CN107932018A - A kind of industrial robot caliberating device and scaling method - Google Patents
A kind of industrial robot caliberating device and scaling method Download PDFInfo
- Publication number
- CN107932018A CN107932018A CN201711182152.8A CN201711182152A CN107932018A CN 107932018 A CN107932018 A CN 107932018A CN 201711182152 A CN201711182152 A CN 201711182152A CN 107932018 A CN107932018 A CN 107932018A
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- Prior art keywords
- industrial robot
- infrared
- calibration device
- controller
- caliberating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot caliberating device and scaling method, the configuration of the present invention is simple, is controlled by the controller using infrared transmitter, so that control is received whether the work of infrared transmitter, can open when in use, without using when close, and can enhancing the service life；Isosceles triangle, which is presented, causes three infrared transmitters to can determine a plane, for compared to two infrared transmitters can anti-stop signal receive reverse, compared to four infrared transmitters can reduce apparatus, accomplish to accomplish the work of identical content with minimum cost；Sliding block on card slot can carry out linear movement according to transmission chain, RF transmitter can be helped to be moved, adapt to position and shape that various needs position；Transparent cup-like structure will not hinder the signal of infrared remote receiver reception infrared transmitter；The present invention by line calibration device knead dough calibration device carry out with fixed point location device coincide, reach industrial robot carry out assembly manipulation accuracy.
Description
Technical field
The present invention relates to Automatic manual transmission manufacturing field, is specially a kind of industrial robot caliberating device and scaling method.
Background technology
With extensive use of the robot technology in all trades and professions, industry to the repetitive positioning accuracy of industrial robot and
Absolute fix required precision is also higher and higher.The demand for development robot of particularly off-line programming technique must possess very high exhausted
To positioning accuracy.Current industrial robot repetitive positioning accuracy is all higher, but absolute fix precision is but very low, and often
The difference of platform robot is larger, seriously constrains the application range of industrial robot.Kinematic calibration refers to using advanced
Measuring apparatus and parameter identification method based on model pick out the accurate parameter of robot model, determine so as to improve robot
The process of position precision, it includes：Four modeling, measurement, parameter identification and compensation steps.The mark that traditional scaling method is established
Cover half type is complicated, and DATA REASONING generally will be by the precision measuring instrument of the costliness such as laser tracker, three coordinate measuring machine, ball bar
Device, and the conversion being related between robot base's coordinate system and measuring system coordinate system, are readily incorporated external error, stated accuracy
It is not high.
Traditional positioning method is all demarcated using three-dimensional force sensor, but force snesor is due to manufacturing, assembling, patch
The factor such as quantization error, interference influences in error, and circuit, its input/output relation and theoretical calculation have certain deviation,
The actual performance index of force snesor need to be detected by calibration experiment, therefore produce a kind of industrial robot assembling pair at this stage
Connect accurate caliberating device and method is extremely urgent.
The content of the invention
It is an object of the invention to provide a kind of industrial robot caliberating device and scaling method, to solve above-mentioned background skill
The problem of being proposed in art.
To achieve these goals, the technical solution adopted by the present invention is：On the one hand, the present invention proposes a kind of industrial machine
People's caliberating device, bag is characterized in that：Including moving arm, rotating arm and mechanical arm mobile device and fixed point location device and control
Device processed, the mechanical arm mobile device include being arranged on the face calibration device at the top of rotating arm and the line calibration positioned at rotation side
Device, the rotating arm are attached by rotation axis one with moving arm, and the rotating arm is cylindric.
As a kind of above-mentioned optimal technical scheme, the face calibration device includes three infrared hairs being fixed on the calibration device of face
Emitter, the infrared transmitter are controlled by the controller.
Through the above technical solutions, infrared transmitter is controlled by the controller so that is received whether the work of infrared transmitter
Control, can open when in use, without using when close, reductions electric consumption, and can strengthen the service life.
As a kind of above-mentioned optimal technical scheme, three infrared transmitters form isosceles triangle, and are marked positioned at face
Determine the edge of device.
Three infrared transmitters are caused to can determine a plane, phase through the above technical solutions, isosceles triangle is presented
For than two infrared transmitters can anti-stop signal receive reverse, compared to four infrared transmitters can reduce apparatus, accomplish
Accomplish the work of identical content with minimum cost.
