CN105865341A - Device and method for measuring repeated positioning accuracy of industrial robot spatial poses - Google Patents
Device and method for measuring repeated positioning accuracy of industrial robot spatial poses Download PDFInfo
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- CN105865341A CN105865341A CN201610361273.8A CN201610361273A CN105865341A CN 105865341 A CN105865341 A CN 105865341A CN 201610361273 A CN201610361273 A CN 201610361273A CN 105865341 A CN105865341 A CN 105865341A
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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
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Abstract
The invention relates to a device and a method for measuring repeated positioning accuracy of industrial robot spatial poses. The device comprises an execution block, a laser distance measuring sensor, a gyroscope, a special ball-shaped light receiving screen, an extensometer support, levelling instruments, adjusting screws, a computer and a wireless communication module. The computer controls a mechanical arm of an industrial robot to move, so that displacement of the mechanical arm in x, y and z axes is controlled. The method comprises steps as follows: acquired data are transmitted by the laser distance measuring sensor and the gyroscope to the computer through the wireless communication module and are processed, a series of coordinate values are generated, the data are calculated, error values are obtained, and the repeated positioning accuracy is calculated finally. The device and the method are more convenient during application and measurement, the data can be rapidly acquired, and the device is simple in structure, can be applied to different occasions and can play a greater role in a repeated positioning accuracy measurement process of the industrial robot.
Description
Technical field
The present invention relates to a kind of industrial robot spatial pose repetitive positioning accuracy measurement apparatus and method.
Background technology
Industrial robot is the representative of modern automation development, it is widely used in the every field of industry, industrial robot replaces people to complete high-quality work during automation development, not only the mankind are freed the production efficiency also improving product from hard work place, therefore to industrial robot at the volley spatially be accurately positioned and the size of speed, acceleration has strict requirements.The spatial pose repetitive positioning accuracy of industrial robot is important technical parameter, also one of key factor being to ensure that mechanical processing quality.The high accuracy on-line monitoring technique of industrial robot end effector occupies an important position in machining and assembling field, is also a technical barrier.The measuring method of the most conventional industrial robot repetitive positioning accuracy mainly has the methods such as visual imaging method, draw wire encoder measurement method and laser tracker.But there is the shortcoming that price is high, precision is low in visual imaging method, draw wire encoder structure is complicated, measure inconvenience, laser tracker is during carrying out industrial robot resetting, the speed of service of robot must be limited in certain scope, otherwise arise that the phenomenon losing light, and laser tracker is expensive.
Summary of the invention
It is an object of the invention to solve deficiency of the prior art, it is provided that a kind of industrial robot spatial pose repetitive positioning accuracy measurement apparatus and method, it is possible to the accurately repetitive positioning accuracy of robot measurement end effector.
In order to achieve the above object, the present invention uses following technical scheme:
A kind of industrial robot spatial pose repetitive positioning accuracy measurement apparatus, including performing block, laser range sensor, gyroscope, special spherical connect optical screen, flexible instrument support, level indicator, regulate screw, computer, wireless communication module；Described gyroscope embeds and performs inside block, laser range sensor is arranged on around execution block, launch with receiving port vertically downward, laser range sensor and gyroscope are followed Industrial Robot Manipulator motion and are moved, and be connected with computer by wireless module, the described special spherical optical screen that connects is arranged on flexible instrument support；Level indicator and regulation screw, the attitude of fine setting flexible instrument support are installed on the support of described flexible instrument support, increase range of application.
A kind of industrial robot spatial pose repetitive positioning accuracy measuring method, comprises the steps:
1) being arranged on flexible instrument support by the special spherical optical screen that connects, be put into target location, the regulation screw below the flexible instrument support of regulation, eye-level instrument also ensures level；
2) mechanical hand of industrial robot is with performing block motion, and along x, y, z direction adjusts execution block displacement makes it to reach suitable position so that the light that laser range sensor sends can be tailored the spherical optical screen that connects and accept；
3) after performing the position that block moves to requirement, record the parameter of its motion, and utilize computer to drive execution block repeating motion until meeting testing time to control mechanical hand, when performing block and moving to this position every time, data all can be passed to computer by wireless module by laser range sensor；
4) with computer, the data obtained are calculated, finally calculate repetitive positioning accuracy.
