CN109732643B - Calibration device and method for mechanical arm - Google Patents
Calibration device and method for mechanical arm Download PDFInfo
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- CN109732643B CN109732643B CN201811509464.XA CN201811509464A CN109732643B CN 109732643 B CN109732643 B CN 109732643B CN 201811509464 A CN201811509464 A CN 201811509464A CN 109732643 B CN109732643 B CN 109732643B
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Abstract
The invention provides a calibration device for a mechanical arm, which comprises a prism, an outer frame, a rotating shaft, supporting legs and a horizontal base. Wherein the prism is arranged in the outer frame and the prism is connected with the outer frame through a rotating shaft which is transversely arranged. The support legs are arranged at the bottom of the outer frame, and the support legs are vertically arranged on the horizontal base. A calibration method for the mechanical arm is also provided. The calibration accuracy of the mechanical arm can be ensured, the measuring process is simple and rapid, and therefore the calibration efficiency can be improved.
Description
Technical Field
The invention belongs to the technical field of engineering machinery measurement, and particularly relates to a calibration device and method for a mechanical arm.
Background
In the prior art, the calibration method is suitable for calibrating the mechanical arm of the engineering machinery, and a manual measurement mode is generally adopted, so that the calibration error is large, and the efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a calibration device and method for a mechanical arm, which can ensure the calibration accuracy of the mechanical arm and improve the calibration efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a calibration device for a mechanical arm comprises a prism, an outer frame, a rotating shaft, supporting legs and a horizontal base. Wherein the prism is arranged in the outer frame and the prism is connected with the outer frame through a rotating shaft which is transversely arranged. The support legs are arranged at the bottom of the outer frame, and the support legs are vertically arranged on the horizontal base.
According to the calibration device for the mechanical arm, the prism is arranged, and the measurement calibration of different arm frames can be completed by matching with measuring tools such as a total station and the like, in the calibration process, the arm frame does not need to be leveled, the interference of leveling errors on the calibration result is reduced, and the measurement process is simple and rapid. Therefore, compared with a manual measurement calibration mode in the prior art, the error is greatly reduced, and the efficiency is higher.
With respect to the above technical solution, further improvements as described below can be made.
According to the calibration device for the mechanical arm, in a preferred embodiment, the prism can rotate around the central axis of the rotating shaft. The prism can realize fine adjustment of the position through rotation around the central axis of the rotating shaft, so that the accuracy of a measuring result can be further ensured.
Further, in a preferred embodiment, the outer frame is rotatable about the central axis of the leg. The outer frame drives the prism to rotate around the central axis of the supporting leg, so that fine adjustment of the position of the prism can be further realized, and the accuracy of a measuring result is further improved.
Further, in a preferred embodiment, the legs are capable of telescoping up and down. The supporting legs stretch up and down, so that the prism can be located at different heights, and the position coordinates of different points on the same axis can be simply and conveniently measured.
Further, in a preferred embodiment, the bottom of the horizontal base is provided with a mounting opening used for being matched with the protruding end cover of the mechanical arm joint, and the central axis of the mounting opening is coincident with the central axis of the supporting leg. The joint of the mechanical arm is fixedly installed through the installation opening coincident with the central axis of the supporting leg, so that the joint can be accurately, stably and reliably positioned, and the measurement calibration result is accurate.
The calibration method for the mechanical arm according to the second aspect of the invention comprises the following steps: the method comprises the following steps: and judging whether the relative positions of the joints of the arm support to be detected are in a parallel or vertical relation. Step two: and determining the installation method of the calibration device for the mechanical arm according to the judgment result of the step one. Step three: and B, installing the calibration device for the mechanical arm according to the installation method determined in the step two. Step four: and measuring the coordinate parameters of the calibration device for the mechanical arm in the third step by adopting a total station. Step five: and calculating the size of the arm support according to the coordinate parameters measured in the step four.
According to the calibration method for the mechanical arm, a proper measurement method can be selected according to the relative position relation of the joint of the arm support to be measured, and the total station is matched with the calibration device of the mechanical arm for measurement, so that the whole measurement process is simple and rapid, the efficiency is high, and compared with manual measurement calibration, the accuracy is high. In the calibration process, the arm support does not need to be leveled, so that the interference of leveling errors on the calibration result is further reduced.
