CN106041944B - A kind of industrial robot motion in one dimension track testing device - Google Patents
A kind of industrial robot motion in one dimension track testing device Download PDFInfo
- Publication number
- CN106041944B CN106041944B CN201610640794.7A CN201610640794A CN106041944B CN 106041944 B CN106041944 B CN 106041944B CN 201610640794 A CN201610640794 A CN 201610640794A CN 106041944 B CN106041944 B CN 106041944B
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- connecting rod
- motion
- robot body
- working end
- dimension track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot motion in one dimension track testing devices, the device includes linear displacement transducer and oscillograph, linear displacement transducer one end is connected through being flexibly connected the working end of component and robot body, the signal output end of linear displacement transducer and the signal input part of oscillograph connect, under test mode, with the movement of robot body working end, the voltage signal measured is transferred to oscillograph, oscillograph recording and the motion in one dimension track for showing robot body working end by linear displacement transducer.Since test device provided by the invention is by high-precision linear displacement transducer the voltage signal of robot body motion in one dimension track measured to be transferred to oscillograph to be recorded and shown, it thus can not only accurately realize the resetting of robot motion in one dimension, improve measurement accuracy, and it also is able to intuitively show the motion in one dimension track of robot, convenient for understanding the present situation of movement locus in time.
Description
Technical field
The invention belongs to industrial automation, instrument and meter observation and control technology fields, are related to a kind of track testing device, specifically relate to
And a kind of industrial robot motion in one dimension track testing device.
Background technology
With the development of industrial automation technology, industrial robot is continuous using field as important implementation tool
Expand.To meet such as accurate stacking commercial Application, need to test the movement locus of robot, track is utilized to realize
Data are assessed by robot motion's performance and the optimization of control algolithm.
An important indicator of the robot straight path precision as industrial robot Performance Evaluation, concentrated expression machine
The electromechanical properties of people and the control ability of movement locus.Therefore, the research of robot straight path detection technique and device is to carrying
The research level of high robotics promotes the development of Robot industry to be of great significance.For the track of robot measurement
Characteristic has worked out a variety of test devices both at home and abroad, according to the measuring principle of these devices, can be divided into non-contact measurement and
Two major class of contact type measurement.The test device of non-cpntact measurement can be divided into according to measuring principle difference and feel sensing based on close
The measurement of device, photogrammetric, optical triangulation and polygon measurement etc.【Robot straight path accuracy measurement method research, week
It is quiet, Northeastern University】.Wherein, the more mature technical solution of the movement locus test device of robot is to be surveyed based on optical triangulation
The laser tracking system (Laser Tracker System) of amount, the system use laser statically or dynamically real-time tracking one
Moving target in space, while the 3 d space coordinate of target point is determined to complete to measure, specifically its operation principle is
A reflector is disposed on target point, the laser that follower head is sent out is mapped on reflector, and back to follower head, when target is moved
When dynamic, follower head adjustment beam direction carrys out alignment target point, meanwhile, Returning beam is received by detection device, and detection device receives
Light beam be used for test target spatial position.Due to system set laser interference ranging technology, detecting technique, essence
The various advanced technologies such as close mechanical technique, computer and control technology and modern numerical calculation theory, and need to use again high-precision
Close optical device is a kind of high-precision Large-scale Measuring Instruments in industrial measuring system, so optical tracking is made to measure system
Price of uniting is prohibitively expensive, it is difficult to be widely used.The test device of contact type measurement be directly with robot working end actuator
Coupling, from coupled modes again can be divided into mechanical couplings measure and ball measure, such as Bryan propose mechanical couplings test device with
And the spherical coordinate test device of Vira and Estler descriptions【Robot straight path accuracy measurement method research, Zhou Jing, northeast
University】.But contact is measured because the measurement end of test device and robot working end are Hard links, so not only can be when measuring
Robot motion is interfered, influences measurement accuracy, while danger is destroyed there is also potential to test device.
Invention content
The present invention is directed to the shortcoming in for the above-mentioned prior art, provide it is a kind of to robot motion in one dimension track into
The device of row test, the device not only have higher measuring accuracy and testing efficiency, but also simple in structure, easy to operate, together
When can also substantially reduce testing cost.
In order to achieve the above object, the present invention takes following technical scheme to realize.
A kind of industrial robot motion in one dimension track testing device provided by the invention, the device are sensed including straight-line displacement
Device and oscillograph, linear displacement transducer one end are connected through being flexibly connected the working end of component and robot body, straight-line displacement
The signal output end of sensor and the signal input part of oscillograph connect.Under test mode, with robot body working end
The voltage signal measured is transferred to oscillograph by movement, linear displacement transducer, and oscillograph recording simultaneously shows robot body work
Make the motion in one dimension track at end.
