CN105737735B - Portable self calibration end effector repetitive positioning accuracy measuring device and method - Google Patents
Portable self calibration end effector repetitive positioning accuracy measuring device and method Download PDFInfo
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- CN105737735B CN105737735B CN201610129363.4A CN201610129363A CN105737735B CN 105737735 B CN105737735 B CN 105737735B CN 201610129363 A CN201610129363 A CN 201610129363A CN 105737735 B CN105737735 B CN 105737735B
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- end effector
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- calibrated bolck
- positioning accuracy
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The present invention relates to a kind of measuring devices and method of portable self calibration end effector repetitive positioning accuracy.Device includes laser range sensor, RS422 serial ports, computer, motor driver, motor, end effector, self calibration calibrated bolck.Computer accurately controls motor by drive motor driver, to control the displacement of end effector in three directions.Method and step is laser range sensor and RS422 serial acquisition data, be sent to computer generate a series of sensors to self calibration calibrated bolck distance value, virtual right angle coordinate system is established, the coordinate of calibrated bolck internal object point is calculated, then coordinate is further calculated to obtain repetitive positioning accuracy.The present invention simplifies the scheme for measuring the repetitive positioning accuracy of end effector, be converted to the measurement to calibrated bolck repetitive positioning accuracy, and the shape of calibrated bolck has been specifically designed it, special consideration is made to the arrangement of sensor, so as to accurately measure the coordinate of target point in calibrated bolck.
Description
Technical field
The present invention relates to a kind of portable self calibration end effector repetitive positioning accuracy measuring device and methods.
Background technology
One of an important factor for position of the end effector of machine and attitude accuracy are guarantee machining quality, end
The high precision online measuring technology of actuator occupies an important position in machining and assembly field, is to face in the world at present
Important technical barrier.In recent decades, scholar both domestic and external has carried out largely end effector pose measurement technology
Research, has explored many measurement methods and device.These methods are divided into two classes：The direct method of measurement and measurement in a closed series method.Directly
Mensuration depends on the repeated positioning accuracy of robot, and systematic error, precision is limited, price is high due to introducing
Expensive and operation is more complicated, in industry spot and impracticable.This measurement method needs the angle inside known machine people to compile
Code device information, will introduce the error of machine itself.Such as common in-line coding mensuration, it is not required to addition external measurement devices
The brachium of each axis of robot and rotation angle can be utilized to extrapolate the position of robot end by robot transition matrix
It sets and posture, but precision in this way is relatively low, can not rejecting for error produced by the encoder due to directly utilizing robot makes
The systematic error for obtaining robot itself causes precision to be extremely limited.
With the development of laser technology, photoelectric technology and vision measurement technology in recent years, end positioning system is more next
More combination laser optical methods and Videogrammetry so that the precision of end effector pose measurement system has prodigious carry
It rises, the degree of automation is also higher and higher.It is also more and more come the method for located terminal end pose using combination measurement method, than
Such as：The laser direct method of measurement, laser tracker mensuration, photogrammetry etc..Apparatus structure needed for these methods is complicated, valence
Lattice are expensive, and circuit is miscellaneous, and applicable occasion is little, therefore their practical application is limited by very large.
Chinese patent CN103940335A discloses a kind of repetitive positioning accuracy measuring device, and this method passes through three laser
The light that distance measuring sensor is sent out is mutually perpendicular to two-by-two and three road ray intersections are in a bit, forms three-dimensional measurement coordinate system；It measures
Block is mounted in industrial robot end flange, goes out each face to laser ranging by the flash ranging of reflection laser distance measuring sensor
The distance of sensor obtains position of the measuring block in three-dimensional measurement coordinate system；Data acquisition and processing unit and three laser
Distance measuring sensor connects, and obtains position data of the measuring block in three-dimensional measurement coordinate system, is repeated several times and measures and carry out data
Processing, you can obtain robot repetitive positioning accuracy value.But the device has ignored the plane of measuring block and the angle of laser beam
Deviation.When manipulator takes measuring block to extreme position every time, on measuring block with the plane and biography corresponding to three sensors
The ray of sensor is not necessarily all vertical, can not be connected the coordinate on three directions, the original number to cause
According to there are errors, therefore accurate position data of the manipulator in three-dimensional measurement coordinate can not be obtained.
Require that end effector repetitive positioning accuracy measuring device is not only wanted from scientific development and economical and practical angle
End effector can accurately be positioned, and quickly, efficiently, and therefrom to obtain location parameter, to survey
Amount personnel calculate the repetitive positioning accuracy of end effector.
Invention content
It is an object of the invention to solve deficiency in the prior art, a kind of portable self calibration end effector weight is provided
Multiple positioning accuracy measuring device and method, low cost, easily measure, are portable, easy to install high-precision, which has self calibration
Ability, applicable object is wide, high certainty of measurement.Maximum two features of this method are exactly portable and self calibration.
