CN108489392B - Mechanical arm tail end repetitive positioning accuracy measuring device and method - Google Patents

Mechanical arm tail end repetitive positioning accuracy measuring device and method Download PDF

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Publication number
CN108489392B
CN108489392B CN201810322694.9A CN201810322694A CN108489392B CN 108489392 B CN108489392 B CN 108489392B CN 201810322694 A CN201810322694 A CN 201810322694A CN 108489392 B CN108489392 B CN 108489392B
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China
Prior art keywords
hot spot
mechanical arm
tail end
positioning accuracy
arm tail
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CN108489392A (en
Inventor
刘成良
陶建峰
邱志康
覃程锦
罗正雄
郑建国
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/002Measuring arrangements characterised by the use of optical means for measuring two or more coordinates

Abstract

The present invention provides a kind of mechanical arm tail end repetitive positioning accuracy measuring devices, comprising Laser emission structure, connect optical screen (3), video camera and displacement adjustment device;Laser emission structure is mounted on mechanical arm tail end, connects optical screen (3) and is mounted on displacement adjustment device;The laser beam that Laser emission structure issues can form hot spot on connecing optical screen (3);Video camera can take the hot spot connect on optical screen (3).Correspondingly, the present invention also provides a kind of mechanical arm tail end repetitive positioning accuracy measurement methods.For the present invention compared with existing equipment, apparatus structure is simple, easy for installation, and the disadvantage of optical device valuableness is made up by high definition camera, so that repetitive positioning accuracy is guaranteed using high-precision encoder, adapts to much need quickly to obtain the occasion of repetitive positioning accuracy.