Flexible connection component described in above-mentioned industrial robot motion in one dimension track testing device is by straight connecting rod
It is formed with universal rotational connecting rod, the one end for connecting rod that this is straight is connected with linear displacement transducer, the other end and universal rotational
The Universal-head connection of connecting rod, universal rotational connecting rod are connected by head and robot body working end.As a kind of connection
Realization method, the Universal-head end set of universal rotational connecting rod has a groove, and one end of straight connecting rod can directly block
Enter in groove and connect so that in the motion process of robot body working end, pass through the rotation of Universal-head opposing straight connecting rod
It realizes the soft readjustment between the straight connecting rod in linear displacement transducer side and universal rotational connecting rod, avoids to straight-line displacement
It is damaged firmly caused by sensor or robot body；Further, straight connection boom end is spherical in shape, and be adapted to therewith
It is spherical cavity on the inside of Universal-head end recesses, so as to reduce rotary resistance of the Universal-head relative to straight connecting rod.It is above-mentioned straight
Connecting rod can be that linear displacement transducer carry in itself, can be with when linear displacement transducer does not carry straight connecting rod
The straight connecting rod of outsourcing or processing is connected by the connectors such as bolt, pin and linear displacement transducer.Above-mentioned ten thousand
The component formed can also be fixedly connected with universal joint by individual connecting rod to rotation connection bar to substitute.
The head of universal rotational connecting rod is by a flange in above-mentioned industrial robot motion in one dimension track testing device
Disk is connect with robot body working end.The ring flange in the middle part of the joint face of robot body working end for a band internal thread with leading to
The circular protrusions in hole are provided with connection through-hole (quantity is at least 4) in surrounding disk, to pass through connector and robot body work
Make end matching to be fastenedly connected, universal rotational connecting rod then passes through tapped through-hole in the external screw thread and ring flange in head
With connected or described ring flange with being a circular groove with internal thread through hole in the middle part of the joint face of robot body working end, four
Connection through-hole (quantity is at least 4) is provided in all disks, is connected with matching fastening with robot body working end by connector
It connects, universal rotational connecting rod is then connected by the external screw thread in head with through-hole matching tapped in ring flange.In order to protect
Demonstrate,prove linear displacement transducer, straight connecting rod and universal rotational connecting rod and robot body working end can in line, with
The data that linear displacement transducer measures is enable more accurately to reflect the movement locus of robot body, linear displacement transducer
It should be placed on workbench by front and rear two fixing bracket.
Above-mentioned industrial robot motion in one dimension track testing device, in order to ensure Robot moves along a straight line, with universal turn
The robot body working end of dynamic connecting rod connection is further fitted with laser, by observing laser point before and after robot motion
Change in location situation judge whether robot moves along a straight line.
During work, when linear displacement transducer, straight connecting rod and universal rotational connecting rod and robot body working end
After connecting in line along X-axis, Y-axis or Z axis, movement locus of the robot body along X-axis, Y-axis or Z axis can be detected, once go out
Existing deviation, you can be adjusted in time to the movement of robot body.
Compared with prior art, the invention has the advantages that：
1st, since test device provided by the invention is connected by the working end of a flexible connection component and robot body
It connects, thus prior art Hard link can not only be avoided to being damaged firmly caused by linear displacement transducer or robot body,
And it can also increase the validity and reliability of test.
2nd, since test device provided by the invention is the robot that will be measured by high-precision linear displacement transducer
The voltage signal of ontology motion in one dimension track is transferred to oscillograph to be recorded and be shown, thus can not only accurately realize machine
The resetting of device people's motion in one dimension improves measurement accuracy, and also is able to intuitively show the motion in one dimension track of robot, just
In the present situation for understanding movement locus in time.
3rd, due to test device provided by the invention only be use existing linear displacement transducer, flexible connection component and
Oscillograph etc. carries out assembling the measurement that connects and can realize to robot motion in one dimension track, thus the test device not only has
Have it is simple in structure, it is easy to operate, it is at low cost the features such as, and provide one kind for industrial robot motion in one dimension track testing field
New measuring device.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to make a simply introduction, it should be apparent that, the attached drawing in being described below is only
The structure chart that some embodiments of the present invention needs are shown, for those of ordinary skills, is not paying creativeness
Under the premise of labour, other embodiments and its attached drawing can also be obtained according to these the embodiment shown in that figure.
Fig. 1 is the structure diagram of industrial robot motion in one dimension track testing device provided by the invention.