With respect to the above technical solution, further improvements as described below can be made.
According to the calibration method for the mechanical arm, in a preferred embodiment, when the axes of the two joints on the arm support to be tested are parallel to each other, in step three, the calibration device for the mechanical arm is installed at the rotation central points of the different joints. And step five, calculating the distance between the two joint rotation center points according to the coordinates of the two joint rotation center points so as to obtain the size of the arm support.
When the axes of the two joints to be measured on the arm support are parallel to each other, the calibration device can be directly installed on the end surface of the joint, and the coordinates of the calibration device measured by the total station are the coordinates of the rotation center of the joint, so that the distance between the rotation center points of the two joints can be conveniently calculated according to the coordinates of the rotation center points of the two joints, and the size of the arm support can be obtained.
Further, in another preferred embodiment, when the axes of the two joints on the arm support to be tested are parallel to each other, in step three, the calibration device for the arm is installed on the joint at the end of the arm support to ensure that the axis of the joint to be tested is stationary, the joint to be tested moves and outputs, and the arm support is controlled to rotate. In the fourth step, the total station is utilized to measure the coordinates of the calibration device for the mechanical arm in the third step at a plurality of positions. And step five, calculating the center coordinates of the circular arcs formed by different coordinates of the calibration device for the mechanical arm obtained in the step four to obtain the coordinates of the rotation center points of the rotary joints, and calculating the distance between the rotation center points of the two rotary joints according to the coordinates of the rotation center points of the two rotary joints to obtain the size of the arm support.
When the axes of two joints to be measured on the arm support are parallel to each other, a calibration device can be further arranged on a joint at the tail end of the arm support to ensure that the axes of the joints to be measured are not moved, joint motion is output, the arm support is controlled to rotate, at least three positions of the calibration device are obtained, coordinates of the calibration device are measured through a total station, the circle center of an arc formed by the coordinates of the three calibration devices is the coordinate of the rotation center point of the rotation joint, and the distance between the rotation center points of the two rotation joints is calculated according to the coordinates of the rotation center points of.
Further, in a preferred embodiment, when the axes of the two joints on the arm support to be tested are perpendicular to each other, in step three, the calibration device for the mechanical arm is installed at the rotation center of one of the joints on the arm support to be tested, the position of the other joint on the arm support to be tested is kept unchanged, the calibration device for the mechanical arm is installed on the other joint to be tested, and the prism is located at different positions by the telescopic support legs. And in the fourth step, measuring the coordinates of the calibration device for the mechanical arm and the coordinates of the prism at different positions in the third step by using the total station. And fifthly, constructing a linear equation of the joint axis on the reference plane and the coordinate of one joint rotation center through the coordinates of the prism at different positions, and calculating the distance from a point to a straight line so as to obtain the size of the arm support.
For the arm supports with two mutually perpendicular joint axes, a calibration device is installed at the rotation center of one joint to be measured on the arm support, the coordinates of the rotation center of one joint to be measured are obtained through a total station, the position of the other joint to be measured is kept unchanged, the calibration device is installed on the convex end cover of the joint to be measured in a butt joint mode, the telescopic supporting legs are used for obtaining coordinate points of the prism at least two positions through the total station, the measured coordinate points are all located on the other joint axis to be measured, and the connecting line of the coordinate points is the joint axis. And obtaining the size of the arm support by calculating the distance between the coordinate point of the rotation center of one joint to be measured and the axis of the joint.
Specifically, in a preferred embodiment, the calibration devices for the robot arm in step three are all installed by matching with the joint protrusion end covers on the robot arm through the installation openings. The joint of the mechanical arm is fixedly installed through the installation opening coinciding with the central axis of the supporting leg, so that the joint can be positioned extremely accurately, stably and reliably, the measurement and calibration process is simple and convenient, and the result is more accurate.