Description

Mechanical arm tail end repetitive positioning accuracy measuring device and method
Technical field
The present invention relates to field of industrial automation control, and in particular, to a kind of mechanical arm tail end repetitive positioning accuracy survey Measure apparatus and method.
Background technique
Mechanical arm is the automatic control equipment imitate with human arm and achievable various operations, raw in industry There is important and extensive purposes in the fields such as production, commercial agriculture, aerospace.Repetitive positioning accuracy is the importance of mechanical arm It can index.Mechanical arm is during long-play, due to the abrasion and aging of mechanical arm various parts, repetitive positioning accuracy It will constantly reduce.As the fine degree of current industrial product design, processing is continuously improved, to the repetitive positioning accuracy of mechanical arm Requirement also constantly promoted, need to guarantee that the repetitive positioning accuracy of mechanical arm is maintained within the scope of requirement in production, in order to Reach this target, first have to do is exactly the repetitive positioning accuracy for measuring mechanical arm.Currently used mechanical arm tail end space weight The measurement method of multiple positioning accuracy mainly has the methods of draw wire encoder mensuration and Binocular vision photogrammetry.But draw wire encoder Mechanism is complicated, inconvenient;Binocular vision photogrammetry price is higher, and precision is lower.Therefore it is easy to operate to design one kind, it is at low cost, Precision reach robot examination criteria industrial robot repetitive positioning accuracy device be very it is necessary to.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of measurements of mechanical arm tail end repetitive positioning accuracy Apparatus and method.
The mechanical arm tail end repetitive positioning accuracy measuring device provided according to the present invention, comprising Laser emission structure, connects light Screen, video camera and displacement adjustment device;
Laser emission structure is mounted on mechanical arm tail end, connects optical screen and is mounted on displacement adjustment device;Laser emission structure The laser beam of sending can form hot spot on connecing optical screen;Video camera can take the hot spot connect on optical screen.
Preferably, Laser emission structure includes clamping device and laser emitter;
Multiple laser emitters are mounted on clamping device, there is installation angle between multiple laser emitters, multiple to swash Intersect the central axes of optical transmitting set.
Preferably, the video camera includes high-definition camera;The displacement adjustment device includes upright guide rail;
The high-definition camera, which is located at, to be connect above optical screen, and the camera lens of high-definition camera is arranged in parallel with optical screen is connect.
It preferably, also include computer, the computer is connected with high-definition camera.
Preferably, the computer includes with lower module:
Image module: obtaining the photo of high-definition camera shooting, carries out image procossing to photo, extraction obtains hot spot coordinate Information;
Locating module: it according to hot spot coordinate information, calculates and obtains repetitive positioning accuracy.
The present invention also provides a kind of mechanical arm tail end repetitive positioning accuracy measurement methods comprising the steps of:
Assembling preparation process: mechanical arm tail end repetitive positioning accuracy measuring device is assembled, mechanical arm tail end is arrived Up to setting position, the laser beam for issuing laser emitter forms hot spot on connecing optical screen;
Combination shooting step, the combination shooting step comprise the steps of:
Step S1: high-definition camera shooting is enabled to meet the photo Q1 that optical screen has hot spot under the first height;
Step S2: adjusting upright guide rail, and high-definition camera shooting is enabled to connect the photo that optical screen has hot spot under the second height Q2;
Terminal position calculates step: according to the coordinate of hot spot on the coordinate of hot spot on photo Q1, photo Q2 and connecing optical screen Elevation information mechanical arm tail end position is calculated.
Preferably, it also comprises the steps of:
Testing time determination step: judging whether the calculation times of mechanical arm tail end position have reached setting number, if it is not, It returns and executes combination shooting step;If so, executing repetitive positioning accuracy calculates step;
Repetitive positioning accuracy calculates step: according to the calculated result of multiple mechanical arm tail end position, calculating and obtains mechanical arm End repetitive positioning accuracy.
Preferably, it assembles in preparation process, forms the first hot spot and the second hot spot the two hot spots on connecing optical screen;
Terminal position calculates in step, on photo Q1, the coordinate respectively (s of the first hot spot, the second hot spot1,t1,w1)、 (s2,t2,w2);On photo Q2, the coordinate respectively (s of the first hot spot, the second hot spot1',t1',w1')、(s2',t2',w2');Root According to the coordinate (s, t, w) of following formula calculator tool arm terminal position:
Above-mentioned coordinate is coordinate in a space rectangular coordinate system.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, for the present invention compared with existing equipment, apparatus structure is simple, easy for installation, makes up optical device by high definition camera Expensive disadvantage, makes repetitive positioning accuracy be guaranteed using high-precision encoder, adapts to much need quickly to obtain weight The occasion of multiple positioning accuracy.
2, operation of the present invention is convenient, low in cost, measurement accuracy is high.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention, Objects and advantages will become more apparent upon:
Fig. 1 is mechanical arm tail end repetitive positioning accuracy measuring device structural schematic diagram provided by the invention;
Fig. 2 is the clamping device structural schematic diagram of laser emitter;
Fig. 3 is to connect optical screen photo schematic diagram with hot spot;
Fig. 4 is mechanical arm tail end repetitive positioning accuracy measuring method flow chart provided by the invention.
It is shown in figure:
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
Mechanical arm tail end repetitive positioning accuracy measuring device provided by the invention, comprising Laser emission structure, connect optical screen 3, Video camera and displacement adjustment device, Laser emission structure are mounted on mechanical arm tail end, connect optical screen 3 and are mounted on displacement adjustment device On;The laser beam that Laser emission structure issues can form hot spot on connecing optical screen 3;Video camera, which can take, connects optical screen 3 On hot spot.Laser emission structure includes clamping device 1 and laser emitter 2, and multiple laser emitters 2 are mounted on clamping device There is installation angle, the central axes intersection of multiple laser emitters 2 on 1, between multiple laser emitters 2.
As shown in Figure 1, the video camera includes high-definition camera 5 in embodiment;The displacement adjustment device includes vertical Guide rail 4, the high-definition camera 5, which is located at, connects 3 top of optical screen, and the camera lens of high-definition camera 5 is arranged in parallel with optical screen 3 is connect.Such as Fig. 2 It is shown, two laser emitters 2 arranged in angle are installed on clamping device 1.As shown in figure 3, two laser emitters 2 exist It connects and forms respectively hot spot at A, B two on optical screen 3, it is corresponding in rectangular coordinate system in the plane to meet the institute of optical screen 3 for x, y expression in figure Two reference axis.In addition, mechanical arm tail end repetitive positioning accuracy measuring device also includes computer 6, the computer 6 and high definition Video camera 5 is connected.Preferably, the computer 6 includes with lower module: image module: obtaining the photograph that high-definition camera 5 is shot Piece carries out image procossing to photo, and extraction obtains hot spot coordinate information;Locating module: it according to hot spot coordinate information, calculates and obtains Repetitive positioning accuracy.Preferably, the displacement adjustment device can also be not that can also be horizontal positioned what is placed vertically Or it is tilted-putted, it is adjusted according to practical application.
As shown in figure 4, including following step the present invention also provides a kind of mechanical arm tail end repetitive positioning accuracy measurement method Rapid: assembling preparation process: assembling mechanical arm tail end repetitive positioning accuracy measuring device, and mechanical arm tail end is made to reach setting Position, the laser beam for issuing laser emitter 2 form hot spot on connecing optical screen 3.Combination shooting step, the combination shooting Step comprises the steps of: step S1: enabling high-definition camera 5 shoot and meets the photo Q1 that optical screen 3 has hot spot under the first height; Step S2: adjusting upright guide rail 4, enables high-definition camera 5 shoot and meets the photo Q2 that optical screen 3 has hot spot under the second height.End End position calculates step: according to the coordinate of hot spot on the coordinate of hot spot on photo Q1, photo Q2 and connecing the elevation information of optical screen 3 Mechanical arm tail end position is calculated.
Mechanical arm tail end repetitive positioning accuracy measurement method also comprises the steps of: testing time determination step: judging machine Whether the calculation times of tool arm terminal position have reached setting number, execute combination shooting step if it is not, returning;If so, executing Repetitive positioning accuracy calculates step;Repetitive positioning accuracy calculates step: according to the calculated result of multiple mechanical arm tail end position, meter It calculates and obtains mechanical arm tail end repetitive positioning accuracy.It assembles in preparation process, forms the first hot spot and the second hot spot on connecing optical screen 3 The two hot spots respectively correspond the hot spot of A in Fig. 3, B location.Terminal position calculates in step, on photo Q1, the first light Coordinate respectively (the s of spot, the second hot spot1,t1,w1)、(s2,t2,w2);On photo Q2, the coordinate point of the first hot spot, the second hot spot It Wei not (s1',t1',w1')、(s2',t2',w2');The coordinate (s, t, w) of calculating machine arm terminal position according to the following formula:
Above-mentioned coordinate is coordinate in a space rectangular coordinate system.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase Mutually combination.