Fig. 2 is industrial robot motion in one dimension track testing device cathetus displacement sensor provided by the invention and flexibility
The attachment structure schematic diagram of connection component and robot body.
Fig. 3 is connect for industrial robot motion in one dimension track testing device provided by the invention with robot body working end
Overlooking the structure diagram.
Fig. 4 is the electrical connection schematic diagram in industrial robot motion in one dimension track testing device provided by the invention.
Fig. 5 is the structure of ring flange in the industrial robot motion in one dimension track testing device that the embodiment of the present invention 1 provides
Schematic diagram.
Fig. 6 is the structure of ring flange in the industrial robot motion in one dimension track testing device that the embodiment of the present invention 2 provides
Schematic diagram.
Fig. 7 is the structure of ring flange in the industrial robot motion in one dimension track testing device that the embodiment of the present invention 3 provides
Schematic diagram.
Fig. 8 is to carry out the fortune that experimental test obtains with industrial robot motion in one dimension track testing device provided by the invention
Dynamic rail mark schematic diagram corresponding with movement instruction.
Fig. 9 is to carry out the fortune that experimental test obtains with industrial robot motion in one dimension track testing device provided by the invention
Dynamic rail mark schematic diagram corresponding with the direction of motion.
Wherein, 1- linear displacement transducers, connecting rod that 2- is straight, 3- universal rotational connecting rods, 4- Universal-heads, 5- flanges
Disk, 6- protrusions, 7,8- grooves, 9- connection through-holes, 10- fixing brackets, 11- oscillographs, 12- workbenches, 13- power supplys, 14- machines
Device human body, 15- robot bodies working end.
Specific embodiment
Clear, complete description is carried out to the technical solution of various embodiments of the present invention below in conjunction with attached drawing, it is clear that described
Embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ability
Domain those of ordinary skill obtained all other embodiment under the premise of creative work is not made, belongs to the present invention
The range protected.
What deserves to be explained is the robot body 14 that the embodiment of the present invention is applicable at least has there are two movable joint,
On a stent, the first joint is connect wherein the first arthrodesis by the first cantilever with second joint, and second joint passes through
Two cantilevers are fixedly connected with robot body working end 15；The order sent out according to microcontroller, can at least realize the first cantilever around
The rotation of first joint, the second cantilever are rotated around second joint, so as to drive robot body working end 15 along one-dimensional linear motion.
Embodiment 1
In order to realize the detection to robot body motion in one dimension track, a kind of industrial robot one is present embodiments provided
Movement locus test device is tieed up, as shown in Figure 1 to Figure 3, which includes linear displacement transducer 1, straight connecting rod 2, universal
It is rotatablely connected bar 3, ring flange 5, oscillograph 11 and workbench 12.
1 one end of linear displacement transducer is bolted to connection with straight connecting rod 2, and output terminal is defeated with oscillograph 11
Enter end connection, the other end of straight connecting rod 2, which is directly caught in the groove set on the Universal-head 4 of universal rotational connecting rod 3, to be connected
It connects, universal rotational connecting rod 3 is to be connect by the ring flange 5 being connected with head one end with robot body working end 15.This reality
It applies convex for a circle with internal thread through hole in the middle part of the joint face that the ring flange 5 that example uses is contacted with robot body working end 15
6 are played, the equally distributed 6 connections through-hole 9 being provided in surrounding disk, as shown in Figure 5.The head of universal rotational connecting rod 3 is
It is connected by the way that tapped through-hole in ring flange circular protrusions 6 is matching, outer diameter and the machine of 5 protrusions 6 of ring flange
The depressed area of human body working end 15 is adapted, and passes through equally distributed 6 connections being provided in ring flange surrounding disk
The bolt of through-hole 9 and nut matching are fastenedly connected with robot body working end 15.In order to ensure the stabilization of test and accurate, directly
Linear movement pick-up 1 is placed on workbench 12 by two fixing brackets 10.
As shown in figure 4, being equipped with slide rheostat inside linear displacement transducer 1, the slide plate of slide rheostat is straight
Connecting rod 2 drive it is lower move back and forth, the signal output end of the electricity output end of slide rheostat slide plate as linear displacement transducer 1
It is connect with the signal input part of oscillograph 11, linear displacement transducer 1 is powered by power supply 13.
The linear displacement transducer model MIRAN KTM-250mm that the present embodiment uses.
The power supply 13 that the present embodiment uses can provide stable 5V direct currents for digital power.