Compared with the prior art, the invention has the advantages that: the calibration accuracy of the mechanical arm can be ensured, the measuring process is simple and rapid, and therefore the calibration efficiency can be improved.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
fig. 1 schematically shows the overall structure of a calibration apparatus for a robot arm according to an embodiment of the present invention;
FIG. 2 is a schematic representation of one state of joint center of rotation measurement according to an embodiment of the present invention;
FIG. 3 schematically shows the measurement states of multiple points on the joint axis according to an embodiment of the present invention;
FIG. 4 schematically illustrates a measurement method according to an embodiment of the invention;
FIG. 5 schematically illustrates another measurement method of an embodiment of the invention;
fig. 6 schematically shows a flow of a calibration method for a robot arm according to an embodiment of the present invention.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
Detailed Description
The invention will be further explained in detail with reference to the figures and the embodiments without thereby limiting the scope of protection of the invention.
Fig. 1 schematically shows the overall structure of a calibration apparatus 10 for a robot arm according to an embodiment of the present invention. Fig. 2 schematically shows a state of measurement of the joint rotation center point according to an embodiment of the present invention. Fig. 3 schematically shows the measurement states of a plurality of points on the joint axis according to an embodiment of the present invention. Fig. 4 schematically shows a measurement method of an embodiment of the present invention. Fig. 5 schematically shows another measurement method of an embodiment of the present invention. Fig. 6 schematically shows a flow of a calibration method for a robot arm according to an embodiment of the present invention.
As shown in fig. 1, the calibration device 10 for a robot arm according to the present invention includes a prism 1, an outer frame 2, a rotation shaft 3, a leg 4, and a horizontal base 5. In this case, the prism 1 is arranged in a housing 2, and the prism 1 is connected to the housing 2 via a pivot axis 3 arranged transversely. The legs 4 are arranged at the bottom of the outer frame 2, and the legs 4 are vertically arranged on the horizontal base 5. According to the calibration device for the mechanical arm, the prism is arranged, the measurement calibration of different arm frames can be completed by matching with measuring tools such as a total station and the like, the arm frame does not need to be leveled in the calibration process, the interference of leveling errors on the calibration result is reduced, and the measurement process is simple and rapid. Therefore, compared with a manual measurement calibration mode in the prior art, the error is greatly reduced, and the efficiency is higher.
According to the calibration device for the mechanical arm of the present invention, in a preferred embodiment, the prism 1 can rotate around the central axis of the rotation shaft 3. The prism can realize fine adjustment of the position through rotation around the central axis of the rotating shaft, so that the accuracy of a measuring result can be further ensured. Further, in a preferred embodiment, the outer frame 2 is rotatable about the central axis of the leg 4. The outer frame drives the prism to rotate around the central axis of the supporting leg, so that fine adjustment of the position of the prism can be further realized, and the accuracy of a measuring result is further improved. Further, in a preferred embodiment, the legs 4 are able to telescope up and down. The supporting legs stretch up and down, so that the prism can be located at different heights, and the position coordinates of different points on the same axis can be simply and conveniently measured.
As shown in fig. 1, in the present embodiment, it is preferable that the bottom of the horizontal base 5 is provided with a mounting opening 51 for matching with the protruding end cover of the robot arm joint, and the central axis of the mounting opening 51 coincides with the central axis of the leg 4. The joint of the mechanical arm is fixedly installed through the installation opening coincident with the central axis of the supporting leg, so that the joint can be accurately, stably and reliably positioned, and the measurement calibration result is accurate.
As shown in fig. 6, a calibration method for a robot arm according to an embodiment of the second aspect of the present invention includes: the method comprises the following steps: and judging whether the relative positions of the joints of the arm support to be detected are in a parallel or vertical relation. Step two: and determining the installation method of the calibration device 10 for the mechanical arm according to the judgment result of the step one. Step three: and (4) installing the calibration device 10 for the mechanical arm according to the installation method determined in the step two. Step four: and measuring the coordinate parameters of the calibration device 10 for the mechanical arm in the third step by using a total station. Step five: and calculating the size of the arm support according to the coordinate parameters measured in the step four. According to the calibration method for the mechanical arm, a proper measurement method can be selected according to the relative position relation of the joint of the arm support to be measured, and the total station is matched with the calibration device of the mechanical arm for measurement, so that the whole measurement process is simple and rapid, the efficiency is high, and compared with manual measurement calibration, the accuracy is high. In the calibration process, the arm support does not need to be leveled, so that the interference of leveling errors on the calibration result is further reduced.
