CN108562909A - A kind of industrial robot track detection device - Google Patents
A kind of industrial robot track detection device Download PDFInfo
- Publication number
- CN108562909A CN108562909A CN201810321618.6A CN201810321618A CN108562909A CN 108562909 A CN108562909 A CN 108562909A CN 201810321618 A CN201810321618 A CN 201810321618A CN 108562909 A CN108562909 A CN 108562909A
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- CN
- China
- Prior art keywords
- industrial robot
- standard jig
- sensor
- laser
- detection device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- B25J9/1656—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
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot trajectory's detection technique fields,More particularly to a kind of industrial robot track detection device,Including industrial robot,Ring flange,First standard jig,Second standard jig,Third standard jig,First laser distance measuring sensor,Second laser distance measuring sensor,Third laser range sensor,3-axis acceleration sensor,Battery,Processor and wireless data transfer module,The present invention detects the arm position of industrial robot by laser range sensor in real time,And position data is transferred in the computer of testing staff and carries out data processing and obtain location information of the industrial robot in three dimensions,In addition 3-axis acceleration sensor of the invention can be outside industrial robot arm motion to standard jig when continue to record its location information,Solve the problems, such as that industrial robot track detection device is unable to measure industrial robot arbitrary trajectory in space in the prior art,Improve the practicability of the present invention.
Description
Technical field
The present invention relates to robot trajectory's detection technique fields, and in particular to a kind of industrial robot track detection device.
Background technology
With the progress of the raising and science and technology of productivity, industrial robot is high by its technical value added, using model
It encloses wide feature and is gradually engaged in specific dull, repetition and dangerous operation instead of people.Robot considerably improves labor productivity,
Improve product quality, accelerates the paces for realizing industrial production mechanization and automation.
Part is done in national standard to the performance specification of industrial robot and its test method to illustrate, wherein track characteristic detects
Including：Path accuracy, path repeatability.Trajectory speed characteristic includes：Path velocity accuracy, path velocity repeatability, rail
Mark velocity perturbation.
Mainly industrial robot is demarcated and detected by laser tracker method both at home and abroad at present, this detection device
Movement locus, but this device are mainly obtained by the distance between laser range finder robot measurement end and standard jig
Can only robot measurement particular track, arbitrary trajectory in space cannot be measured, and measurement result is limited by standard jig shape.
Invention content
In view of the deficiencies of the prior art, the invention discloses a kind of industrial robot track detection devices, existing for solving
There is industrial robot track detection device in technology to be unable to measure industrial robot due to the limitation of standard jig in space
The problem of arbitrary trajectory.
Specific technical solution is as follows：
A kind of industrial robot track detection device, including industrial robot, ring flange, the first standard jig, the second mark
Quasi- model, third standard jig, first laser distance measuring sensor, second laser distance measuring sensor, third laser range sensor,
The left bottom level of 3-axis acceleration sensor, battery, processor and wireless data transfer module, the industrial robot is set
There are third standard jig, the inboard, upright of the third standard jig to be equipped with the second standard jig, the third standard jig
Left side vertical is equipped with the second standard jig, and first standard jig, the second standard jig and third standard jig are mutual two-by-two
Vertically, the arm end of the industrial robot is equipped with ring flange, and the centre of surface of the ring flange is equipped with first laser ranging
The left-hand face of sensor, the ring flange is equipped with second laser distance measuring sensor, and the bottom of the ring flange is swashed equipped with third
The lumen centers of ligh-ranging sensor, the ring flange are equipped with 3-axis acceleration sensor, the third laser range sensor
The surface of the ring flange of surrounding is equipped with battery, processor and wireless data transfer module, and the battery passes through conducting wire with processor
It is electrically connected, the input terminal of the processor passes through conducting wire and first laser distance measuring sensor, second laser distance measuring sensor, the
Three laser range sensors and 3-axis acceleration sensor are electrically connected, and the output end of the processor passes through conducting wire and no line number
It is electrically connected according to transmission module；
Preferably, the first laser distance measuring sensor is vertical with the right side of the second standard jig, the second laser
Distance measuring sensor is vertical with the outer surface of the first standard jig, and the third laser range sensor is upper with third standard jig
Surface is vertical；
Preferably, the 3-axis acceleration sensor uses MPU6050 sensor chips；
Preferably, the rated output voltage of the battery is the lithium ion battery of 12V；
Preferably, the processor is STM32F103 microcontrollers；
Preferably, the wireless data transfer module is Wi-Fi data transmission modules or Bluetooth data transfer module.
