CN109648606A - The bracing wire test method of SCARA robot - Google Patents
The bracing wire test method of SCARA robot Download PDFInfo
- Publication number
- CN109648606A CN109648606A CN201811639921.7A CN201811639921A CN109648606A CN 109648606 A CN109648606 A CN 109648606A CN 201811639921 A CN201811639921 A CN 201811639921A CN 109648606 A CN109648606 A CN 109648606A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- displacement sensor
- scara robot
- pull rope
- test method
- 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.)
- Pending
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Classifications
-
- 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
- B25J19/0095—Means or methods for testing 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
Abstract
The present invention relates to the technical fields of SCARA robot method, disclose the bracing wire test method of SCARA robot, the following steps are included: 1), SCARA robot there is mechanical arm, mechanical arm be in any position, passes through the initial coordinate of the end of controller reading mechanical arm；2) displacement sensor for pull rope, is fixed, the end of the drawstring of displacement sensor for pull rope is fixed on the robotic arm, and the pull-out length of the end of the drawstring of displacement sensor for pull rope is made to be zero；3), the numerical value of the mobile linear distance in the end of mechanical arm and displacement sensor for pull rope is compared, obtains the absolute precision of SCARA robot by rotation mechanical arm to setting position, the mobile linear distance in the end of controller calculating machine arm；Reachable ± the 0.02mm of the linear resolution of displacement sensor for pull rope, test method is simple, at low cost, is applicable to industrial complicated rugged environment.
Description
Technical field
The invention patent relates to the technical field of SCARA robot, the bracing wire in particular to SCARA robot is surveyed
Method for testing.
Background technique
SCARA is the abbreviation of Selective Compliance Assembly Robot Arm, means that one kind is applied to
The robot arm of assembling work.There are 3 rotary joints in SCARA robot, is best suited for plane positioning.
The absolute precision measurement of SCARA robot has many methods, and the absolute precision of SCARA robot represents SCARA
Robot reaches the deviation of set point in working space, it is for measuring the pilot teaching point based on Virtual Space coordinate system to true sky
Between point levels of precision, mainly influenced by the bar length of the mechanical arm of SCARA robot, zero point, reduction ratio equal error.
At present it is known that test method have the methods of laser tracker, ultrasound, vision, optics and coordinatograph, these survey
Method for testing requires professional equipment, and these equipment degree are very expensive, and leading to the test method of SCARA robot, there are cost mistakes
High defect.
Summary of the invention
The purpose of the present invention is to provide the bracing wire test methods of SCARA robot, it is intended to it solves in the prior art, it is right
The test method of SCARA robot there is a problem of at high cost.
The invention is realized in this way the bracing wire test method of SCARA robot, comprising the following steps:
1), SCARA robot has mechanical arm, and the mechanical arm is in any position, reads the machine by controller
The initial coordinate of the end of tool arm；
2) displacement sensor for pull rope, is fixed, the end of the drawstring of the displacement sensor for pull rope is fixed on the machine
On tool arm, and the pull-out length of the end of the drawstring of the displacement sensor for pull rope is made to be zero；
3) mechanical arm, is rotated to setting position, and the controller calculates the straight line of the end movement of the mechanical arm
Distance compares the numerical value of the mobile linear distance in the end of the mechanical arm and the displacement sensor for pull rope, described in acquisition
The absolute precision of SCARA robot.
Further, in the step 1), the mechanical arm is straightened in horizontality.
Further, the mechanical arm includes large arm and forearm, and the large arm and the forearm are rotatablely connected, the drawing
The end of the drawstring of rope displacement sensor is connected on the forearm.
Further, the displacement sensor for pull rope and the mechanical arm are arranged in same level.
Compared with prior art, the bracing wire test method of SCARA robot provided by the invention is directly displaced by drawstring
The stretching of the drawstring end of sensor in conjunction with the linear movement distance of mechanical arm, and then obtains the absolute essence of SCARA robot
Degree, the reachable ± 0.02mm of the linear resolution of displacement sensor for pull rope, test method is simple, at low cost, and it is multiple to be applicable to industry
Miscellaneous rugged environment.
Detailed description of the invention
Fig. 1 is the process frame diagram of the bracing wire test method of SCARA robot provided by the invention；
Fig. 2 is the schematic top plan view of the rotary state of the mechanical arm of SCARA robot provided by the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Realization of the invention is described in detail below in conjunction with specific embodiment.
The same or similar label correspond to the same or similar components in the attached drawing of the present embodiment；In description of the invention
In, it is to be understood that if there is the orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right" for based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore describe the use of positional relationship in attached drawing
Language only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term is understood as the case may be.
It is preferred embodiment provided by the invention referring to Fig.1 shown in -2.
The bracing wire test method of SCARA robot provided in this embodiment, for testing the absolute essence of SCARA robot
Degree, the mechanical arm for representing SCARA robot are reached the deviation of set point in working space, are sat for measuring based on Virtual Space
Mark system pilot teaching point to real space point levels of precision, mainly by the bar length of mechanical arm, zero point, reduction ratio equal error shadow
It rings.
The bracing wire test method of SCARA robot, which comprises the following steps:
1), SCARA robot has mechanical arm, and mechanical arm is in any position, and the end of mechanical arm is read by controller
The initial coordinate at end；
2) displacement sensor for pull rope 101, is fixed, the end of the drawstring 102 of displacement sensor for pull rope 101 is fixed on machine
On tool arm, and the pull-out length of the end of the drawstring 102 of displacement sensor for pull rope 101 is made to be zero；
3) mechanical arm, is rotated to setting position, the mobile linear distance in the end of controller calculating machine arm, by mechanical arm
The numerical value of the mobile linear distance and displacement sensor for pull rope 101 in end compare, obtain the absolute precision of SCARA robot.
