CN105783809A - Robot calibration testing combined device - Google Patents
Robot calibration testing combined device Download PDFInfo
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- CN105783809A CN105783809A CN201610231353.1A CN201610231353A CN105783809A CN 105783809 A CN105783809 A CN 105783809A CN 201610231353 A CN201610231353 A CN 201610231353A CN 105783809 A CN105783809 A CN 105783809A
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The present invention provides a robot calibration testing combined device, which is matched with a laser system and is used for calibrating attitudes of a robot. The robot calibration testing combined device comprises a calibration plate which is fixed on the robot, and a load assembly which is directly fixed on the robot or the calibration plate, wherein the load assembly comprises a plurality of gauge blocks which can be connected in a detachable manner and fixing members used for fixing the plurality of gauge blocks together. Since the load assembly comprises the plurality of gauge blocks which can be connected in a detachable manner, the number of the gauge blocks can be increased or decreased in the robot calibration testing process, thereby calibrating the robot more accurately.
Description
Technical field
The present invention relates to a kind of Robot calibration test combination unit.
Background technology
Industrial robot is as production equipment crucial in flexible production and intelligence manufacture concept, it most basic function possessed and requirement can be accurately positioned end effector (including pose and attitude), the open chain mechanism of each adjacent links coupled motions composition that joint type industrial machine is artificially common, the accurately control of its end effector pose requires over and each being precisely controlled of joint parameter value is ensured.But, robot is inevitably present many errors such as manufacture, assembling, abrasion in whole production and life cycle process.The existence of these errors makes between the actual parameter of original inside name kinematics model preset and each robot individuality, deviation to occur in robot control system, so that controlling accurate not.Therefore, it is required for carrying out robot carefully demarcating reliably before robot puts into formal use and after safeguarding adjustment, to revising the precision of robot.
Industrial robot timing signal, needs the characteristic measurements such as the pose to robot, track and speed to demarcate according to the requirement of national standard " GB/T12642-2013 industrial robot performance specification and test method thereof "；And have Regulatory requirements for the loading condition of robot in calibration process, namely must carry out full load (designing requirement) testing results and suggestion carries out the test request of 10% load.For exploitation heavy-load robot, it is necessary to the parameter numerous and complicated of measurement, and preferably under multiple loading condition, the operation conditions of robot model machine is demarcated, to summing up and revise the design of robot better.So, scaling scheme and demarcation test device are then for saving the time of Robot calibration easily and reliably, improve work efficiency most important.
Therefore, it is necessary to design the Robot calibration test combination unit of a kind of conveniently adjusted load.
Summary of the invention
It is an object of the invention to provide a kind of Robot calibration measured under multiple loading condition test combination unit.
For achieving the above object, the invention provides a kind of Robot calibration test combination unit, described Robot calibration test combination unit matches with laser system and merges to demarcate robot pose, scaling board that described Robot calibration test combination unit includes being fixed in robot and be directly fixed on the load component on robot or scaling board, described load component includes some gauge blocks that can dismantle connection and some gauge blocks is fixed to fixture together.
As a further improvement on the present invention, described gauge block includes first gauge block, end gauge block and is located in the some middle gauge block between first gauge block and end gauge block.
As a further improvement on the present invention, described first gauge block, some middle gauge blocks, end gauge block are all equal in weight.
As a further improvement on the present invention, described middle gauge block has relative first surface and second surface, described first surface forms groove to second surface direction depression, described second surface protrudes out to the direction away from first surface and is formed with boss, and when in the middle of adjacent two, gauge block is fixed to together, boss and groove are respectively cooperating with fixing.
As a further improvement on the present invention, described fixture includes stud and bolt, and described first gauge block, middle gauge block and end gauge block are locked with bolt mutually by stud；Described first gauge block, middle gauge block, end gauge block are all formed through the first perforation, described stud from described first perforation through, and be locked mutually with described bolt.
As a further improvement on the present invention, described gauge block is square, and described first perforation is provided with four and is arranged on four angles of gauge block.
