CN109129398A - Test device for robot localization precision - Google Patents
Test device for robot localization precision Download PDFInfo
- Publication number
- CN109129398A CN109129398A CN201811088401.1A CN201811088401A CN109129398A CN 109129398 A CN109129398 A CN 109129398A CN 201811088401 A CN201811088401 A CN 201811088401A CN 109129398 A CN109129398 A CN 109129398A
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- CN
- China
- Prior art keywords
- test
- robot
- module
- testing base
- cabinet
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- 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
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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
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
For the test device of robot localization precision, it is related to robotic technology field.It includes testing base, lifting drive, elevating lever, device of rotation driving, ball seat, test cabinet, placement plate, sensor, test body, opening, computer, control cabinet, robot, movable pulley, data conversion module, Data connection module, memory, testboard path operation module, robot path operation module, processor, the testing base is internally provided with lifting drive, lifting drive driving end is provided with elevating lever, elevating lever upper surface is provided with device of rotation driving, and device of rotation driving driving end is provided with ball seat.After by adopting the above technical scheme, the invention has the following beneficial effects: structure is simple, use value is high, it can be improved the accuracy and efficiency of positioning accuracy test, it is easy to use, it is easy to operate, a variety of test status can be coped with, whole measurement data deviation is minimum, the superior performance and generalization is strong in colleague field.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to the test device for robot localization precision.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
Nowadays the characteristics of robot develops can be summarized as: in transverse direction, application surface is more and more wider.Expanded by 95% industrial application
Open up the non-industrial applications to more areas.As perform an operation, fruit-picking, beta pruning, tunnelling, investigation, the removal of mines, there are also space machines
Device people, Qian Hai robot.Robot application is without limitation, as long as thinkable, so that it may go to create and realize；On longitudinal direction, robot
Type can be more and more, as enter human body microrobot, it has also become a new direction may diminish to as a grain of rice
Size；Robot automtion is strengthened, and robot can be more clever.
For the test device of robot localization precision, often structure is complicated currently on the market, and use value is not high, it is difficult to
The accuracy and efficiency of positioning accuracy test are improved, it is inconvenient for use, it is complicated for operation, a variety of test status cannot be coped with, it is whole to survey
Amount data deviation is big, and performance is lower in colleague field and generalization is poor.
Summary of the invention
In view of the defects and deficiencies of the prior art, the present invention intends to provide the tests for robot localization precision
Device, structure is simple, and use value is high, can be improved the accuracy and efficiency of positioning accuracy test, easy to use, operation letter
It is single, a variety of test status can be coped with, whole measurement data deviation is minimum, the superior performance and generalization is strong in colleague field.
To achieve the above object, the present invention is using following technical scheme: it includes testing base 1, lifting drive
2, elevating lever 3, device of rotation driving 4, ball seat 5, test cabinet 6, placement plate 7, sensor 8, test body 9, opening 10, computer
11, control cabinet 12, robot 13, movable pulley 14, data conversion module 15, Data connection module 16, memory 17, testboard road
Diameter runs module 18, robot path runs module 19, processor 20, and the testing base 1 is internally provided with lifting driving dress
2 are set, lifting drive 2 drives end to be provided with elevating lever 3, and 3 upper surface of elevating lever is provided with device of rotation driving 4, and rotation is driven
Dynamic device 4 drives end to be provided with ball seat 5, and 5 upper surface of ball seat is provided with test cabinet 6, and testing is hollow structure inside cabinet 6,
Test 6 inner transverse of cabinet is provided with placement plate 7, and test 6 inner wall of cabinet is evenly arranged with several sensors 8,7 upper end of placement plate
Face is provided with test body 9, and test 6 upper surface of cabinet is provided with opening 10, is provided with computer on the left of 1 upper surface of testing base
11,1 upper surface of testing base right side is provided with control cabinet 12, and 1 lower end surface of testing base is uniformly arranged there are four movable pulley 14, controls
Case 12 processed is internally provided with Data connection module 16, memory 17, testboard path operation module 18, robot path operation mould
Block 19, processor 20, Data connection module 16, memory 17, testboard path operation module 18, robot path run module
19 are electrically connected with processor 20, and computer 11 and Data connection module 16 are electrically connected, sensor 8 and data conversion module
15 are electrically connected, and robot path runs module 19 and robot 13 is electrically connected, lifting drive 2, device of rotation driving 4
It is electrically connected with testboard path operation module 18.
The testing base 1 is connect with movable pulley 14 by folding and unfolding part 141.