The mode signal output of displacement sensor for pull rope 101 is divided into digital signal output and analog signal output, and number is defeated
Type can choose increment rotary encoder, absolute value encoder etc. out, and output signal is square wave ABZ signal or gray code signal.
The function of 102 formula displacement sensor of drawstring is the electric signal that mechanical movement is converted into measure or record or transmit.
Displacement sensor for pull rope 101 is wound on a threaded wheel hub by stretchable stainless steel cable, this wheel hub and one
A precision rotation inductor links together, and inductor can be incremental encoder, absolute (independence) encoder, mixing or conductive
Plastics rotating potentiometer, synchronizer or resolver.
In operation, displacement sensor for pull rope 101 is mounted on fixed position, and the end of drawstring 102 is connected to mobile object
On.The axis of movement alignment of the linear motion and mobile object of drawstring 102.When movement occurs, the stretching, extension of drawstring 102 and contraction are interior
Portion's spring guarantees that the rate of tension of drawstring 102 is constant, and threaded wheel hub drives the rotation of precision rotation inductor, exports one and draws
The proportional electric signal of 102 moving distances of restricting, measurement output signal it can be concluded that moving object displacement, direction or rate.
Displacement sensor for pull rope 101 is sensor more mature at present, is then repeated no more to its structure etc. herein.
The bracing wire test method of the SCARA robot of above-mentioned offer directly passes through the drawstring end of displacement sensor for pull rope 101
The stretching in portion in conjunction with the linear movement distance of mechanical arm, and then obtains the absolute precision of SCARA robot, drawstring displacement sensing
Reachable ± the 0.02mm of the linear resolution of device 101, test method is simple, at low cost, is applicable to industrial complicated rugged environment.
In step 1), mechanical arm is straightened in horizontality, and certainly, mechanical arm is in any position and is ok, not only
It is limited to horizontality.
Mechanical arm includes large arm 104 and forearm 103, and large arm 104 and forearm 103 are rotatablely connected, displacement sensor for pull rope
The end of 101 drawstring 102 is connected on forearm 103, alternatively, the end of drawstring 102 can also be fixed in large arm 104, or
The end of person's drawstring 102 is fixed on the end of mechanical arm.
Displacement sensor for pull rope 101 and mechanical arm are arranged in same level, in this way, the fixation of the end convenient for drawstring 102.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
- The bracing wire test method of 1.SCARA robot, which comprises the following steps:1), SCARA robot has mechanical arm, and the mechanical arm is in any position, reads the mechanical arm by controller End initial coordinate；2) displacement sensor for pull rope, is fixed, the end of the drawstring of the displacement sensor for pull rope is fixed on the mechanical arm On, and the pull-out length of the end of the drawstring of the displacement sensor for pull rope is made to be zero；3) mechanical arm, is rotated to setting position, the controller calculates the linear distance of the end movement of the mechanical arm, The numerical value of the mobile linear distance in the end of the mechanical arm and the displacement sensor for pull rope is compared, the SCARA is obtained The absolute precision of robot.
- 2. the bracing wire test method of SCARA robot as described in claim 1, which is characterized in that in the step 1), institute Mechanical arm is stated to be straightened in horizontality.
- 3. the bracing wire test method of SCARA robot as claimed in claim 1 or 2, which is characterized in that the mechanical arm includes Large arm and forearm, the large arm and the forearm are rotatablely connected, and the end of the drawstring of the displacement sensor for pull rope is connected to On the forearm.
- 4. the bracing wire test method of SCARA robot as claimed in claim 1 or 2, which is characterized in that the drawstring displacement passes Sensor and the mechanical arm are arranged in same level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811639921.7A CN109648606A (en) | 2018-12-29 | 2018-12-29 | The bracing wire test method of SCARA robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811639921.7A CN109648606A (en) | 2018-12-29 | 2018-12-29 | The bracing wire test method of SCARA robot |
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| CN109648606A true CN109648606A (en) | 2019-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811639921.7A Pending CN109648606A (en) | 2018-12-29 | 2018-12-29 | The bracing wire test method of SCARA robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696227A (en) * | 2021-08-16 | 2021-11-26 | 山东省科学院自动化研究所 | Device and method for detecting horizontal azimuth angle of mechanical arm |
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| JP2005028529A (en) * | 2003-07-08 | 2005-02-03 | Yaskawa Electric Corp | Device for positioning industrial robot into its original position |
| US20050207872A1 (en) * | 2004-03-22 | 2005-09-22 | Gorbel, Inc. | Electronic lift interface using linear variable differential transducers |
| CN102508494A (en) * | 2011-09-28 | 2012-06-20 | 中联重科股份有限公司 | Mechanical arm, engineering machine and method for determining arm joint position of mechanical arm |
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| CN105652955A (en) * | 2014-11-14 | 2016-06-08 | 中国航空工业第六八研究所 | Large stroke high integration electric steering engine |
| CN104890013A (en) * | 2015-06-02 | 2015-09-09 | 南京航空航天大学 | Pull-cord encoder based calibration method of industrial robot |
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| CN113696227A (en) * | 2021-08-16 | 2021-11-26 | 山东省科学院自动化研究所 | Device and method for detecting horizontal azimuth angle of mechanical arm |
| CN113696227B (en) * | 2021-08-16 | 2022-10-11 | 山东省科学院自动化研究所 | Device and method for detecting horizontal azimuth angle of mechanical arm |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20201225 Address after: 276800 north of Shantou Road, west of Hangzhou Road, east of Luzhou Road, Rizhao Economic Development Zone, Shandong Province Applicant after: Rizhao Yuejiang Intelligent Technology Co.,Ltd. Address before: 518055 3rd floor, building 3, tongfuyu industrial city, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190419 |
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