According to the calibration method for the mechanical arm in the embodiment of the present invention, in a preferred implementation manner, when the axes of the two joints on the to-be-measured arm support are parallel to each other, in step three, the calibration device 10 for the mechanical arm is installed at the rotation center points of the different joints. And step five, calculating the distance between the two joint rotation center points according to the coordinates of the two joint rotation center points so as to obtain the size of the arm support. When the axes of the two joints to be measured on the arm support are parallel to each other, the calibration device can be directly installed on the end surface of the joint, and the coordinates of the calibration device measured by the total station are the coordinates of the rotation center of the joint, so that the distance between the rotation center points of the two joints can be conveniently calculated according to the coordinates of the rotation center points of the two joints, and the size of the arm support can be obtained.
Further, as shown in fig. 2, in another preferred embodiment, when the axes of the two joints on the arm support to be tested are parallel to each other, in step three, the calibration device 10 for the mechanical arm is mounted on the joint at the end of the arm support, so as to ensure that the axis of the joint to be tested is stationary, the joint to be tested moves and outputs, and the arm support is controlled to rotate. In step four, the coordinates of the calibration arrangement 10 for the robotic arm in step three at several locations A, B, C are measured using the total station. And step five, calculating the center coordinates of the circular arcs formed by different coordinates of the calibration device 10 for the mechanical arm obtained in the step four to obtain the coordinates of the rotation center points O of the rotary joints, and calculating the distance between the rotation center points of the two rotary joints according to the coordinates of the rotation center points of the two rotary joints to obtain the size of the arm support. When the axes of two joints to be measured on the arm support are parallel to each other, a calibration device can be further arranged on a joint at the tail end of the arm support to ensure that the axes of the joints to be measured are not moved, joint motion is output, the arm support is controlled to rotate, at least three positions of the calibration device are obtained, coordinates of the calibration device are measured through a total station, the circle center of an arc formed by the coordinates of the three calibration devices is the coordinate of the rotation center point of the rotation joint, and the distance between the rotation center points of the two rotation joints is calculated according to the coordinates of the rotation center points of.
As shown in fig. 4, in a preferred measurement method, since the axes of the two joints of the boom are parallel to each other, a plane perpendicular to the axes can be taken as a reference plane, on the reference plane, the axes of the two joints can be equivalent to two points for processing and calculation, the point is a rotation center point of each joint, and the distance between the two points is the size of the boom. Specifically, the posture of the arm support is adjusted to be parallel to the XOZ plane for convenient measurement and calculation, the XOZ plane is used as a reference plane, and at the moment, the two joint axes are along the y-axis direction. The method of installing calibration devices at two joint rotation center points simultaneously or installing calibration devices at the arm support tail end joint rotation center points respectively can be selected, and the total station is used for measuring the coordinates of the calibration devices to obtain original data. Calculate twoCenter point of rotation of each joint O1，O2The coordinates of (a). Taking the x coordinate value and the z coordinate value of the rotation central points of the two joints as two-dimensional coordinates of the two points on a reference surface, and calculating the distance d between the two points1I.e. the size of the arm support.
As shown in fig. 3, further, in a preferred embodiment, when the axes of the two joints on the boom to be measured are perpendicular to each other, in step three, the calibration device 10 for the mechanical arm is installed at the rotation center O of one of the joints to be measured on the boom, the position of the other joint to be measured on the boom is kept unchanged, the calibration device for the mechanical arm is installed at the other joint to be measured, and the prism 1 is located at different positions by the telescopic legs 4. In step four, the coordinates of the calibration device 10 for the robotic arm and the coordinates of the prism 1 at the different positions E, F in step three are measured with the total station. And step five, constructing a linear equation of the joint axis on the reference plane and the coordinate of one joint rotation center O through the coordinates of the prism 1 at different positions E, F, and calculating the distance from a point to a straight line so as to obtain the size of the arm support.