The 1 lower end surface middle position of testing base is provided with support base 011.
Several open-works 71 are evenly arranged in the placement plate 7.
The test body 9 is one of square, cuboid, cylinder, circular cone, straight triangular prism, sphere.
After adopting the above technical scheme, use value is high the invention has the following beneficial effects: structure is simple, positioning can be improved
The accuracy and efficiency of accuracy test, it is easy to use, it is easy to operate, a variety of test status, whole measurement data deviation can be coped with
It is minimum, the superior performance and generalization is strong in colleague field.
Detailed description of the invention
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 technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of robot 13 in the present invention；
Fig. 3 is the structural schematic diagram of placement plate 7 in the present invention；
Fig. 4 is circuit theory schematic block diagram of the invention.
Description of symbols: testing base 1, lifting drive 2, elevating lever 3, device of rotation driving 4, ball seat 5, test
Cabinet 6, placement plate 7, sensor 8, test body 9, opening 10, computer 11, control cabinet 12, robot 13, movable pulley 14, data
Conversion module 15, Data connection module 16, memory 17, testboard path operation module 18, robot path operation module 19,
Processor 20, folding and unfolding part 141, support base 011, open-work 71.
Specific embodiment
Referring to shown in Fig. 1-Fig. 4, present embodiment the technical solution adopted is that: it includes that testing base 1, lifting are driven
Dynamic device 2, elevating lever 3, device of rotation driving 4, ball seat 5, test cabinet 6, placement plate 7, sensor 8, test body 9, opening 10,
Computer 11, robot 13, movable pulley 14, data conversion module 15, Data connection module 16, memory 17, is surveyed control cabinet 12
Test stand path runs module 18, robot path runs module 19, processor 20, and the testing base 1 is internally provided with lifting
Driving device 2, lifting drive 2 drive end to be provided with elevating lever 3, and 3 upper surface of elevating lever is provided with device of rotation driving 4,
Device of rotation driving 4 drives end to be provided with ball seat 5, and 5 upper surface of ball seat is provided with test cabinet 6, and it is hollow for testing inside cabinet 6
Structure, test 6 inner transverse of cabinet are provided with placement plate 7, and test 6 inner wall of cabinet is evenly arranged with several sensors 8, placement plate
7 upper surfaces are provided with test body 9, and test 6 upper surface of cabinet is provided with opening 10, is provided with meter on the left of 1 upper surface of testing base
Calculation machine 11, is provided with control cabinet 12 on the right side of 1 upper surface of testing base, and 1 lower end surface of testing base is uniformly arranged that there are four movable pulleys
14, control cabinet 12 is internally provided with Data connection module 16, memory 17, the operation of testboard path module 18, robot path
Run module 19, processor 20, Data connection module 16, memory 17, testboard path operation module 18, robot path fortune
Row module 19 is electrically connected with processor 20, and computer 11 and Data connection module 16 are electrically connected, and sensor 8 and data turn
Change module 15 to be electrically connected, robot path runs module 19 and robot 13 is electrically connected, and lifting drive 2, rotation are driven
Dynamic device 4 is electrically connected with testboard path operation module 18.
The testing base 1 is connect with movable pulley 14 by folding and unfolding part 141.The setting of folding and unfolding part 141 can be to movable pulley
14 play the role of folding and unfolding.
The 1 lower end surface middle position of testing base is provided with support base 011.Support base 011 is when folding and unfolding part 141 is packed up
It plays a supporting role to testing base 1, reduces the pressure to movable pulley 14.
Several open-works 71 are evenly arranged in the placement plate 7.The setting of open-work 71 can allow sensor 8 more accurately to be surveyed
Measure the data such as position, the shape of test body 9.
The test body 9 is one of square, cuboid, cylinder, circular cone, straight triangular prism, sphere.The survey of more options
Body 9 is tried, the accuracy of positioning accuracy test can be greatly improved.
The working principle of the invention: testing base 1 is placed on the ground, and movable pulley 14 can allow test device mobile,
Folding and unfolding part 141 plays the role of folding and unfolding movable pulley 14, computer 11 and Data connection module 16 by data connection, will test
Platform, robot path data are transmitted to inside memory 17, and processor 20 runs module 18, robot road by testboard path
Diameter runs module 19, and testboard path runs module 18 and controls lifting drive 2, device of rotation driving 4, robot path fortune
Row module 19 controls robot 13, and the test body 9 inside 13 pairs of test cabinets 6 of robot is clamped to be put down again, and sensor 8 will
The location information of test body 9 converted by data conversion module 15 and by Data connection module 16 be transmitted in computer 11 into
Row position analysis obtains the precision of robot localization, and repeatedly measurement obtains average value, greatly improves the accurate of positioning accuracy test
Property and efficiency, integrated operation it is simple, by computer 11 control realize.