Advantageous effect：
The present invention detects the arm position of industrial robot by laser range sensor in real time, and positional number
Location information of the industrial robot in three dimensions is obtained according to progress data processing in the computer of testing staff is transferred to,
In addition 3-axis acceleration sensor of the invention can be outside industrial robot arm motion to standard jig when continue to record
Its location information solves industrial robot track detection device in the prior art and is unable to measure industrial robot and appoints in space
The problem of meaning track, improve the practicability of the present invention.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is flange plate structure schematic diagram in Fig. 1.
Reference numeral is as follows：1, industrial robot, 2, ring flange, the 3, first standard jig, the 4, second standard jig, 5,
Three standard jigs, 6, first laser distance measuring sensor, 7, second laser distance measuring sensor, 8, third laser range sensor, 9,
3-axis acceleration sensor, 10, battery, 11, processor, 12, wireless data transfer module.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Referring to Fig. 1-2：A kind of industrial robot track detection device, including industrial robot 1, ring flange 2, the first standard
Model 3, the second standard jig 4, third standard jig 5, first laser distance measuring sensor 6, second laser distance measuring sensor 7,
Three laser range sensors 8,3-axis acceleration sensor 9, battery 10, processor 11 and wireless data transfer module 12, it is described
The left bottom level of industrial robot 1 is equipped with third standard jig 5, and the inboard, upright of the third standard jig 5 is equipped with the
Two standard jigs 4, the left side vertical of the third standard jig 5 are equipped with the second standard jig 4, first standard jig 3, the
Two standard jigs 4 and third standard jig 5 are orthogonal two-by-two, and the arm end of the industrial robot 1 is equipped with ring flange 2,
The centre of surface of the ring flange 2 is equipped with first laser distance measuring sensor 6, and the left-hand face of the ring flange 2 is equipped with second and swashs
The bottom of ligh-ranging sensor 7, the ring flange 2 is equipped with third laser range sensor 8, the lumen centers of the ring flange 2
Equipped with 3-axis acceleration sensor 9, the 3-axis acceleration sensor 9 uses MPU6050 sensor chips, the third laser
The surface of the ring flange 2 of 8 surrounding of distance measuring sensor is equipped with battery 10, processor 11 and wireless data transfer module 12, the electricity
The rated output voltage in pond 10 is the lithium ion battery of 12V, and the processor 11 is STM32F103 microcontrollers, the no line number
It is Wi-Fi data transmission modules or Bluetooth data transfer module according to transmission module 12, the battery 10 is with processor 11 by leading
Line is electrically connected, and the input terminal of the processor 11 is sensed by conducting wire and first laser distance measuring sensor 6, second laser ranging
Device 7, third laser range sensor 8 and 3-axis acceleration sensor 9 are electrically connected, and the output end of the processor 11 is by leading
Line is electrically connected with wireless data transfer module 12.