For the arm supports with two mutually perpendicular joint axes, a calibration device is installed at the rotation center of one joint to be measured on the arm support, the coordinates of the rotation center of one joint to be measured are obtained through a total station, the position of the other joint to be measured is kept unchanged, the calibration device is installed on the convex end cover of the joint to be measured in a butt joint mode, the telescopic supporting legs are used for obtaining coordinate points of the prism at least two positions through the total station, the measured coordinate points are all located on the other joint axis to be measured, and the connecting line of the coordinate points is the joint axis. And obtaining the size of the arm support by calculating the distance between the coordinate point of the rotation center of one joint to be measured and the axis of the joint.
In a preferred measurement method, as shown in fig. 5, for a boom with two joint axes perpendicular to each other, a plane perpendicular to one of the joint axes can be taken as a reference plane, on which the two joint axes can be equivalent to a point and a straight line, and the distance between the point and the straight line is the size of the boom, so the measurement method is called point-to-line measurement. Specifically, the boom posture is adjusted to be parallel to the XOZ plane for convenient measurement and calculation, and the XOZ plane is used as a reference plane. Measuring and calculating the coordinate of the equivalent point O of the joint axis in the y-axis direction by a method of installing a calibration device at the joint rotation central point or a method of installing a calibration device at the joint rotation central point at the tail end of the arm support, and taking the x coordinate value and the z coordinate value of the coordinate as two-dimensional coordinates on a reference surface. By keeping the position of the joint to be measured unchanged, a calibration device and a telescopic supporting leg are installed on the convex end cover of the joint to be measured in a butt joint mode, coordinates of two points E, F on a joint axis parallel to the XOZ plane are measured through a total station, and an x coordinate value and a z coordinate value of the coordinates are taken as two-dimensional coordinates of the two points on a reference plane. And (4) constructing a straight-line equation of the joint axis on the XOZ reference plane by using the coordinates of the two points and based on a geometric formula. And solving the distance d from the point to the straight line by using a point-to-straight line distance formula, wherein the distance d from the point to the straight line is the size of the arm support.
Specifically, in a preferred embodiment, the calibration device 10 for the robot arm in step three is installed by matching with the joint protrusion end cap on the robot arm through the installation opening 51. The joint of the mechanical arm is fixedly installed through the installation opening coinciding with the central axis of the supporting leg, so that the joint can be positioned extremely accurately, stably and reliably, the measurement and calibration process is simple and convenient, and the result is more accurate.
Compared with the prior art, the invention has the advantages that: the calibration accuracy of the mechanical arm can be ensured, the measuring process is simple and rapid, and therefore the calibration efficiency can be improved.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (3)
1. A calibration method for a mechanical arm is characterized by comprising the following steps:
the method comprises the following steps: judging whether the relative positions of the joints of the arm support to be detected are in parallel or vertical relation;
step two: determining a mounting method of a calibration device for the mechanical arm according to the judgment result of the step one; the calibration device for the mechanical arm comprises a prism, an outer frame, a rotating shaft, supporting legs and a horizontal base; wherein the prism is arranged in the outer frame and is connected with the outer frame through the rotating shaft which is transversely arranged; the supporting legs are arranged at the bottom of the outer frame and are vertically arranged on the horizontal base, the bottom of the horizontal base is provided with an installation opening used for being matched with a protruding end cover of a mechanical arm joint, and the central axis of the installation opening is superposed with the central axis of the supporting legs; the prism can rotate around the central axis of the rotating shaft; the outer frame can rotate around the central axis of the supporting leg; the supporting legs can be stretched up and down;
step three: mounting the calibration device for the mechanical arm according to the mounting method determined in the second step;
step four: measuring coordinate parameters of a calibration device for the mechanical arm in the third step by using a total station;
step five: calculating the size of the arm support according to the coordinate parameters measured in the fourth step;
when the axes of the two joints on the arm support to be tested are parallel to each other, in the third step, the calibration device for the mechanical arm is installed on the joint at the tail end of the arm support, so that the axes of the joints to be tested are ensured to be motionless, the joints to be tested move and output, and the arm support is controlled to rotate;
in the fourth step, measuring coordinates of the calibration device for the mechanical arm in the third step at a plurality of positions by using a total station;
in the fifth step, the coordinates of the rotation center points of the rotary joints are obtained by calculating the coordinates of the centers of the arcs formed by different coordinates of the calibration device for the mechanical arm obtained in the fourth step, and the distance between the rotation center points of the two rotary joints is calculated according to the coordinates of the rotation center points of the two rotary joints, so that the size of the arm support is obtained;
when the axes of the two joints on the arm support to be tested are perpendicular to each other, in the third step, the calibration device for the mechanical arm is installed at the rotation center of one of the joints to be tested on the arm support; keeping the position of the other joint to be measured on the arm support unchanged, installing the calibration device for the mechanical arm on the other joint to be measured, and stretching the supporting leg to enable the prism to be in different positions;
in the fourth step, measuring the coordinates of the calibration device for the mechanical arm and the coordinates of the prism at different positions in the third step by using a total station;
and fifthly, constructing a linear equation of the joint axis on the reference plane through the coordinates of the prism at different positions, and calculating the distance from a point to a straight line through the coordinate of one joint revolution center so as to obtain the size of the arm support.
