CN105865341B - Industrial robot spatial pose repetitive positioning accuracy measuring device and method - Google Patents
Industrial robot spatial pose repetitive positioning accuracy measuring device and method Download PDFInfo
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- CN105865341B CN105865341B CN201610361273.8A CN201610361273A CN105865341B CN 105865341 B CN105865341 B CN 105865341B CN 201610361273 A CN201610361273 A CN 201610361273A CN 105865341 B CN105865341 B CN 105865341B
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- industrial robot
- positioning accuracy
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- perfoming block
- repetitive positioning
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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 present invention relates to a kind of industrial robot spatial pose repetitive positioning accuracy measuring device and methods.Device includes perfoming block, laser range sensor, gyroscope, it is special it is spherical connect optical screen, stretch instrument support, level meter, adjusting screw, computer, wireless communication module.The movement of Industrial Robot Manipulator arm is controlled by computer, to which, in x, the displacement of y, z-axis are controlled to mechanical arm.Method and step is that collected data are passed to computer progress data processing by laser range sensor and gyroscope by wireless communication module, generates a series of coordinate values, is carrying out that error amount is calculated to these data, finally calculating repetitive positioning accuracy.Measuring device and method of the present invention application with it is more convenient when measuring, can be quickly obtained data, apparatus structure can simply apply from different occasions, larger effect can be played in the measurement process of industrial robot repetitive positioning accuracy.
Description
Technical field
The present invention relates to a kind of industrial robot spatial pose repetitive positioning accuracy measuring device and methods.
Background technology
Industrial robot is the representative of modern automation development, is widely used in the every field of industry, industrial machine
People replaces people to complete the work of high quality during automation development, and the mankind are solved from hard work place not only and are released
Also improve the production efficiency of product, thus to industrial robot accurate positionin spatially during exercise and speed,
The size of acceleration has strict requirements.The spatial pose repetitive positioning accuracy of industrial robot is important technical parameter,
One of an important factor for being also guarantee mechanical processing quality.The high-precision on-line monitoring technique of industrial robot end effector exists
It is machined and assembly field occupies an important position and a technical barrier.Currently used industrial robot repeats fixed
The measurement method of position precision mainly has visual imaging method, the methods of draw wire encoder mensuration and laser tracker.But vision
Imaging method haves the shortcomings that price is high, precision is low, and draw wire encoder is complicated, and it is inconvenient to measure, and laser tracker is carrying out
During industrial robot resetting, it is necessary to which the speed of service for limiting robot in a certain range, otherwise will go out
The phenomenon of light is now lost, and laser tracker is expensive.
Invention content
It is an object of the invention to solve deficiency in the prior art, it is fixed to provide a kind of industrial robot spatial pose repetition
Position accuracy measuring device and method are capable of the repetitive positioning accuracy of accurate robot measurement end effector.
In order to achieve the above object, the present invention uses following technical solutions：
A kind of industrial robot spatial pose repetitive positioning accuracy measuring device, including perfoming block, laser range sensor,
Gyroscope, it is special it is spherical connect optical screen, stretch instrument support, level meter, adjusting screw, computer, wireless communication module；The top
Spiral shell instrument is embedded in inside perfoming block, and laser range sensor is mounted on around perfoming block, is emitted with receiving port vertically downward, Laser Measuring
It follows Industrial Robot Manipulator to move away from sensor and gyroscope and moves, and be connected with computer by wireless module, institute
The special spherical optical screen that connects is stated to be mounted on flexible instrument support；Level meter and tune are installed on the holder of the flexible instrument support
Screw is saved, the posture for the instrument support that stretches is finely tuned, increases application range.
A kind of industrial robot spatial pose repetitive positioning accuracy measurement method, includes the following steps：
1）The special spherical optical screen that connects is mounted on flexible instrument support, target location is put into, adjusts the instrument support that stretches
The adjusting screw of lower section observes level meter and ensures level；
2）The manipulator of industrial robot is moved with perfoming block, along x, y, the adjustment perfoming block displacement of the directions z make its with
Reach suitable position so that the light that laser range sensor is sent out can be tailored the spherical optical screen that connects and receive；
3）After perfoming block moves to the position of requirement, the parameter of its movement is recorded, and using computer come control machinery
Hand-motion perfoming block repeating motion is until meeting testing time, when perfoming block moves to the position every time, laser ranging sensing
Data all can be passed to computer by device by wireless module；
4）The data of acquisition are calculated with computer, finally calculate repetitive positioning accuracy.
The present invention compared with prior art, has the characteristics that：
Measuring device and method of the present invention are more convenient when application is with measurement, can be quickly obtained data, device knot
Structure simply can apply from different occasions, can be played in the measurement process of industrial robot repetitive positioning accuracy larger
Effect.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present apparatus.
Fig. 2 is the structural schematic diagram of sensor installation.
Fig. 3 is when actually measuring, and light and connects optical screen relative position relation figure.
Fig. 4 is the flow chart of the method for the present invention.
Specific implementation mode
With reference to the accompanying drawings and detailed description, invention is further described in detail.