The present invention determines drawn theoretical circular track and straight path according to GB/T12642-2013 when in use, carries out rail
Mark feature measurement, before measurement, detected unit writes the off-line procedure that industrial robot detection needs, it is made to draw in space
Track, while making first laser distance measuring sensor 6 vertical with the right side of the second standard jig 4, second laser distance measuring sensor 7
Vertical with the outer surface of the first standard jig 3, third laser range sensor 8 is vertical with the upper surface of third standard jig 5；When
The inside-paint track in the space that the first standard jig 3, the second standard jig 4 and third standard jig 5 form of industrial robot 1
When, first laser distance measuring sensor 6 can measure the distance between industrial robot 1 and the second standard jig 4, second laser ranging
Sensor 7 can measure the distance between industrial robot 1 and the first standard jig 3, and third laser range sensor 8 can measure work
The distance between industry robot 1 and third standard jig 5, then first laser distance measuring sensor 6, second laser distance measuring sensor
7 and third laser range sensor 8 range data being recorded can be stored in the memory module of processor 11, handle simultaneously
Device 11 can by wireless data transfer module 12 the data of storage by being wirelessly transmitted in the computer of testing staff, finally
Data are carried out the curve movement one that processing fits industrial robot 1 by testing staff by computer；In addition, the present invention is also logical
3-axis acceleration sensor 9 is crossed to measure movement position of the industrial robot 1 in three dimensions, and position data is stored
In the memory module of processor 11, the data of storage can be passed through nothing by simultaneous processor 11 by wireless data transfer module 12
Line is transferred in the computer of testing staff, and data are carried out processing by computer and fit industrial machine by last testing staff
The curve movement two of people 1 can finally be fitted together curve movement one and curve movement two can obtain by computer
1 actual motion track of industrial robot, accordingly even when industrial robot 1 is detached from the range of standard jig during the motion, this
Invention can also continue to record the position where industrial robot 1 by 3-axis acceleration sensor 9, keep measurement data more smart
Really.
Wherein, 3-axis acceleration sensor 9 can decompose the acceleration of 3-axis acceleration sensor 9 in measurement process
At three components of acceleration parallel with the first standard jig 3, the second standard jig 4 and third standard jig 5 respectively, further according to work
The run time of industry robot 1 calculates the move distance of three components of acceleration of 3-axis acceleration sensor 9, at this time these three
The numerical value of move distance just corresponds to second laser distance measuring sensor 7 respectively can measure industrial robot 1 and the first standard jig 3
The distance between, first laser distance measuring sensor 6 can measure the distance between industrial robot 1 and the second standard jig 4 and
Three laser range sensors 8 can measure the distance between industrial robot 1 and third standard jig 5.
The present invention detects the arm position of industrial robot by laser range sensor in real time, and positional number
Location information of the industrial robot in three dimensions is obtained according to progress data processing in the computer of testing staff is transferred to,
In addition 3-axis acceleration sensor of the invention can be outside industrial robot arm motion to standard jig when continue to record
Its location information solves industrial robot track detection device in the prior art and is unable to measure industrial robot and appoints in space
The problem of meaning track, improve the practicability of the present invention.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (6)
1. a kind of industrial robot track detection device, it is characterised in that：Including industrial robot (1), ring flange (2), first
Standard jig (3), the second standard jig (4), third standard jig (5), first laser distance measuring sensor (6), second laser are surveyed
Away from sensor (7), third laser range sensor (8), 3-axis acceleration sensor (9), battery (10), processor (11) and nothing
Line data transmission module (12), the left bottom level of the industrial robot (1) are equipped with third standard jig (5), and described the
The inboard, upright of three standard jigs (5) is equipped with the second standard jig (4), and the left side vertical of the third standard jig (5) is equipped with
Second standard jig (4), first standard jig (3), the second standard jig (4) and third standard jig (5) are mutual two-by-two
Vertically, the arm end of the industrial robot (1) is equipped with ring flange (2), and the centre of surface of the ring flange (2) is equipped with first
The left-hand face of laser range sensor (6), the ring flange (2) is equipped with second laser distance measuring sensor (7), the ring flange
(2) bottom is equipped with third laser range sensor (8), and the lumen centers of the ring flange (2) are sensed equipped with 3-axis acceleration
Device (9), the surface of the ring flange (2) of third laser range sensor (8) surrounding be equipped with battery (10), processor (11) and
Wireless data transfer module (12), the battery (10) are electrically connected with processor (11) by conducting wire, the processor (11)
Input terminal pass through conducting wire and first laser distance measuring sensor (6), second laser distance measuring sensor (7), third laser ranging pass
Sensor (8) and 3-axis acceleration sensor (9) are electrically connected, and the output end of the processor (11) passes through conducting wire and wireless data
Transmission module (12) is electrically connected.