2. The calibration method for the mechanical arm as claimed in claim 1, wherein when the axes of the two joints on the arm support to be tested are parallel to each other, the calibration devices for the mechanical arm are installed at the rotation center points of the different joints in the third step;
and step five, calculating the distance between the two joint rotation central points according to the coordinates of the two joint rotation central points so as to obtain the size of the arm support.
3. The calibration method for the mechanical arm as claimed in claim 2, wherein the calibration devices for the mechanical arm in the third step are all installed through the installation openings and the joint protrusion end covers on the mechanical arm in a matching mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811509464.XA CN109732643B (en) | 2018-12-11 | 2018-12-11 | Calibration device and method for mechanical arm |
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| CN201811509464.XA CN109732643B (en) | 2018-12-11 | 2018-12-11 | Calibration device and method for mechanical arm |
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| CN112720570B (en) * | 2020-12-07 | 2023-03-14 | 中国铁建重工集团股份有限公司 | Leveling target and method for mechanical arm calibration |
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| US7669341B1 (en) * | 2006-01-23 | 2010-03-02 | Kenneth Carazo | Adjustable prism stand/pole |
| CN104019750A (en) * | 2014-06-03 | 2014-09-03 | 中国科学院光电技术研究所 | Device and method for measuring effective arm length of swing arm type contourgraph |
| CN206410705U (en) * | 2017-01-09 | 2017-08-15 | 李开伟 | It is a kind of to measure the luminous prism apparatus used in dark conditions |
| CN107363823A (en) * | 2017-06-21 | 2017-11-21 | 深圳市恒科通机器人有限公司 | The coordinate scaling method of mechanical arm |
| CN207456451U (en) * | 2017-11-03 | 2018-06-05 | 安阳大众煤业有限责任公司 | A kind of novel total station measuring prism |
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2018
- 2018-12-11 CN CN201811509464.XA patent/CN109732643B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7669341B1 (en) * | 2006-01-23 | 2010-03-02 | Kenneth Carazo | Adjustable prism stand/pole |
| CN104019750A (en) * | 2014-06-03 | 2014-09-03 | 中国科学院光电技术研究所 | Device and method for measuring effective arm length of swing arm type contourgraph |
| CN206410705U (en) * | 2017-01-09 | 2017-08-15 | 李开伟 | It is a kind of to measure the luminous prism apparatus used in dark conditions |
| CN107363823A (en) * | 2017-06-21 | 2017-11-21 | 深圳市恒科通机器人有限公司 | The coordinate scaling method of mechanical arm |
| CN207456451U (en) * | 2017-11-03 | 2018-06-05 | 安阳大众煤业有限责任公司 | A kind of novel total station measuring prism |
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Address after: 410100 No. 88 East 7 Line, Changsha Economic and Technological Development Zone, Hunan Province Applicant after: China Railway Construction Heavy Industry Co.,Ltd. Address before: 410100 88 East seven road, Changsha economic and Technological Development Zone, Hunan Applicant before: China Railway Construction Heavy Industry Co.,Ltd. |
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