As a further improvement on the present invention, described laser system include receiving the laser tracker of laser, in order to reflect the reflecting target ball of laser；Described Robot calibration test combination unit also includes the flange in order to fixation reflex target ball and/or load component and/or scaling board.
As a further improvement on the present invention, described flange is directly fixed on robot or load component, and described flange center position is provided with the target stand in order to fixation reflex target ball.
As a further improvement on the present invention, described flange is fixed in robot, and described scaling board is the extension scaling board in strip；Described extension scaling board one end is fixed on flange, and the other end extends to outside flange and in order to fixing described reflecting target ball.
As a further improvement on the present invention, described flange is fixed in robot, and described scaling board is plate-shaped and area is more than the attitude scaling board of described flange and load component；Described attitude scaling board is arranged between described flange and load component, and described load component and flange are both secured on described attitude scaling board by paracentral position；Described attitude scaling board is away from being provided with target stand on the position of load component and in order to fix three described reflecting target balls.
As a further improvement on the present invention, described flange includes end flange and demarcates flange, and described end flange is fixed between robot and scaling board, and described scaling board is plate-shaped biasing scaling board；Described biasing scaling board one end is fixed on end flange, and the other end stretches out from end flange and in order to fixing described load component；The side that described demarcation flange is fixed on described load component away from robot, the center position of described demarcation flange is provided with the target stand in order to fixation reflex target ball.
The invention has the beneficial effects as follows: described load component includes some gauge blocks that can dismantle connection, therefore, in the process carrying out Robot calibration test, can increase or reduce the quantity of gauge block as required, thus robot is demarcated more accurately.Further, owing to load component is divided into several gauge blocks, the weight of every piece of gauge block is all relatively light, and it is more convenient to be easier to when being therefore fixed operation.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of Robot calibration of the present invention test combination unit；
Fig. 2 is the structural representation of load component of the present invention；
Fig. 3 is head gauge block of the present invention and the structural representation of end gauge block；
Fig. 4 is the structural representation of gauge block in the middle of the present invention；
Fig. 5 is the first scaling method of Robot calibration of the present invention test combination unit；
Fig. 6 is the second scaling method of Robot calibration of the present invention test combination unit；
Fig. 7 is the third scaling method of Robot calibration of the present invention test combination unit；
Fig. 8 is the 4th kind of scaling method of Robot calibration of the present invention test combination unit；
Fig. 9 is the 5th kind of scaling method of Robot calibration of the present invention test combination unit.
Detailed description of the invention
Describe the present invention below with reference to each embodiment shown in the drawings.But these embodiments are not limiting as the present invention, those of ordinary skill in the art is all contained in protection scope of the present invention according to the made structure of these embodiments, method or conversion functionally.
Such as Fig. 1 to Fig. 9, the invention provides a kind of Robot calibration test combination unit 100, described Robot calibration test combination unit 100 matches with laser system and merges to demarcate robot 200.Described laser system includes launching and receive the laser tracker 1 of laser, in order to reflect the reflecting target ball 2 of laser；Described Robot calibration test combination unit 100 includes the scaling board demarcating robot 200, the load component 4 being fixed in robot 200 and the flange 5 in order to fixation reflex target ball 2 and/or load component 4 and/or scaling board.
Described load component 4 is fixed in robot 200, it is generally the case that described load component 4 is fixed in robot 200 by flange 5 or scaling board.Described load component 4 includes some gauge blocks 41 that can dismantle connection and in order to gauge block 41 is fixed to fixture together.Described gauge block 41 includes first gauge block 411, end gauge block 412 and is located in the some middle gauge block 413 between first gauge block 411 and end gauge block 412.In the present embodiment, described first gauge block 411, some middle gauge blocks 413, end gauge block 412 are all arranged in one direction, i.e. stacking extension in one direction, if certainly described gauge block 41 is in the irregular stacking arrangement of other modes, it is possible to reach the purpose of the present invention.Described first gauge block 411, end gauge block 412, middle gauge block 413 weight all equal, in the present embodiment, the weight of described gauge block 41 is 10kg.Described gauge block 41 is all in tetragonal structure, and in the present embodiment, the general perspective of described gauge block 41 is all square.Described fixture includes stud (non-label) and bolt (non-label), fixed by stud and bolt between described gauge block 41, described gauge block 41 is all formed through the first perforation 410, the diameter of described first perforation 410 is about 2mm more than described stud diameter, facilitates stud traverse and fixes with bolts assemblies.In the present embodiment, described gauge block 41 is all square, and described first perforation 410 is provided with four and is symmetric with the center of gauge block 41, and angular distribution near four of described gauge block 41.