2. industrial robot track detection device according to claim 1, it is characterised in that：The first laser ranging passes
Sensor (6) is vertical with the right side of the second standard jig (4), the second laser distance measuring sensor (7) and the first standard jig
(3) outer surface is vertical, and the third laser range sensor (8) is vertical with the upper surface of third standard jig (5).
3. industrial robot track detection device according to claim 1, it is characterised in that：The 3-axis acceleration sensing
Device (9) uses MPU6050 sensor chips.
4. industrial robot track detection device according to claim 1, it is characterised in that：The battery (10) it is specified
Output voltage is the lithium ion battery of 12V.
5. industrial robot track detection device according to claim 1, it is characterised in that：The processor (11) is
STM32F103 microcontrollers.
6. industrial robot track detection device according to claim 1, it is characterised in that：The wireless data transmission mould
Block (12) is Wi-Fi data transmission modules or Bluetooth data transfer module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810321618.6A CN108562909A (en) | 2018-04-11 | 2018-04-11 | A kind of industrial robot track detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810321618.6A CN108562909A (en) | 2018-04-11 | 2018-04-11 | A kind of industrial robot track detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108562909A true CN108562909A (en) | 2018-09-21 |
Family
ID=63534599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810321618.6A Pending CN108562909A (en) | 2018-04-11 | 2018-04-11 | A kind of industrial robot track detection device |
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| Country | Link |
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| CN (1) | CN108562909A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366492A (en) * | 2018-10-24 | 2019-02-22 | 武汉理工大学 | Casting grinding track online compensation system and method based on robot |
| CN109884590A (en) * | 2019-03-28 | 2019-06-14 | 河北工业大学 | A kind of industrial robot path accuracy detection device and method |
| CN112959323A (en) * | 2021-03-02 | 2021-06-15 | 中国工程物理研究院激光聚变研究中心 | Robot motion error on-line detection and compensation method and equipment |
| CN114888828A (en) * | 2022-04-26 | 2022-08-12 | 佛山科学技术学院 | SCARA robot experimental device based on ant colony optimization and control method |
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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 |
| CN105538313A (en) * | 2016-03-14 | 2016-05-04 | 陈杨 | Laser track detection device for industrial robots |
| CN205552535U (en) * | 2016-03-14 | 2016-09-07 | 中国计量大学 | Industrial robot laser orbit detection device |
| CN107036568A (en) * | 2017-06-01 | 2017-08-11 | 中国计量大学 | Space large scale track detection device and method |
-
2018
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1529223A2 (en) * | 2002-08-09 | 2005-05-11 | XYZ Interactive Technologies Inc. | Method and apparatus for position sensing |
| 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 |
| CN105538313A (en) * | 2016-03-14 | 2016-05-04 | 陈杨 | Laser track detection device for industrial robots |
| CN205552535U (en) * | 2016-03-14 | 2016-09-07 | 中国计量大学 | Industrial robot laser orbit detection device |
| CN107036568A (en) * | 2017-06-01 | 2017-08-11 | 中国计量大学 | Space large scale track detection device and method |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366492A (en) * | 2018-10-24 | 2019-02-22 | 武汉理工大学 | Casting grinding track online compensation system and method based on robot |
| CN109884590A (en) * | 2019-03-28 | 2019-06-14 | 河北工业大学 | A kind of industrial robot path accuracy detection device and method |
| CN109884590B (en) * | 2019-03-28 | 2024-05-24 | 湖南第一师范学院 | Industrial robot track precision detection device and method |
| CN112959323A (en) * | 2021-03-02 | 2021-06-15 | 中国工程物理研究院激光聚变研究中心 | Robot motion error on-line detection and compensation method and equipment |
| CN112959323B (en) * | 2021-03-02 | 2022-03-11 | 中国工程物理研究院激光聚变研究中心 | Robot motion error on-line detection and compensation method and equipment |
| CN114888828A (en) * | 2022-04-26 | 2022-08-12 | 佛山科学技术学院 | SCARA robot experimental device based on ant colony optimization and control method |
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Application publication date: 20180921 |
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