kind of measuring systems for measuring industrial robot path accuracy and multiplicity, including laser displacement sensing unit, adjustable flat bracket and data acquisition process unit；Robot is connect by laser displacement sensing unit by flange with laser sensor；Adjustable flat bracket includes holder, adjustable nut and benchmark tablet, and holder is connect by adjustable nut with benchmark tablet, and benchmark tablet is adjusted by adjusting adjustable nut；Data acquisition process unit includes communication unit, wireless communication module and data processing terminal, and controller is acquired the measurement data of laser sensor by communication unit, data processing terminal is transferred data to by wireless communication module.Beneficial effects of the present invention are：The precision measured is improved, and simple to operation, cost is relatively low.
Description
Technical field
The present invention relates to industrial robot manufacturing field, it is especially a kind of for measure industrial robot path accuracy with again
The measuring system of multiplicity.
Background technology
Path accuracy and multiplicity are the important parameters of industrial robot, and the precision about robot is important
One of parameter.In the prior art, mainly based on laser tracker, laser tracker measures for the measurement of path accuracy and multiplicity
Precision is higher, and it is more to measure function.But in measurement process, needs tester's real-time tracking to operate, record number in real time
According to, and measurement cost is higher.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of for measuring industrial robot path accuracy and repetition
The measuring system of degree can improve the precision of measurement, and simple to operation, and cost is relatively low.
In order to solve the above technical problems, the present invention provide it is a kind of for measuring industrial robot path accuracy and multiplicity
Measuring system, including laser displacement sensing unit, adjustable flat bracket and data acquisition process unit；Laser displacement sensing unit
Robot 2 is connect with laser sensor 3 by flange 1；Adjustable flat bracket includes holder 4, adjustable nut 5 and benchmark tablet
6, holder 4 is connect by adjustable nut 5 with benchmark tablet 6, and benchmark tablet 6 is adjusted by adjusting adjustable nut 5；At data acquisition
Reason unit includes communication unit 7, wireless communication module 8 and data processing terminal 9, and controller acquires laser by communication unit 7
The measurement data of sensor 3 transfers data to data processing terminal 9 by wireless communication module 8；Two holders 4 pass through two
A adjustable nut 5 is connected with benchmark tablet 6, adjusts adjustable nut 5, benchmark tablet 6 is made to be in suitable position；Operating personnel control
Robot 2 makes its end load move to 6 side of benchmark tablet, and laser sensor 3 is made to handle the centre bit in measurement range
It sets, it is ensured that laser sensor 3 is in normal measuring state, is recorded by communication unit 7 and transmits laser sensor 3 and put down to benchmark
The distance dx of plate 6 is to data processing terminal 9, and the position K1 of recorder people 2；Operation robot 2 moves to benchmark tablet 6
The other side, adjustment laser sensor 3 makes it arrive the distance of benchmark tablet 6 as dx, and the position K2 of recorder people 2；K1 and K2
The movement locus of the laser sensor 3 of 2 end of robot is determined, it is repeated multiple times that robot 2 is allowed to be moved according to track, and transporting
Recording laser sensor 3 arrives the distance of benchmark tablet 6 in dynamic；The result repeatedly measured is analyzed in data processing terminal 9,
It calculates, obtains the maximum offset of track, and selection generates measurement report in software, complete measurement process.
Preferably, the quantity of holder 4 and adjustable nut 5 is all 2.
Preferably, the measurement data of laser sensor 3 is mounted in laser sensor 3 by 2 end of robot along specified rail
What mark was run.
Beneficial effects of the present invention are：The precision measured is improved, and simple to operation, cost is relatively low.
Description of the drawings
Fig. 1 is the range measurement schematic diagram of the laser sensor and benchmark tablet of the present invention.
Fig. 2 is the laser displacement sensing unit structures schematic diagram of the present invention.
Fig. 3 is the adjustable flat bracket structural schematic diagram of the present invention.
Fig. 4 is the data acquisition process cellular construction schematic diagram of the present invention.
1, flange；2, robot；3, laser sensor；4, holder；5, adjustable nut；6, benchmark tablet；7, communication unit；
8, wireless communication module；9, data processing terminal.
Specific implementation mode
A kind of measuring system for measuring industrial robot path accuracy and multiplicity, including laser displacement sensing are single
First, adjustable flat bracket and data acquisition process unit.
As shown in figures 1 and 3, adjustable flat bracket includes two holders, adjustable nut and benchmark tablet, and two holders are logical
It crosses two adjustable nuts with benchmark tablet to be connected, adjusts adjustable nut, benchmark tablet is made to be in suitable position.Operating personnel control
Robot makes its end load move to benchmark tablet side, makes the center in laser sensor processing measurement range, really
Protect laser sensor be in normal measuring state, recorded by communication unit and transmit laser sensor to benchmark tablet distance
Dx is to data processing terminal, and the position K1 of recorder people；Dx is primarily to ensure the laser sensor that robot carries
When running to the other end from benchmark tablet one end, the distance apart from tablet is consistent, without other specific requirements；Operation
Robot motion is to the other side of benchmark tablet, and adjustment laser sensor makes it arrive the distance of benchmark tablet as dx, and logging machine
The position K2 of device people.K1 and K2 determines the movement locus of the laser sensor of robot end, it is repeated multiple times allow robot by
It is moved according to track, and distance of the recording laser sensor to benchmark tablet during exercise.After measurement, in data processing terminal
The result repeatedly measured is analyzed, is calculated, obtains the maximum offset of track, and selection generates measurement report in software
It accuses, completes measurement process.
As shown in Fig. 2, laser sensor is mounted on the end of robot by flange.