As shown in Figure 1, a kind of industrial robot spatial pose repetitive positioning accuracy measuring device, including perfoming block 1, laser
Distance measuring sensor 2, gyroscope 3, it is special it is spherical connect optical screen 4, stretch instrument support 5, level meter 6, adjusting screw 7, computer 8,
Wireless communication module 9；The gyroscope 3 is embedded in inside perfoming block 1, and laser range sensor 2 is mounted on around perfoming block 1, hair
It penetrates with receiving port vertically downward, laser range sensor 2 and gyroscope 3 follow Industrial Robot Manipulator to move and move, and
It is connected with computer 8 by wireless module 9, the special spherical optical screen 4 that connects is mounted on flexible instrument support 5；It is described flexible
Level meter 6 and adjusting screw 7 are installed on the holder of instrument support 5, the posture for the instrument support 5 that stretches is finely tuned, increases and apply model
It encloses.
As shown in Fig. 2, gyroscope 3 is mounted on the inside of perfoming block 1, will be recorded during perfoming block 1 moves
The variation of posture.Laser range sensor 2 is mounted on around perfoming block 1, three sent out by three laser range sensors 2
Beam light can form a circle.It can reflect manipulator end by different data of the gyroscope 3 in each motion process
Hold the variation of the posture of actuator during the motion.
As shown in figure 3, by adjusting X, Y, the position of Z axis makes perfoming block 1 be located at and spherical connect right over optical screen 4 and record
Lower position, the three-beam of laser range sensor 2, which is beaten, to be connect spherical on optical screen 4, and a plane, and can be obtained at 3 points by 3 points
The circle of composition in the plane, due to having obtained 3 points of coordinate, is readily able to find out center of circle O1Position, repetitive operation
For mechanical arm to specified position, the three-beam that laser range sensor 2 is got may not be in original position, in Fig. 3
Circle O2And O3By can be calculated O2Position.It can obtain line segment O1O2With line segment O1O3It is generated afterwards twice for repeating motion
Position repetitive positioning accuracy error.Similarly, it is measured until meeting pendulous frequency according to such method.Pass through the meter in later stage
The processing of calculation machine can be obtained the pose repetitive positioning accuracy after doing.
As shown in figure 4, a kind of industrial robot spatial pose repetitive positioning accuracy measurement method, includes the following steps：
1）The special spherical optical screen 4 that connects is mounted on flexible instrument support 5, target location is put into, adjusts the instrument suppotr that stretches
The adjusting screw 7 of 5 lower section of frame, observes level meter 6 and ensures level；
2）The manipulator of industrial robot is moved with perfoming block 1, and along x, y, adjustment 1 displacement of perfoming block of the directions z makes it
To reach suitable position so that the light that laser range sensor 2 is sent out can be tailored the spherical optical screen 4 that connects and receive；
3）After perfoming block 1 moves to the position of requirement, the parameter of its movement is recorded, and using computer 8 come control machine
1 repeating motion of tool hand-motion perfoming block is until meeting testing time, when perfoming block 1 moves to the position every time, laser ranging
Data all can be passed to computer 8 by sensor 2 by wireless module 9；
4）The data of acquisition are calculated with computer 8, finally calculate repetitive positioning accuracy.
Claims (2)
1. a kind of industrial robot spatial pose repetitive positioning accuracy measuring device, which is characterized in that including perfoming block (1), swash
Ligh-ranging sensor (2), gyroscope (3), it is special it is spherical connect optical screen (4), stretch instrument support (5), level meter (6), adjust spiral shell
It follows closely (7), computer (8), wireless communication module (9)；The embedded perfoming block (1) of the gyroscope (3) is internal, laser range sensor
(2) it is mounted on around perfoming block (1), vertically downward, laser range sensor (2) and gyroscope (3) follow for transmitting and receiving port
Industrial Robot Manipulator is moved and is moved, and is connected with computer (8) by wireless communication module (9), the special ball
Shape connects optical screen (4) and is mounted on flexible instrument support (5)；Level meter (6) is installed on the holder of the flexible instrument support (5)
With adjusting screw (7), the posture for the instrument support (5) that stretches is finely tuned, application range is increased.
2. a kind of industrial robot spatial pose repetitive positioning accuracy measurement method, which is characterized in that include the following steps：
1) the special spherical optical screen (4) that connects is mounted on flexible instrument support (5), is put into target location, adjusts the instrument suppotr that stretches
Adjusting screw (7) below frame (5), observation level meter (6) simultaneously ensure level；
2) manipulator of industrial robot is moved with perfoming block (1), and along x, y, adjustment perfoming block (1) displacement of the directions z makes it
To reach suitable position so that the light that laser range sensor (2) is sent out can be tailored the spherical optical screen (4) that connects and receive；
3) after perfoming block (1) moves to the position of requirement, the parameter of its movement is recorded, and using computer (8) come control machine
Tool hand-motion perfoming block (1) repeating motion is until meeting testing time, when perfoming block (1) moves to the position every time, laser
Data all can be passed to computer (8) by distance measuring sensor (2) by wireless communication module (9)；
4) data of acquisition are calculated with computer (8), finally calculates repetitive positioning accuracy.
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| Application Number | Priority Date | Filing Date | Title |
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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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| 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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| CN105865341A CN105865341A (en) | 2016-08-17 |
| CN105865341B true CN105865341B (en) | 2018-07-13 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| 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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| 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 |
| CN204286357U (en) * | 2014-10-22 | 2015-04-22 | 中国计量学院 | A kind of industrial robot apparatus for detecting position and posture |
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