As a kind of above-mentioned optimal technical scheme, the face calibration device carries out rotation company by rotation axis two and rotating arm
Connect, the rotation axis two and rotation axis one are controlled by the controller.
Through the above technical solutions, rotation axis one, rotation axis two and rotation axis three are all connected with corresponding motor output shaft,
The rotation of motor receives the control of controller, and realization automatically controls, by production automation.
As a kind of above-mentioned optimal technical scheme, the line calibration device includes the card slot being arranged on rotating arm, the card
It is provided with infrared transmitter on groove, the infrared transmitter bottom is provided with the sliding block being of same size with card slot, under the sliding block
Transmission chain is provided with, the transmission chain is controlled by the controller.
Through the above technical solutions, the sliding block on card slot can carry out linear movement according to transmission chain, can help red
Outside line transmitter is moved, and adapts to position and shape that various needs position.
As a kind of above-mentioned optimal technical scheme, the line calibration device is provided with three, and two neighboring line calibration device it
Between angle be 120 degree.
As a kind of above-mentioned optimal technical scheme, the fixed point location device includes bottom circular disk and transparent cup-shaped knot
Structure, rotary link is carried out between the bottom circular disk and transparent cup-like structure by rotation axis three, and the rotation axis three is controlled
Device control processed.
Through the above technical solutions, transparent cup-like structure will not hinder the letter of infrared remote receiver reception infrared transmitter
Number.
As a kind of above-mentioned optimal technical scheme, three infrared remote receivers are provided with the bottom circular disk, adjacent two
Angle is 120 degree between a infrared remote receiver, and is arranged on the circumference of bottom circular disk.
Through the above technical solutions, three infrared transmitters can determine a plane, compared to two infrared transmitters come
Say can anti-stop signal receive reverse, compared to four infrared transmitters can reduce apparatus, accomplish to accomplish phase with minimum cost
With the work of content.
It is three screw rods in 120 degree of angles as a kind of above-mentioned optimal technical scheme, on the circumference of the cup-like structure,
The nut supporting with it is provided with the screw rod, infrared remote receiver is fixed with the nut.
On the other hand, the present invention provides a kind of scaling method of industrial robot caliberating device：Comprise the following steps：
First, fixed point location device is assembled；
The 2nd, the position of each infrared transmitter and infrared remote receiver is set in controller；
3rd, mechanical arm is started.
Through the above technical solutions, the present invention carries out the kiss with fixed point location device by line calibration device knead dough calibration device
Close, reach the accuracy that industrial robot carries out assembly manipulation.
The present invention has following benefit：The configuration of the present invention is simple, is controlled by the controller using infrared transmitter so that infrared
Control is received whether the work of transmitter, can be opened when in use, without using when close, reduction electric consumption,
And can be in the enhancing service life；Isosceles triangle, which is presented, causes three infrared transmitters to can determine a plane, red compared to two
For external transmitter can anti-stop signal receive reverse, compared to four infrared transmitters can reduce apparatus, accomplish with minimum
Cost accomplishes the work of identical content；Rotation axis one, rotation axis two and rotation axis three are all connected with corresponding motor output shaft, electricity
The rotation of machine receives the control of controller, and realization automatically controls, by production automation；Sliding block on card slot can be according to conveyer chain
Bar carries out linear movement, RF transmitter can be helped to be moved, and adapts to position and shape that various needs position；Thoroughly
Bright cup-like structure will not hinder the signal of infrared remote receiver reception infrared transmitter；Three infrared transmitters can determine one
A plane, for compared to two infrared transmitters can anti-stop signal receive reverse, compared to four infrared transmitters can be reduced
Apparatus, accomplishes to accomplish the work of identical content with minimum cost；The present invention is carried out and determined by line calibration device knead dough calibration device
Location device coincide, and reaches the accuracy that industrial robot carries out assembly manipulation.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is calibration device structure diagram in face of the present invention；
Fig. 3 is fixed point location apparatus structure schematic diagram of the present invention.