As shown in Figures 2 and 3, described first gauge block 411 and end gauge block 412 include square substrate 4111 and protrude out the projection 4112 of formation on substrate 4111 to a direction, described projection 4112 is formed on four right angles of described substrate 4111, and described first perforation 410 is formed on described projection 4112.Described first gauge block 411 and end gauge block 412 have been processed to form flange-interface 4113 away from the side of projection 4112, in order to dock with flange 5 phase.Existence due to projection 4112, it is formed with gap 4114 between described first gauge block 411 and end gauge block 412 and middle gauge block 413, in present embodiment, the height of described projection 4112 is about 40mm, therefore, being formed with the gap 4114 of about 40mm between substrate 4111 and the middle gauge block 413 of described first gauge block 411 and end gauge block 412, when described gap 4114 is docked with flange 5 for first gauge block 411 and end gauge block 412, convenient wrench stretches into operation from gap 4114.
As shown in Figure 2,3, 4, the general perspective of described middle gauge block 413 and described first gauge block 411 and end gauge block 412 in the same size, and that described first perforation 410 is formed on four right angles of described middle gauge block 413 and its size and location are all bored a hole with first on first gauge block 411 and last gauge block 412 is 410 consistent.Described middle gauge block 413 has relative first surface and second surface, described first surface forms groove 4131 to second surface direction depression, described second surface protrudes out formation boss 4132 to the direction away from first surface, and boss 4132 and the groove 4131 of adjacent two middle gauge blocks 413 are respectively cooperating with fixing.Therefore, between in an installation during gauge block 413, can first the groove 4131 of middle gauge block 413 and boss 4132 phase be positioned, and then by mutually stacking for centre gauge block 413, and can ensure that middle gauge block 413 is all arranged in one direction, and some first perforation 410 are corresponding so that fixing.
Accordingly, because the weight of described gauge block 41 is all equal and conveniently dismantles and installation, then in the process that robot 200 is demarcated, the middle gauge block 413 of detachable or installation, conveniently robot 200 is demarcated in different loads situation.
In described robot 200 calibration process, different scaling board can be passed through, and be fixed on one or more reflecting target balls 2 of various location, robot 200 is demarcated.The three-dimensional coordinate information of specified point when described laser tracker 1 and described reflecting target ball 2 robot 200 described in different test request records operate, and save the data in computer, and utilize measurement system support software data processing, thus robot 200 is demarcated.Scaling board has several structure, and reflecting target ball 2 is different from the connected mode of scaling board, then the three-dimensional coordinate data of measured robot 200 is also different, robot 200 can more fully be demarcated test.
It is illustrated in figure 5 the first scaling method, described flange 5 is fixed in robot 200, and described reflecting target ball 2 is fixed on the center of described flange 5, thus demarcating the robot 200 when non-loaded.
Being illustrated in figure 6 the second scaling method, fixed with described robot 200 by described load component 4, described flange 5 includes demarcating flange 51 and end flange 52；Described end flange 52 is fixedly connected between described robot 200 and load component 4, by coordinating between end flange 52 and the last gauge block 412 of load component 4, can be securely fastened in robot 200 by load component 4；Described demarcation flange 51 is fixed on the first gauge block 411 side away from end gauge block 412, and described reflecting target ball 2 is fixed on the centre position of described demarcation flange 51, thus demarcating the robot 200 when having load；Meanwhile, in order to meet unequally loaded requirement, gauge block 413 in the middle of can increasing or dismantle, thus demarcating more accurately.