The oscillograph 11 that the present embodiment uses is digital oscilloscope, the 0-5V continuous analog signals that can export, model R
IGOL MSO1104。
Motion in one dimension track testing is carried out to industrial robot using test device provided by the invention, step is as follows：
Step 1, test device is connect with robot body 14
It is sequentially connected with linear displacement transducer 1, straight connecting rod 2, universal rotational connecting rod 3 as described above, then will
Ring flange 5 is connected with robot body working end 15, and universal rotational connecting rod 3 then is screwed in ring flange 5 and completes test device
It is connect with robot body 14.
Step 2, movement locus is set to robot in advance
Preset movement locus is needed in the range of the detection range of linear displacement transducer 1；Then according to machine
The speed of people's operation and the parameters combination linear displacement transducer relevant parameter such as time, regulate oscillograph 11 scanning voltage,
The parameters such as sweep time, displacement voltage relationship are：S=Sm/Vm·Vo, wherein, S：Measure displacement, Sm：Maximum displacement range, Vm：
Supply voltage, Vo：Sensor output voltage.
Step 3, adjustment test device to Robot moves along a straight line
The movement locus movement of Robot setting is controlled, opening is placed in 15 laser of robot body working end (peace
Mounted in 15 side of robot body working end, it is not shown in figure), by the change in location for observing laser point before and after robot motion
Situation judges whether robot moves along a straight line, if entering in next step；If it is not, adjustment robot body working end 15
Either universal rotational connecting rod 3 is put, then detects 15 movement locus of robot body working end again using laser to machine
The position of laser point does not change substantially before and after device people movement, illustrates that robot body 14 moves along a straight line.
Step 4, test machine people motion in one dimension track
Robot is moved according to previously given movement instruction, and linear displacement transducer 1 transmits the voltage signal of measurement
To oscillograph 11, the waveform shown on oscillograph 11 is the motion in one dimension track of robot at any time, and record.
Step 4 is repeated, several oscillograms can be obtained, the oscillogram compared can be realized to robot motion's
Resetting.
In order to probe into the relationship of oscilloscope display figure and robot motion in one dimension track, robot one is further studied
The relationship between movement locus and movement instruction and the direction of motion is tieed up, as shown in Figure 8 and Figure 9.
As shown in figure 8, when movement instruction is when moving a distance along square, robot is according to given movement instruction
Movement；As robot moves, oscillograph 11 is illustrated that the waveform that voltage gradually rises, and voltage is higher, represents Robot
Positive movement is more remote.
As shown in figure 9, when Robot positive movement, the forward voltage obtained on oscillograph 11 is to gradually rise, when
When the forward voltage obtained on oscillograph 11 continuously decreases, illustrate Robot and negative direction (with pros in the opposite direction) fortune
It is dynamic.In robot kinematics, linear displacement transducer output voltage V can be accurately obtained0, then pass through formula S=Sm/
Vm·Vo, the displacement of Robot linear motion can be accurately obtained, the repetition so as to realize robot motion in one dimension is determined
Position.
Embodiment 2
The present embodiment and the industrial robot motion in one dimension track testing device that embodiment 1 provides are essentially identical, with implementation
The difference lies in the ring flange of use is different for example 1.
The ring flange 5 that the present embodiment uses has the joint face that is contacted with robot body working end 15, in joint face
Portion is a circular groove 7 with internal thread through hole, and the internal diameter of groove 7 is mutually fitted with the protruding parts of robot body working end 15
Match, equally distributed 4 connections through-hole 9 is provided in 5 surrounding disk of ring flange, sees Fig. 6.
Embodiment 3
The present embodiment and the industrial robot motion in one dimension track testing device that embodiment 1 provides are essentially identical, with implementation
The difference lies in the ring flange of use is different for example 1.
The ring flange 5 that the present embodiment uses has the joint face that is contacted with robot body working end 15, in joint face
Portion is a circular groove 8 with internal thread through hole, and the internal diameter of groove 8 is mutually fitted with the protruding parts of robot body working end 15
Match, 6 connection through-holes 9 are provided in 5 surrounding disk of ring flange, see Fig. 7.
Those of ordinary skill in the art will understand that embodiment here, which is to help reader, understands the present invention's
Principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.This field it is common
Technical staff can make the various other various tools for not departing from essence of the invention according to these technical inspirations disclosed by the invention
Body deforms and combination, these deformations and combination are still within the scope of the present invention.