Reference numeral：1- moving arms；2- rotating arms；3- controllers；4- faces calibration device；5- line calibration devices；6- infrared emissions
Device；8- card slots；9- sliding blocks；10- transmission chains；11- bottom circular disks；The transparent cup-like structures of 12-；13- screw rods；14- is infrared to be connect
Receive device.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
The technical solution adopted by the present invention is：On the one hand, the present invention proposes a kind of industrial robot caliberating device, Bao Qite
Sign is：Including moving arm 1, rotating arm 2 and mechanical arm mobile device and fixed point location device and controller 3, the machinery
Arm mobile device includes being arranged on the face calibration device 4 at the top of rotating arm 2 and the line calibration device 5 positioned at rotation side, the rotation
Arm is attached by rotation axis one and moving arm 2, and the rotating arm 2 is cylindric.
As a kind of above-mentioned optimal technical scheme, the face calibration device 4 includes being fixed on face calibration device 4 three infrared
Transmitter 6, the infrared transmitter 6 are controlled by the controller 7.
Through the above technical solutions, infrared transmitter 6 is controlled by controller 7 so that is received whether the work of infrared transmitter 6
To control, can open when in use, without using when close, reduction electric consumption, and can enhancing the service life.
As a kind of above-mentioned optimal technical scheme, three infrared transmitters 6 form isosceles triangle, and are marked positioned at face
Determine the edge of device 4.
Three infrared transmitters 6 are caused to can determine a plane, phase through the above technical solutions, isosceles triangle is presented
For than two infrared transmitters 6 can anti-stop signal receive reverse, compared to four infrared transmitters 6 can reduce apparatus, do
To the work for accomplishing identical content with minimum cost.
As a kind of above-mentioned optimal technical scheme, the face calibration device 4 carries out rotation company by rotation axis two and rotating arm 2
Connect, the rotation axis two and rotation axis one are controlled by controller 7.
Through the above technical solutions, rotation axis one, rotation axis two and rotation axis three are all connected with corresponding motor output shaft,
The rotation of motor receives the control of controller, and realization automatically controls, by production automation.
As a kind of above-mentioned optimal technical scheme, the line calibration device 5 includes the card slot 8 being arranged on rotating arm 2, described
Infrared transmitter 6 is provided with card slot 8,6 bottom of infrared transmitter is provided with the sliding block 9 being of same size with card slot, described
Sliding block 9 is arranged with transmission chain 10, and the transmission chain 10 is controlled by controller 7.
Through the above technical solutions, the sliding block on card slot 8 can carry out linear movement according to transmission chain 10, can help
RF transmitter 6 is moved, and adapts to position and shape that various needs position.
As a kind of above-mentioned optimal technical scheme, the line calibration device 5 is provided with three, and two neighboring line calibration device it
Between angle be 120 degree.
As a kind of above-mentioned optimal technical scheme, the fixed point location device includes bottom circular disk 11 and transparent cup-shaped
Rotary link, the rotation are carried out by rotation axis three between the 12 of structure 12, the bottom circular disk 11 and transparent cup-like structure
Axis three is controlled by the controller.
Through the above technical solutions, transparent cup-like structure will not hinder the letter of infrared remote receiver reception infrared transmitter
Number.
As a kind of above-mentioned optimal technical scheme, three infrared remote receivers 14, phase are provided with the bottom circular disk 11
Angle is 120 degree between adjacent two infrared remote receivers 14, and is arranged on the circumference of bottom circular disk 11.
Through the above technical solutions, three infrared transmitters can determine a plane, compared to two infrared transmitters come
Say can anti-stop signal receive reverse, compared to four infrared transmitters can reduce apparatus, accomplish to accomplish phase with minimum cost
With the work of content.
It is in 120 degree of angles as a kind of above-mentioned optimal technical scheme, on the circumference of the transparent cup-like structure to be three
Screw rod 13, is provided with the nut supporting with it on the screw rod 13, infrared remote receiver 14 is fixed with the nut.
On the other hand, the present invention provides a kind of scaling method of industrial robot caliberating device：Comprise the following steps：
First, fixed point location device is assembled；
The 2nd, the position of each infrared transmitter and infrared remote receiver is set in controller；
3rd, mechanical arm is started.
Through the above technical solutions, the present invention carries out the kiss with fixed point location device by line calibration device knead dough calibration device
Close, reach the accuracy that industrial robot carries out assembly manipulation.