Claims (4)

1. a kind of mechanical arm tail end repetitive positioning accuracy measuring device, which is characterized in that comprising Laser emission structure, connect optical screen (3), video camera and displacement adjustment device;
Laser emission structure is mounted on mechanical arm tail end, connects optical screen (3) and is mounted on displacement adjustment device;Laser emission structure hair Laser beam out can form hot spot on connecing optical screen (3);Video camera can take the hot spot connect on optical screen (3);
Laser emission structure includes clamping device (1) and laser emitter (2);
Multiple laser emitters (2) are mounted on clamping device (1), there is installation angle between multiple laser emitters (2), more Intersect the central axes of a laser emitter (2);
The video camera includes high-definition camera (5);The displacement adjustment device includes upright guide rail (4);
The high-definition camera (5), which is located at, to be connect above optical screen (3), the camera lens of high-definition camera (5) cloth parallel with optical screen (3) are connect It sets;
It also include computer (6) that the computer (6) is connected with high-definition camera (5);
The computer (6) includes with lower module:
Image module: obtaining the photo of high-definition camera (5) shooting, carries out image procossing to photo, extraction obtains hot spot coordinate Information;
Locating module: it according to hot spot coordinate information, calculates and obtains repetitive positioning accuracy.
2. a kind of mechanical arm tail end repetitive positioning accuracy measurement method, which is characterized in that comprise the steps of:
Assembling preparation process: assembling mechanical arm tail end repetitive positioning accuracy measuring device, sets mechanical arm tail end arrival Positioning is set, and the laser beam for issuing laser emitter (2) forms hot spot on connecing optical screen (3);
Combination shooting step, the combination shooting step comprise the steps of:
Step S1: high-definition camera (5) shooting is enabled to meet the photo Q1 that optical screen (3) has hot spot under the first height;
Step S2: being adjusted upright guide rail (4), is enabled high-definition camera (5) shooting connect optical screen (3) and is had hot spot under the second height Photo Q2;
Terminal position calculates step: according to the coordinate of hot spot on the coordinate of hot spot on photo Q1, photo Q2 and connecing optical screen (3) Mechanical arm tail end position is calculated in elevation information.
3. mechanical arm tail end repetitive positioning accuracy measurement method according to claim 2, which is characterized in that also comprising following Step:
Testing time determination step: judging whether the calculation times of mechanical arm tail end position have reached setting number, if it is not, returning Execute combination shooting step;If so, executing repetitive positioning accuracy calculates step;
Repetitive positioning accuracy calculates step: according to the calculated result of multiple mechanical arm tail end position, calculating and obtains mechanical arm tail end Repetitive positioning accuracy.
4. mechanical arm tail end repetitive positioning accuracy measurement method according to claim 2, which is characterized in that assembling prepares step In rapid, the first hot spot and the second hot spot the two hot spots are formed on connecing optical screen (3);
Terminal position calculates in step, on photo Q1, the coordinate respectively (s of the first hot spot, the second hot spot1,t1,w1)、(s2,t2, w2);On photo Q2, the coordinate respectively (s of the first hot spot, the second hot spot1',t1',w1')、(s2',t2',w2');According to as follows The coordinate (s, t, w) of formula calculator tool arm terminal position:
Above-mentioned coordinate is coordinate in a space rectangular coordinate system.
CN201810322694.9A 2018-04-11 2018-04-11 Mechanical arm tail end repetitive positioning accuracy measuring device and method Active CN108489392B (en)

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CN112334000B (en) * 2020-10-22 2021-09-14 爱微(江苏)电力电子有限公司 Visual identification method and device suitable for chip mounter

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