Being illustrated in figure 7 the third scaling method, described flange 5 includes demarcating flange 51 and end flange 52, described demarcation flange 51 and end flange 52 bolt and removable alignment pin is connected, and is fixed in robot 200.Described scaling board is the extension scaling board 31 in strip, and described extension scaling board 31 is provided with some target stands 310 in order to install reflecting target ball 2.Described extension scaling board 31 one end is fixed on demarcation flange 51, the other end extends to outside demarcation flange 51, described reflecting target ball 2 is fixed to described extension scaling board 31 one end away from flange 5, and namely described reflecting target ball 2 is fixed on described extension scaling board 31 and deviates the side at flange 5 center.Owing to robot 200 has several axles, coaxially when rotated, laser tracker 1 needs the movement locus of track record reflecting target ball 2.Therefore the movement locus when axle at reflecting target ball 2 place rotates in Fig. 5 is if desired measured, owing to reflecting target ball 2 is on this axle, even if then this axle rotates and also cannot record movement locus, therefore the scaling method adopted as shown in Figure 7 it is accomplished by, adopt and extend scaling board 31, reflecting target ball 2 is deviateed this axle and arranges.
Being illustrated in figure 8 the 4th kind of scaling method, described scaling board is plate-shaped attitude scaling board 32, and the area of described attitude scaling board 32 is more than load component 4 and flange 5, and is included by gauge block 41 completely.Described load component 4 and flange 5 are both secured on described attitude scaling board 32 by paracentral position.Described attitude scaling board 32 is in four directions tabular, and is respectively formed with to install the target stand 310 of reflecting target ball 2 on four right angles, and described reflecting target ball 2 has three, and is individually fixed in any three target stands 310 of attitude scaling board 32.In such cases, flange 5 is being fixed in robot 200, and the last gauge block 412 on load component 4 is being shed, and attitude scaling board 32 is being connected and fixed on described flange 5 and between the middle gauge block 413 of end.Offering the second perforation (not shown) for stud traverse on described attitude scaling board 32, described second perforation aligns and in the same size with described first perforation 410, thus attitude scaling board 32 is fixed on the end of load component 4.Utilize the three-dimensional coordinate information of described three reflecting target balls 2 under the test of described laser tracker 1 recorder people 200 different positions and pose, thus robot 200 is carried out attitude demarcation.Meanwhile, in order to meet unequally loaded requirement, gauge block 413 in the middle of can increasing or dismantle, thus demarcating more accurately.
Being illustrated in figure 9 the 4th kind of scaling method, described scaling board is plate-shaped biasing scaling board 33, described biasing scaling board 33 be rectangle tabular, and width keeps consistent with the width of described gauge block 41.Described flange 5 includes demarcating flange 51 and end flange 52, and described end flange 52 is fixed in robot 200.Described demarcation flange 51 is fixed on the first gauge block 411 side away from robot of described load component 4, is namely positioned at the front end of robot, and described reflecting target ball 2 is fixed on the center of described demarcation flange 51.Described biasing scaling board 33 one end is fixed on end flange 52, and the other end stretches out from end flange 52；Described load component 4 is fixed on described biasing scaling board 33 one end away from end flange 52.In the present embodiment, described load component 4 unloads end removing gauge block, and the middle gauge block 413 that will be located in end directly fixes with biasing scaling board 33.Thus when the axle of load whole departure robot 200, robot 200 can being demarcated.Meanwhile, in order to meet unequally loaded requirement, gauge block in the middle of can increasing or dismantle, thus demarcating more accurately.