The present invention compared with prior art, has the following characteristics that
Measurement apparatus of the present invention and method are more convenient with when measuring in application, can quickly obtain data, and apparatus structure simply can be applied and different occasions, can play bigger effect during the measurement of industrial robot repetitive positioning accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of this device.
Fig. 2 is the structural representation that sensor is installed.
When Fig. 3 is actual measurement, light with connect optical screen relative position relation figure.
Fig. 4 is the flow chart of the inventive method.
Detailed description of the invention
Below in conjunction with the accompanying drawings and detailed description of the invention, the present invention is described in further detail.
As it is shown in figure 1, a kind of industrial robot spatial pose repetitive positioning accuracy measurement apparatus, including performing block 1, laser range sensor 2, gyroscope 3, special spherical connect optical screen 4, flexible instrument support 5, level indicator 6, regulate screw 7, computer 8, wireless communication module 9；Described gyroscope 3 embeds and performs block 1 inside, laser range sensor 2 is arranged on around execution block 1, launch with receiving port vertically downward, laser range sensor 2 and gyroscope 3 are followed Industrial Robot Manipulator motion and are moved, and be connected with computer 8 by wireless module 9, the described special spherical optical screen 4 that connects is arranged on flexible instrument support 5；Level indicator 6 and regulation screw 7, the attitude of fine setting flexible instrument support 5 are installed on the support of described flexible instrument support 5, increase range of application.
As in figure 2 it is shown, gyroscope 3 is arranged on the inside performing block 1, the change of attitude will be recorded during performing block 1 motion.Laser range sensor 2 is arranged on execution block 1 around, and the three-beam sent by three laser range sensors 2 can form a circle.The change of arm end effector attitude in motor process can be reflected by the gyroscope 3 different data in each motor process.
As shown in Figure 3, by adjusting X, Y, the position of Z axis, makes execution block 1 be positioned at and spherical connects directly over optical screen 4 and record position, and the three-beam of laser range sensor 2 is beaten and connect on optical screen 4 spherical, a plane can be obtained by 3, and 3 circles constituted are in the plane, owing to having obtained the coordinate of 3, are therefore readily able to obtain center of circle O1Position, repetitive operation mechanical arm to the position specified, the three-beam that laser range sensor 2 is got may not be in original position, such as the round O in Fig. 32And O3By can be calculated O2Position.Line segment O can be obtained1O2
With line segment O1O3For the position repetitive positioning accuracy error produced after repeating motion twice.In like manner, till measuring according to such method and meeting pendulous frequency.Pose repetitive positioning accuracy after i.e. can being done by the computer disposal in later stage.
As shown in Figure 4, a kind of industrial robot spatial pose repetitive positioning accuracy measuring method, comprise the steps:
1) being arranged on flexible instrument support 5 by the special spherical optical screen 4 that connects, be put into target location, the regulation screw 7 below the flexible instrument support 5 of regulation, eye-level instrument 6 also ensures level；
2) mechanical hand of industrial robot moves with performing block 1, and along x, y, z direction adjusts execution block 1 displacement makes it to reach suitable position so that the light that laser range sensor 2 sends can be tailored the spherical optical screen 4 that connects and accept；
3) after performing the position that block 1 moves to requirement, record the parameter of its motion, and utilize computer 8 to drive execution block 1 repeating motion until meeting testing time to control mechanical hand, when performing block 1 and moving to this position every time, data all can be passed to computer 8 by wireless module 9 by laser range sensor 2；
4) with computer 8, the data obtained are calculated, finally calculate repetitive positioning accuracy.
Claims (2)
1. an industrial robot spatial pose repetitive positioning accuracy measurement apparatus, it is characterized in that, including performing block (1), laser range sensor (2), gyroscope (3), special spherical connect optical screen (4), flexible instrument support (5), level indicator (6), regulation screw (7), computer (8), wireless communication module (9)；Described gyroscope (3) embeds and performs block (1) inside, laser range sensor (2) is arranged on execution block (1) around, launch with receiving port vertically downward, laser range sensor (2) and gyroscope (3) are followed Industrial Robot Manipulator motion and are moved, and be connected with computer (8) by wireless module (9), the described special spherical optical screen (4) that connects is arranged on flexible instrument support (5)；Level indicator (6) and regulation screw (7) are installed on the support of described flexible instrument support (5), the attitude of the flexible instrument support (5) of fine setting, increase range of application.