Called portable, i.e., it is portable and easy to install.The portable apparatus structure that is embodied in is simple, very clear；It is easy to install
Being embodied in this device has self-alignment ability, can solve sensor light by algorithm and measuring block relative position is not located
The error generated when perfect condition substantially increases the precision of initial data, and the present apparatus is built not by mechanical component
Vertical rectangular coordinate system, but the geometric properties of the data combination self calibration calibrated bolck obtained using laser range sensor, are passed through
Algorithm voluntarily builds rectangular coordinate system, greatly reduces installation and assembly difficulty.
In addition, there are one very important part --- self calibration standard is fast for this device.Self calibration calibrated bolck be by
Specially designed, shape has the measuring block of certain geometry rule.For self calibration calibrated bolck there are two effect, first is avoided because passing
The relative position of sensor and canonical measure block is not at the data for ideally causing sensor to measure and generates error；Second is
Complicated end repetitive positioning accuracy is measured into problem and is converted to the measurement to rule geometric object, passes through self calibration calibrated bolck
Geometrical relationship gets up independent four sensor data measureds close ties, can accurately obtain its internal certain point
Position coordinates, i.e., it is the acquisition to the coordinate position of a point repetitive positioning accuracy of end effector to be measured problem reduction
Problem realizes self-alignment function, while the requirement to the position of self calibration calibrated bolck is relatively low.Either from the assembly side of device
In terms of the acquisition of face or initial data, measurement difficulty is all greatly reduced, while improving measurement efficiency, the precision of measurement.
In order to achieve the above objectives, the present invention uses following technical proposals：
A kind of portable self calibration end effector repetitive positioning accuracy measuring device, including laser range sensor,
RS422 serial ports, computer, motor driver, motor, end effector, self calibration calibrated bolck, sensor mount, holder are adjusted
Save element, shaft coupling piece, axis；The laser range sensor is fixed on by sensor mount on two axis, and is passed through
RS422 serial ports is connected with computer, and the axis is fixed on by shaft coupling piece on holder, and the computer passes through motor driver
It is connected to the motor, the motor is connected with end effector, and self calibration calibrated bolck is clamped in the end effector, drives self calibration
Calibrated bolck move, the regulating element to adjusting bracket height.
The shape of the self calibration calibrated bolck is：The combination of half of sphere and one section of cylinder simultaneously amplifies the red of sphere
Road.
A kind of portable self calibration end effector repetitive positioning accuracy measurement method, comprises the following steps：
1）Self calibration calibrated bolck is fixed on end effector, the computer controls motor by motor driver and drives
Dynamic displacement of the end effector on the directions reference frame x, the directions y and the directions z, occurs according to suitable position and angle
Within the measurement range of laser range sensor；
2）After end effector moves to the position of requirement, its kinematic parameter is recorded, is used in combination computer with this parameter control
End effector repeating motion processed, when end effector moves to the position every time, laser range sensor obtains self calibration
The information of the extreme position of calibrated bolck returns computer until meeting pendulous frequency, and by data transmission；
3）Initial data is handled with computer, the data fed back are converted into distance value；
4）The coordinate of target point in a series of self calibration calibrated bolck is calculated with the distance value of gained, with this data into
The parameter of one step computational representation data discrete degree, and it is fixed according to the repetition of the definition calculating end effector of repetitive positioning accuracy
Position precision.
The present invention compared with prior art, have the advantages that following substantive features and：
The problem of measurement method can measure end effector repetitive positioning accuracy is reduced to the weight of self calibration calibrated bolck
Multiple positioning accuracy measures problem, and according to the geometrical feature of the mount scheme of measuring device and calibrated bolck, voluntarily builds right angle and sits
Mark system, the coordinate information of the target point inside calibrated bolck, high certainty of measurement, measuring speed are calculated by sensor and algorithm
Soon, efficient, data can be fast and accurately obtained, are had a wide range of application simultaneously, the industrial productions such as manipulator, lathe are can be used for
End effector on line.
The measuring device, the position of innovative placement sensor and design self calibration standard are block-shaped, substantially increase
The precision for measuring the initial data of gained, to obtain more accurate repetitive positioning accuracy.
Description of the drawings
Fig. 1 is the structural schematic diagram of portable self calibration end effector repetitive positioning accuracy measuring device.
Fig. 2 is the structural schematic diagram of self calibration calibrated bolck.
Fig. 3 is that self calibration calibrated bolck realizes self-alignment schematic diagram.
Fig. 4 is the relative position relation figure of light and self calibration calibrated bolck when actually measuring.
Fig. 5 is the flow chart of inventive method.