Concretely comprising the following steps of method of testing is demarcated by described robot 200, and in the present embodiment, using six-joint robot 200 as demarcating object, the 6th axle is the axis at reflecting target ball 2 place in Fig. 5:
S1: as shown in Figure 5, the end flange 52 of described heavy-load robot 200 is connected with described demarcation flange 51 bolt and removable alignment pin, then M4 bolt is utilized to connect described demarcation flange 51 and described extension scaling board 31, then first described reflecting target ball 2 is installed on the middle target stand 310 of described demarcation flange 51, driving the first axle and second axle of described heavy-load robot 200 in a manual mode successively, single-shaft-rotation scope is not less than 120 °.Described laser tracker 1 is utilized to keep track of the track of described reflecting target ball 2, respectively obtain the locus circle that robot 200 rotates according to each axle, fitting circle and circular shaft line, with the first track shaft circular shaft line for Z axis, second track shaft circular shaft line is Y-axis, set up robot 200 demarcation cartesian coordinate system, the D-H parameter in joint, unification robot 200 control world coordinate system and demarcation cartesian coordinate system during according to design.
S2: rotate the 3rd axle of described heavy-load robot 200, the 4th axle, the 5th axle, the 6th axle successively, utilizes described laser tracker 1 to record the track of described reflecting target ball 2 during the operating of each single shaft respectively.At record the 6th track shaft bowlder, as it is shown in fig. 7, need first to be arranged on described extension scaling board 31 by described reflecting target ball 2 and deviate on the target stand 310 at described end flange 52 center.So utilize described laser tracker 1 to measure the locus circle of each axle of special-purpose software matching and the axis of system, set up the actual D-H parameter of described heavy-load robot 200 and the coordinate system of each axle.
S3: as shown in Figure 6, load component 4 is directly fixed in described robot 200 by end flange 52, and it is fixed on the first gauge block front end of described load component 4 by demarcating flange 51, coordinate described laser tracker 1 can complete the measurement of robot 200 position under different load conditions and rail track feature.The track that robot 200 runs selects according to the regulation of relevant GB.
S4: as shown in Figure 8, described attitude scaling board 32 is adopted to connect described end flange 52 and described load component 4, shedding one piece of last gauge block 412 between described load component 4 and described attitude scaling board 32, the middle gauge block 413 being positioned at end directly fixes with attitude scaling board 32.Described attitude scaling board 32 selects three target stands 310, three described reflecting target balls 2 are installed.Described laser tracker 1 is utilized to distinguish the three-dimensional coordinate information of described three the reflecting target balls 2 under recorder people 200 different positions and pose.Two crossing vectors are set up between 3, the principle utilizing vertical vector apposition to be zero, use MATLAB programmed process data, obtain the data of attitude parameter, be used for carrying out robot 200 attitude and demarcate.Utilize described laser tracker 1 can directly obtain and record the exact position of described reflecting target ball 2, but can not directly obtain the attitude information of described heavy-load robot 200 end TCP.
S5: as it is shown in figure 9, utilize described biasing scaling board 33 to connect described end flange 52 and described load component 4, described load component 4 front end is connected with described demarcation flange 51, and described reflecting target ball 2 is arranged on the centre position of described demarcation flange 51.Adjust the quantity of middle gauge block 413 of described load component 4 with varying duty size, carry out test and the demarcation of robot 200 performance under load bias conditions.
By said method, robot 200 comprehensively can be demarcated, and, due to the design for disassembly of load, can be continuously increased or reduce load, test is more fully demarcated by robot 200.
It is to be understood that, although this specification is been described by according to embodiment, but not each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should be made as a whole by those skilled in the art, technical scheme in each embodiment through appropriately combined, can also form other embodiments that it will be appreciated by those skilled in the art that.
The a series of detailed description of those listed above is only for illustrating of the feasibility embodiment of the present invention; they also are not used to limit the scope of the invention, and all should be included within protection scope of the present invention without departing from the skill of the present invention equivalent implementations made of spirit or change.
Claims (11)
1. a Robot calibration test combination unit, described Robot calibration test combination unit matches with laser system and merges to demarcate robot pose, it is characterized in that: scaling board that described Robot calibration test combination unit includes being fixed in robot and be directly fixed on the load component on robot or scaling board, described load component include some gauge blocks that can dismantle connection and some gauge blocks are fixed to together fixing.