2. an industrial robot spatial pose repetitive positioning accuracy measuring method, it is characterised in that comprise the steps:
1) being arranged on flexible instrument support (5) by the special spherical optical screen (4) that connects, be put into target location, the regulation screw (7) of regulation flexible instrument support (5) lower section, eye-level instrument (6) also ensures level；
2) mechanical hand of industrial robot is with performing block (1) motion, and along x, y, z direction adjusts execution block (1) displacement makes it to reach suitable position so that the light that laser range sensor (2) sends can be tailored the spherical optical screen (4) that connects and accept；
3) after performing the position that block (1) moves to requirement, record the parameter of its motion, and utilize computer (8) to control mechanical hand drive execution block (1) repeating motion until meeting testing time, when performing block (1) and moving to this position every time, data all can be passed to computer (8) by wireless module (9) by laser range sensor (2)；
4) with computer (8), the data obtained are calculated, finally calculate repetitive positioning accuracy.
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| CN201610361273.8A CN105865341B (en) | 2016-05-28 | 2016-05-28 | Industrial robot spatial pose repetitive positioning accuracy measuring device and method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| CN106949863A (en) * | 2017-03-13 | 2017-07-14 | 重庆大学 | White body is main to spell fixture switching system repetitive positioning accuracy detection method |
| CN106949908A (en) * | 2017-04-12 | 2017-07-14 | 温州大学瓯江学院 | A kind of high-precision spatial movement locus attitude follows the trail of measurement modification method |
| CN108680101A (en) * | 2018-04-11 | 2018-10-19 | 上海交通大学 | Mechanical arm tail end space repetitive positioning accuracy measuring device and method |
| CN108801137A (en) * | 2018-06-15 | 2018-11-13 | 中南大学 | A method of for detecting flexible parallel connection platform's position and pose |
| CN109341534A (en) * | 2018-11-19 | 2019-02-15 | 广东技术师范学院 | A kind of industrial robot spatial pose repetitive positioning accuracy measuring device and method |
| CN115388777A (en) * | 2022-10-28 | 2022-11-25 | 成都睿芯行科技有限公司 | Method for testing precision of repeated position of mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| CN106949863A (en) * | 2017-03-13 | 2017-07-14 | 重庆大学 | White body is main to spell fixture switching system repetitive positioning accuracy detection method |
| CN106949908A (en) * | 2017-04-12 | 2017-07-14 | 温州大学瓯江学院 | A kind of high-precision spatial movement locus attitude follows the trail of measurement modification method |
| CN106949908B (en) * | 2017-04-12 | 2023-05-23 | 温州大学瓯江学院 | High-precision space motion track gesture tracking measurement correction method |
| CN108680101A (en) * | 2018-04-11 | 2018-10-19 | 上海交通大学 | Mechanical arm tail end space repetitive positioning accuracy measuring device and method |
| CN108680101B (en) * | 2018-04-11 | 2019-11-01 | 上海交通大学 | Mechanical arm tail end space repetitive positioning accuracy measuring device and method |
| CN108801137A (en) * | 2018-06-15 | 2018-11-13 | 中南大学 | A method of for detecting flexible parallel connection platform's position and pose |
| CN108801137B (en) * | 2018-06-15 | 2019-12-03 | 中南大学 | A method of for detecting flexible parallel connection platform's position and pose |
| CN109341534A (en) * | 2018-11-19 | 2019-02-15 | 广东技术师范学院 | A kind of industrial robot spatial pose repetitive positioning accuracy measuring device and method |
| CN115388777A (en) * | 2022-10-28 | 2022-11-25 | 成都睿芯行科技有限公司 | Method for testing precision of repeated position of mobile robot |
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| CN105865341B (en) | 2018-07-13 |
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