After adopting the above technical scheme, use value is high the invention has the following beneficial effects: structure is simple, positioning can be improved
The accuracy and efficiency of accuracy test, it is easy to use, it is easy to operate, a variety of test status, whole measurement data deviation can be coped with
It is minimum, the superior performance and generalization is strong in colleague field.
The above is only used to illustrate the technical scheme of the present invention and not to limit it, and those of ordinary skill in the art are to this hair
The other modifications or equivalent replacement that bright technical solution is made, as long as it does not depart from the spirit and scope of the technical scheme of the present invention,
It is intended to be within the scope of the claims of the invention.
Claims (5)
1. being used for the test device of robot localization precision, it is characterised in that: it includes testing base (1), lifting drive
(2), elevating lever (3), device of rotation driving (4), ball seat (5), test cabinet (6), placement plate (7), sensor (8), test body
(9), it is open (10), computer (11), control cabinet (12), robot (13), movable pulley (14), data conversion module (15), number
According to link block (16), memory (17), testboard path operation module (18), robot path operation module (19), processing
Device (20), the testing base (1) are internally provided with lifting drive (2), and lifting drive (2) driving end is provided with liter
It drops bar (3), elevating lever (3) upper surface is provided with device of rotation driving (4), and device of rotation driving (4) driving end is provided with ball seat
(5), ball seat (5) upper surface is provided with test cabinet (6), is hollow structure inside test cabinet (6), and test cabinet (6) is internal
It is horizontally arranged with placement plate (7), test cabinet (6) inner wall is evenly arranged with several sensors (8), and placement plate (7) upper surface is set
It is equipped with test body (9), test cabinet (6) upper surface is provided with opening (10), is provided with calculating on the left of testing base (1) upper surface
Machine (11) is provided with control cabinet (12) on the right side of testing base (1) upper surface, there are four testing base (1) lower end surface is uniformly arranged
Movable pulley (14), control cabinet (12) are internally provided with Data connection module (16), memory (17), testboard path operation module
(18), robot path runs module (19), processor (20), Data connection module (16), memory (17), testboard path
Run module (18), robot path operation module (19) is electrically connected with processor (20), computer (11) and data company
Connection module (16) is electrically connected, and sensor (8) and data conversion module (15) are electrically connected, and robot path runs module (19)
It is electrically connected with robot (13), lifting drive (2), device of rotation driving (4) run module with testboard path
(18) it is electrically connected.
2. the test device according to claim 1 for robot localization precision, it is characterised in that: the testing base
(1) it is connect with movable pulley (14) by folding and unfolding part (141).
3. the test device according to claim 1 for robot localization precision, it is characterised in that: the testing base
(1) lower end surface middle position is provided with support base (011).
4. the test device according to claim 1 for robot localization precision, it is characterised in that: the placement plate
(7) several open-works (71) are evenly arranged on.
5. the test device according to claim 1 for robot localization precision, it is characterised in that: the test body
It (9) is one of square, cuboid, cylinder, circular cone, straight triangular prism, sphere.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088401.1A CN109129398A (en) | 2018-09-18 | 2018-09-18 | Test device for robot localization precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088401.1A CN109129398A (en) | 2018-09-18 | 2018-09-18 | Test device for robot localization precision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109129398A true CN109129398A (en) | 2019-01-04 |
Family
ID=64814593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811088401.1A Pending CN109129398A (en) | 2018-09-18 | 2018-09-18 | Test device for robot localization precision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129398A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114052915A (en) * | 2021-11-02 | 2022-02-18 | 武汉联影智融医疗科技有限公司 | Method and system for testing positioning accuracy of surgical robot and mold body |
-
2018
- 2018-09-18 CN CN201811088401.1A patent/CN109129398A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114052915A (en) * | 2021-11-02 | 2022-02-18 | 武汉联影智融医疗科技有限公司 | Method and system for testing positioning accuracy of surgical robot and mold body |
| CN114052915B (en) * | 2021-11-02 | 2023-11-21 | 武汉联影智融医疗科技有限公司 | Method, system and die body for testing positioning accuracy of surgical robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190104 |
|
| WD01 | Invention patent application deemed withdrawn after publication |