2. Robot calibration according to claim 1 test combination unit, it is characterised in that: described gauge block includes first gauge block, end gauge block and is located in the some middle gauge block between first gauge block and end gauge block.
3. Robot calibration according to claim 2 test combination unit, it is characterised in that: described first gauge block, middle gauge block, end gauge block weight all equal.
4. Robot calibration according to claim 2 test combination unit, it is characterized in that: described middle gauge block has relative first surface and second surface, described first surface forms groove to second surface direction depression, described second surface protrudes out to the direction away from first surface and is formed with boss, and when in the middle of adjacent two, gauge block is fixed to together, boss and groove are respectively cooperating with fixing.
5. Robot calibration according to claim 2 test combination unit, it is characterised in that: described fixture includes stud and bolt, and described first gauge block, middle gauge block and end gauge block are locked with bolt mutually by stud；Described first gauge block, middle gauge block, end gauge block are all formed through the first perforation, described stud from described first perforation through, and be locked mutually with described bolt.
6. Robot calibration according to claim 5 test combination unit, it is characterised in that: described gauge block is square, and described first perforation is provided with four and is arranged on four angles of gauge block.
7. Robot calibration according to claim 1 test combination unit, it is characterised in that: described laser system includes receiving the laser tracker of laser, in order to reflect the reflecting target ball of laser；Described Robot calibration test combination unit also includes the flange in order to fixation reflex target ball and/or load component and/or scaling board.
8. Robot calibration according to claim 7 test combination unit, it is characterised in that: described flange is directly fixed on robot or load component, and described flange center position is provided with the target stand in order to fixation reflex target ball.
9. Robot calibration according to claim 7 test combination unit, it is characterised in that: described flange is fixed in robot, and described scaling board is the extension scaling board in strip；Described extension scaling board one end is fixed on flange, and the other end extends to outside flange and in order to fixing described reflecting target ball.
10. Robot calibration according to claim 7 test combination unit, it is characterised in that: described flange is fixed in robot, and described scaling board is plate-shaped and area is more than the attitude scaling board of described flange and load component；Described attitude scaling board is arranged between described flange and load component, and described load component and flange are both secured on described attitude scaling board by paracentral position；Described attitude scaling board is away from being provided with target stand on the position of load component and in order to fix three described reflecting target balls.
11. Robot calibration according to claim 7 test combination unit, it is characterised in that: described flange includes end flange and demarcates flange, and described end flange is fixed between robot and scaling board, and described scaling board is plate-shaped biasing scaling board；Described biasing scaling board one end is fixed on end flange, and the other end stretches out from end flange and in order to fixing described load component；The side that described demarcation flange is fixed on described load component away from robot, the center position of described demarcation flange is provided with the target stand in order to fixation reflex target ball.
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| CN112238340A (en) * | 2020-10-26 | 2021-01-19 | 广东三扬机器人有限公司 | Calibration method of three-axis screw machine |
| CN112238340B (en) * | 2020-10-26 | 2022-05-24 | 广东三扬机器人有限公司 | Calibration method of three-axis screw machine |
| CN114952861A (en) * | 2022-06-27 | 2022-08-30 | 西南交通大学 | Robot kinematic parameter error accurate identification method based on pose measurement data |
| CN114952861B (en) * | 2022-06-27 | 2024-05-03 | 西南交通大学 | Robot kinematics parameter error accurate identification method based on pose measurement data |
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Address after: 215300, No. 15, 1504-4 floor, No. 1699 Reed Road, Yushan Town, Suzhou, Jiangsu, Kunshan Applicant after: Kunshan Hua Heng robot Co., Ltd. Applicant after: Kunshan Huaheng Welding Co., Ltd. Address before: 215300, No. 15, 1504-4 floor, No. 1699 Reed Road, Yushan Town, Suzhou, Jiangsu, Kunshan Applicant before: Industrial Robot Research Co., Ltd. Of Kunshan Industrial Technology Research Institute Applicant before: Kunshan Huaheng Welding Co., Ltd. |
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Application publication date: 20160720 |