Specific implementation mode
Below with reference to attached drawing, elaborate to the specific implementation and Method And Principle of the present invention.
As shown in Figure 1, a kind of portable self calibration end effector repetitive positioning accuracy measuring device, including laser ranging
Sensor 1, RS422 serial ports 2, computer 3, motor driver 4, motor 5, end effector 6, self calibration calibrated bolck 7, sensor
Mounting bracket 8, holder 9, regulating element 10, shaft coupling piece 11, axis 12；The laser range sensor 1 passes through sensor mount 8
It is fixed on two axis 12, and is connected with computer 3 by RS422 serial ports 2, the axis 12 is fixed on branch by shaft coupling piece 11
On frame 9, the computer 3 is connected by motor driver 4 with motor 5, and the motor 5 is connected with end effector 6, the end
It holds actuator 6 that self calibration calibrated bolck 7 is clamped, drives self calibration calibrated bolck 7 to move, the regulating element 10 is to adjusting bracket 9
Height.
As shown in Fig. 2, the shape of the self calibration calibrated bolck 7 is：The combination of half of sphere and one section of cylinder, puts simultaneously
The equator of big sphere, the purpose designed in this way is the distance value in order to be measured by the geometry and sensor of calibrated bolck, profit
With geometrical relationship, the coordinate of calibrated bolck internal object point is obtained.
As shown in figure 3, when the self calibration calibrated bolck is moved within the measurement range of sensor, four light of sensor
Line is beaten on calibrated bolck.When light 1 and light 2 are mapped on calibrated bolck, light 1 and 2 place plane of light are considered as xOy planes,
In geometrical model such as figure shown in right figure, marked parameter is known parameters in figure, therefore can find out center of circle O1In xOy planes
Position, since this device has self-alignment characteristic, the foundation of reference axis can change according to actual conditions, therefore the center of circle has
Depending on the position of the coordinate apparent coordinates axis of body.In such a situa-tion, so that it may to be easily obtained center of circle O in xOy planes
Coordinate and center of circle O1It is identical when upper, therefore the coordinate of center of circle O also determines.Similarly, according to such method, can pass through
Light 3 and light 4 find out the distances of center of circle O in a z-direction, so far, all about positions of the center of circle O on three directions of x, y, z
It determines, center of circle O is target point, and the initial data that we obtain is exactly the coordinate position of this point.
As shown in figure 4, when the practical measurement of the measuring device, the relative position relation between light and calibrated bolck.1 He of axis
2 be two holders for installing sensor, is x-axis with axis 1, establishes rectangular coordinate system in space, wherein y-axis and z-axis is represented by dashed line
It is because this two axis are to fabricate out.When practical measurement, the directrix of light 1 and the cylinder of 2 place planes and calibrated bolck
Not parallel, the cross section that cylinder is intercepted by xOy planes at this time is ellipse.Due to not knowing the position between calibrated bolck and reference axis
Appearance relationship, so we are unable to get elliptical major semiaxis（The length of semi-minor axis and calibrated bolck radius surface it is equal）, therefore nothing
Method finds out elliptical center of circle O2Position.It in order to solve this problem, can be according to L1And L2Value and radius R establish a circle,
Principle according to Fig.3, can be easy to find out center of circle O3Position, O2And O3There are certain deviations, and relative position is such as
In figure shown in right figure.By O3It is projected on the equatorial plane along z-axis, O3And O4On line, x, the y-coordinate of all the points are constant, thus
It can obtain line O3O4The x and y coordinates of upper all points.In the z coordinate for seeking target point, xOz planes and cylinder can be also encountered
The not parallel problem of directrix, can be found out according to L with same method at this time3And L4And the center of circle O of the circle of diameter R determinations5
Position in the z-axis direction, so that it may in O3O4On find a bit, make the point in z coordinate and O5Identical, which is O5',
It is exactly the target point required by us.In this way, the coordinate of the target point just entirely defines.Why with such method, be for
It is found inside calibrated bolck a bit, can will measure four independent distance values close ties, it is each to realize
Measurement object is unique, the confirmable purpose of coordinate of object, to improve the precision for the initial data for calculating repetitive positioning accuracy.