The configuration of the present invention is simple, when in use, controls infrared transmitter 6 so that infrared transmitter 6 using controller 7
Receive control whether work, can open when in use, without using when close, reduction electric consumption, and can be
Strengthen the service life；During work, it would be desirable to the part shape size of assembling is calculated, calculate required infrared transmitter 6 with it is infrared
The height size position of receiver 14, controls corresponding motor to carry out infrared transmitter 6 and receives its height by controller 7
Degree control, when rotating arm is rotated again afterwards, slowly close to fixed point location device, connects in all infrared remote receivers 14
When receiving the signal of the transmitting of infrared transmitter 6, then explanation is assembled successfully, and mechanical arm unloads Assembly part and assembled i.e.
Can, can prevent assembling part it is anti-loaded to.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of industrial robot caliberating device, bag is characterized in that：Including moving arm（1）, rotating arm（2）Moved with mechanical arm
Device and fixed point location device and controller（3）, the mechanical arm mobile device is including being arranged on rotating arm（2）The face at top
Calibration device（4）With the line calibration device positioned at rotation side（5）, the rotating arm passes through rotation axis one and moving arm（2）Connected
Connect, the rotating arm（2）To be cylindric.
2. industrial robot caliberating device according to claim 1, it is characterised in that：The face calibration device（4）Including solid
Three infrared transmitters being scheduled on the calibration device of face（6）, the infrared transmitter（6）By controller（3）Control.
3. industrial robot caliberating device according to claim 2, it is characterised in that：Three infrared transmitters（6）
Isosceles triangle is formed, and is located at face calibration device（4）Edge.
4. industrial robot caliberating device according to claim 1, it is characterised in that：The face calibration device（4）Pass through rotation
Shaft two and rotating arm（2）It is rotatably connected, the rotation axis two and rotation axis one are by controller（3）Control.
5. industrial robot caliberating device according to claim 1, it is characterised in that：The line calibration device（5）Including setting
Put in rotating arm（2）On card slot（8）, the card slot（8）On be provided with infrared transmitter（6）, the infrared transmitter（6）Bottom
Portion is provided with and card slot（8）The sliding block being of same size（9）, the sliding block is arranged with transmission chain（10）, the transmission chain
（10）It is controlled by the controller.
6. industrial robot caliberating device according to claim 1, it is characterised in that：The line calibration device（5）It is provided with
Three, and two neighboring line calibration device（5）Between angle be 120 degree.
7. industrial robot caliberating device according to claim 1, it is characterised in that：The fixed point location device includes bottom
Portion's circular discs（11）And transparent cup-like structure（12）, the bottom circular disk（11）Pass through rotation between transparent cup-like structure
Axis three carries out rotary link, and the rotation axis three is controlled by the controller.
8. industrial robot caliberating device according to claim 7, it is characterised in that：The bottom circular disk（11）On set
It is equipped with three infrared remote receivers（14）, the two neighboring infrared remote receiver（14）Between angle be 120 degree, and be arranged on bottom
Circular discs（11）Circumference on.
9. industrial robot caliberating device according to claim 8, it is characterised in that：It is on the circumference of the cup-like structure
Three screw rods in 120 degree of angles（13）, the screw rod（13）On be provided with the nut supporting with it, be fixed with the nut
Infrared remote receiver（14）.
A kind of 10. scaling method of industrial robot caliberating device according to the claims, it is characterised in that：Including
Following steps：
First, fixed point location device is assembled；
The 2nd, the position of each infrared transmitter and infrared remote receiver is set in controller；
3rd, mechanical arm is started.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182152.8A CN107932018A (en) | 2017-11-23 | 2017-11-23 | A kind of industrial robot caliberating device and scaling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182152.8A CN107932018A (en) | 2017-11-23 | 2017-11-23 | A kind of industrial robot caliberating device and scaling method |
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| Publication Number | Publication Date |
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| CN107932018A true CN107932018A (en) | 2018-04-20 |
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ID=61930991
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711182152.8A Pending CN107932018A (en) | 2017-11-23 | 2017-11-23 | A kind of industrial robot caliberating device and scaling method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110788873A (en) * | 2018-08-03 | 2020-02-14 | 台达电子工业股份有限公司 | Automatic alignment system and method for mechanical arm |
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| CN101909828A (en) * | 2007-12-27 | 2010-12-08 | 莱卡地球系统公开股份有限公司 | Method and system for the high-precision positioning of at least one object in a final location in space |
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| CN110788873A (en) * | 2018-08-03 | 2020-02-14 | 台达电子工业股份有限公司 | Automatic alignment system and method for mechanical arm |
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Application publication date: 20180420 |