Claims (9)
1. a kind of industrial robot motion in one dimension track testing device, it is characterised in that the device includes linear displacement transducer
(1) and oscillograph (11)；Linear displacement transducer (1) one end connects through being flexibly connected component with robot body working end (15)
It connects；The signal output end of linear displacement transducer (1) is connect with the signal input part of oscillograph (11)；Wherein described flexible connection
Component is made of straight connecting rod (2) and universal rotational connecting rod (3), one end of connecting rod that this is straight (2) and straight-line displacement
Sensor (1) is connected, and the other end is connect with the Universal-head (4) of universal rotational connecting rod (3), and universal rotational connecting rod passes through head
It is connected with robot body working end (15)；
Under test mode, with the movement of robot body (14), linear displacement transducer (1) transmits the voltage signal measured
Oscillograph (11) is given, oscillograph (11) records and shows the motion in one dimension track of robot body working end (15).
2. industrial robot motion in one dimension track testing device according to claim 1, it is characterised in that the universal rotational
Universal-head (4) end set of connecting rod (3) has a groove, and one end of straight connecting rod (2), which is directly caught in groove, to be connected.
3. industrial robot motion in one dimension track testing device according to claim 1 or claim 2, it is characterised in that described universal turn
The head of dynamic connecting rod (3) is to be connect by a ring flange (5) with robot body working end (15).
4. industrial robot motion in one dimension track testing device according to claim 3, it is characterised in that the ring flange (5)
With being the circular protrusions (6) with internal thread through hole in the middle part of the joint face of robot body working end, connection is provided in surrounding disk
Through-hole (9) is fastenedly connected with being matched by connector with robot body working end (15), and universal rotational connecting rod (3) is then led to
The external screw thread in head is crossed with through-hole matching tapped in ring flange (5) to be connected.
5. industrial robot motion in one dimension track testing device according to claim 3, it is characterised in that the ring flange (5)
With being a circular groove (7,8) with internal thread through hole in the middle part of the joint face of robot body working end, the company of being provided in surrounding disk
It connects hole (9), is fastenedly connected with being matched by connector with robot body working end (15), universal rotational connecting rod (3) is then
It is connected by the external screw thread in head with through-hole matching tapped in ring flange (5).
6. industrial robot motion in one dimension track testing device according to claim 1 or claim 2, it is characterised in that the straight line position
Displacement sensor (1) is placed in by front and rear two fixing bracket (10) on workbench (12).
7. industrial robot motion in one dimension track testing device according to claim 3, it is characterised in that the straight-line displacement
Sensor (1) is placed in by front and rear two fixing bracket (10) on workbench (12).
8. industrial robot motion in one dimension track testing device according to claim 4, it is characterised in that the straight-line displacement
Sensor (1) is placed in by front and rear two fixing bracket (10) on workbench (12).
9. industrial robot motion in one dimension track testing device according to claim 5, it is characterised in that the straight-line displacement
Sensor (1) is placed in by front and rear two fixing bracket (10) on workbench (12).
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| CN201610640794.7A CN106041944B (en) | 2016-08-06 | 2016-08-06 | A kind of industrial robot motion in one dimension track testing device |
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| CN201610640794.7A CN106041944B (en) | 2016-08-06 | 2016-08-06 | A kind of industrial robot motion in one dimension track testing device |
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| CN107081787B (en) * | 2017-04-01 | 2019-09-20 | 西安交通大学 | Kinetic characteristic detection method based on industrial robot built-in sensors signal |
| CN110561434A (en) * | 2019-09-12 | 2019-12-13 | 武汉宝悍焊接设备有限公司 | Method for analyzing linear vertical lifting motion track of lower tool apron of double-edged shear of laser welding machine |
| CN115792452B (en) * | 2022-12-01 | 2024-05-10 | 苏州铸正机器人有限公司 | Robot corresponding delay detection method and detection equipment |
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| FR1467228A (en) * | 1965-12-16 | 1967-01-27 | Commissariat Energie Atomique | Method for measuring a displacement and device by applying |
| JP2006322820A (en) * | 2005-05-19 | 2006-11-30 | Fdk Corp | Method and device of measuring displacement of actuator |
| CN103512480A (en) * | 2012-06-26 | 2014-01-15 | 广西玉柴机器股份有限公司 | Displacement measuring device for supercharger bypass valve push rod |
| CN203798308U (en) * | 2014-03-12 | 2014-08-27 | 华南农业大学 | Device for testing longitudinal swing amplitude of swing type fishpond aerator |
| CN204308971U (en) * | 2014-11-05 | 2015-05-06 | 南京熊猫电子股份有限公司 | Robot motion's accuracy test device |
| CN105583825B (en) * | 2016-03-14 | 2017-06-30 | 中国计量大学 | A kind of industrial robot track detection device |
| CN205928664U (en) * | 2016-08-06 | 2017-02-08 | 四川乐成电气科技有限公司 | Industrial robot one -dimensional movement track testing arrangement |
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