As shown in figure 4, data acquisition process unit includes communication unit, wireless communication module and data processing terminal, lead to
Believe that unit reads the measurement data of laser sensor, data processing terminal carries out measurement data using corresponding monitoring software
Real time monitoring and final process, data processing terminal are communicated with communication unit using wireless communication module, wireless communication
Mode is effectively increased transmission range, facilitate the more ground of staff simultaneously monitoring and test the case where.
Although the present invention is illustrated and has been described with regard to preferred embodiment, it is understood by those skilled in the art that
Without departing from scope defined by the claims of the present invention, variations and modifications can be carried out to the present invention.
Claims (3)
1. a kind of measuring system for measuring industrial robot path accuracy and multiplicity, which is characterized in that including：Laser position
Move sensing unit, adjustable flat bracket and data acquisition process unit；Laser displacement sensing unit is by flange (1) by robot
(2) it is connect with laser sensor (3)；Adjustable flat bracket includes holder (4), adjustable nut (5) and benchmark tablet (6), holder
(4) it is connect with benchmark tablet (6) by adjustable nut (5), benchmark tablet (6) is adjusted by adjusting adjustable nut (5)；Data are adopted
It includes communication unit (7), wireless communication module (8) and data processing terminal (9) to collect processing unit, and controller passes through communication unit
(7) measurement data of acquisition laser sensor (3), data processing terminal is transferred data to by wireless communication module (8)
(9)；Two holders (4) are connected by two adjustable nuts (5) with benchmark tablet (6), and adjustable nut (5) is adjusted, and keep benchmark flat
Plate (6) is in suitable position；Operating personnel control robot (2), so that its end load is moved to benchmark tablet (6) side, make
Laser sensor (3) handles the center in measurement range, it is ensured that and laser sensor (3) is in normal measuring state, by
Communication unit (7) record and transmit laser sensor (3) to benchmark tablet (6) distance dx to data processing terminal (9), and remember
Record the position K1 of robot (2)；Operation robot (2) moves to the other side of benchmark tablet (6), adjustment laser sensor (3)
It is set to arrive the distance of benchmark tablet (6) as dx, and the position K2 of recorder people (2)；K1 and K2 determines robot (2) end
Laser sensor (3) movement locus, it is repeated multiple times that robot (2) is allowed to be moved according to track, and recording laser during exercise
Sensor (3) arrives the distance of benchmark tablet (6)；The result repeatedly measured analyzed in data processing terminal (9), calculated,
It obtains the maximum offset of track, and selection generates measurement report in software, completes measurement process.
2. the measuring system as described in claim 1 for measuring industrial robot path accuracy and multiplicity, feature exists
In the quantity of holder (4) and adjustable nut (5) is all 2.
3. the measuring system as described in claim 1 for measuring industrial robot path accuracy and multiplicity, feature exists
In the measurement data of laser sensor (3) is run along intended trajectory mounted in laser sensor (3) by robot (2) end
It obtains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962498.4A CN105651329B (en) | 2015-12-18 | 2015-12-18 | A kind of measuring system for measuring industrial robot path accuracy and multiplicity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510962498.4A CN105651329B (en) | 2015-12-18 | 2015-12-18 | A kind of measuring system for measuring industrial robot path accuracy and multiplicity |
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| Publication Number | Publication Date |
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| CN105651329A CN105651329A (en) | 2016-06-08 |
| CN105651329B true CN105651329B (en) | 2018-09-25 |
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| CN201510962498.4A Active CN105651329B (en) | 2015-12-18 | 2015-12-18 | A kind of measuring system for measuring industrial robot path accuracy and multiplicity |
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| CN111390971B (en) * | 2020-04-01 | 2022-11-29 | 伯朗特机器人股份有限公司 | Method for measuring track accuracy, repeatability and speed characteristics of industrial robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102062587A (en) * | 2010-12-13 | 2011-05-18 | 上海大学 | Laser sensor-based method for determining poses of multiple mobile robots |
| CN203881298U (en) * | 2014-05-10 | 2014-10-15 | 安徽埃夫特智能装备有限公司 | A detecting device for detecting the repeated positioning accuracy of industrial robot arm movement |
| CN104279952A (en) * | 2013-11-14 | 2015-01-14 | 沈阳新松机器人自动化股份有限公司 | Robot track precision measuring method |
| CN104330025A (en) * | 2014-10-22 | 2015-02-04 | 中国计量学院 | Industrial robot pose detection device |
| CN104325467A (en) * | 2014-11-05 | 2015-02-04 | 南京熊猫电子股份有限公司 | Device for testing motion accuracy of robots |
| CN104613872A (en) * | 2015-03-05 | 2015-05-13 | 安徽埃夫特智能装备有限公司 | Test system for measuring repositioning precision of industrial robot |
-
2015
- 2015-12-18 CN CN201510962498.4A patent/CN105651329B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102062587A (en) * | 2010-12-13 | 2011-05-18 | 上海大学 | Laser sensor-based method for determining poses of multiple mobile robots |
| CN104279952A (en) * | 2013-11-14 | 2015-01-14 | 沈阳新松机器人自动化股份有限公司 | Robot track precision measuring method |
| CN203881298U (en) * | 2014-05-10 | 2014-10-15 | 安徽埃夫特智能装备有限公司 | A detecting device for detecting the repeated positioning accuracy of industrial robot arm movement |
| CN104330025A (en) * | 2014-10-22 | 2015-02-04 | 中国计量学院 | Industrial robot pose detection device |
| CN104325467A (en) * | 2014-11-05 | 2015-02-04 | 南京熊猫电子股份有限公司 | Device for testing motion accuracy of robots |
| CN104613872A (en) * | 2015-03-05 | 2015-05-13 | 安徽埃夫特智能装备有限公司 | Test system for measuring repositioning precision of industrial robot |
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| CN105651329A (en) | 2016-06-08 |
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