As shown in figure 5, a kind of portable self calibration end effector repetitive positioning accuracy measurement method, including following step
Suddenly：
1）Self calibration calibrated bolck 7 is fixed on end effector 6, the computer 3 controls electricity by motor driver 4
Machine 5 drives displacement of the end effector 6 on the directions reference frame x, the directions y and the directions z, according to suitable position and angle
Degree appears within the measurement range of laser range sensor 1；
2）After end effector 6 moves to the position of requirement, its kinematic parameter is recorded, is used in combination computer 3 with this parameter
6 repeating motion of end effector is controlled, when end effector 6 moves to the position every time, laser range sensor 1 is obtained from
The information for calibrating the extreme position of calibrated bolck 7 returns computer 3 until meeting pendulous frequency, and by data transmission；
3）Initial data is handled with computer 3, the data fed back are converted into distance value；
4）The coordinate of target point in a series of self calibration calibrated bolck 7 is calculated with the distance value of gained, with this data
The parameter of characterize data dispersion degree is further calculated, and calculates the weight of end effector 6 according to the definition of repetitive positioning accuracy
Multiple positioning accuracy.
Claims (2)
1. a kind of portable self calibration end effector repetitive positioning accuracy measuring device, which is characterized in that including laser ranging
Sensor (1), RS422 serial ports (2), computer (3), motor driver (4), motor (5), end effector (6), self-correcting fiducial mark
Quasi- block (7), sensor mount (8), holder (9), regulating element (10), shaft coupling piece (11), axis (12)；The laser ranging
Sensor (1) is fixed on by sensor mount (8) on two axis (12), and passes through RS422 serial ports (2) and computer (3)
It is connected, the axis (12) is fixed on by shaft coupling piece (11) on holder (9), and the computer (3) passes through motor driver (4)
It is connected with motor (5), the motor (5) is connected with end effector (6), and self calibration standard is clamped in the end effector (6)
Block (7), drive self calibration calibrated bolck (7) move, the regulating element (10) to adjusting bracket (9) height；The self-correcting
The shape of quasi- calibrated bolck (7) is：The combination of half of sphere and one section of cylinder simultaneously amplifies the equator of sphere.
2. a kind of portable self calibration end effector repetitive positioning accuracy measurement method, which is characterized in that comprise the following steps：
1) self calibration calibrated bolck (7) is fixed on end effector (6), computer (3) controls electricity by motor driver (4)
Machine (5) drives displacement of the end effector (6) on the directions reference frame x, the directions y and the directions z, according to suitable position
Within the measurement range for appearing in laser range sensor (1) with angle；
2) after end effector (6) moves to the position of requirement, its kinematic parameter is recorded, is used in combination computer (3) with this parameter
Control end effector (6) repeating motion, when end effector (6) moves to the position every time, laser range sensor (1)
The information for obtaining the extreme position of self calibration calibrated bolck (7) returns computer (3) until meeting pendulous frequency, and by data transmission；
3) initial data is handled with computer (3), the data fed back is converted into distance value；
4) coordinate of target point in a series of self calibration calibrated bolck (7) is calculated with the distance value of gained, with this data into
The parameter of one step computational representation data discrete degree, and according to the weight of the definition of repetitive positioning accuracy calculating end effector (6)
Multiple positioning accuracy.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111381223A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Method, system and device for detecting performance of laser ranging sensor |
| CN110125980B (en) * | 2019-05-21 | 2021-10-22 | 中国科学院沈阳自动化研究所 | Calibration device and calibration method for industrial robot repeated positioning precision measurement device |
| CN110985827B (en) * | 2019-12-09 | 2021-02-12 | 芜湖赛宝机器人产业技术研究院有限公司 | A shock attenuation support for testing industrial robot repeated positioning accuracy |
| CN112833787B (en) * | 2021-01-07 | 2022-08-30 | 广东博智林机器人有限公司 | Repeated positioning precision measuring device and repeated positioning precision measuring method |
| CN112781498B (en) * | 2021-02-09 | 2022-07-08 | 南京景曜智能科技有限公司 | Robot actuator pose repetition precision measuring method and device |
| CN113500584B (en) * | 2021-07-15 | 2022-06-28 | 西北工业大学 | Tail end error correction system and method of three-degree-of-freedom parallel robot |
| CN116117869B (en) * | 2023-02-02 | 2023-08-15 | 广东建石科技有限公司 | Method, device and system for testing position accuracy of robot |
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| CN102607411A (en) * | 2012-03-06 | 2012-07-25 | 上海大学 | Measuring device for terminal pose of robot |
| CN103940335A (en) * | 2014-04-25 | 2014-07-23 | 南京埃斯顿机器人工程有限公司 | Device for measuring repeated positioning accuracy of industrial robot |
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102009001875A1 (en) * | 2009-03-26 | 2010-09-30 | Robert Bosch Gmbh | Self-leveling multi-line 360 ° laser device |
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|---|---|---|---|---|
| CN102607411A (en) * | 2012-03-06 | 2012-07-25 | 上海大学 | Measuring device for terminal pose of robot |
| CN103940335A (en) * | 2014-04-25 | 2014-07-23 | 南京埃斯顿机器人工程有限公司 | Device for measuring repeated positioning accuracy of industrial robot |
| 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 |
| 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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