CN111981985A - Industrial robot tail end three-dimensional position measuring instrument and method - Google Patents
Industrial robot tail end three-dimensional position measuring instrument and method Download PDFInfo
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- CN111981985A CN111981985A CN202010896737.1A CN202010896737A CN111981985A CN 111981985 A CN111981985 A CN 111981985A CN 202010896737 A CN202010896737 A CN 202010896737A CN 111981985 A CN111981985 A CN 111981985A
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- industrial robot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
Abstract
The invention discloses a measuring instrument and a method for a three-dimensional position of an industrial robot tail end, wherein the measuring instrument comprises a precision ball, a non-contact R-test and a three-dimensional moving platform, wherein the three-dimensional moving platform comprises X, Y, Z moving platforms in three directions and is used for providing a larger measuring range; the non-contact R-test comprises sensors in three directions, and the non-contact R-test is driven by the three-dimensional moving platform to move and is used for measuring the three-dimensional position of a precision ball arranged at the tail end of the robot in a small range. The measuring method comprises the following steps: step one, setting a zero position of a measuring instrument; and step two, measuring the three-dimensional position of the tail end of the industrial robot in the m pose. The invention solves the problems of low precision measurement precision and limited measurement range of the existing measuring instrument, has the characteristics of high measurement precision, large measurement range, simple operation and the like, and can meet the measurement requirements of industrial robots.
Description
Technical Field
The invention belongs to the technical field of industrial robot measurement, and particularly relates to a measuring instrument and a method for a three-dimensional position of an industrial robot tail end.
Background
The three-dimensional position of the end of an industrial robot can be used for evaluating the accuracy characteristics of the robot and for robot kinematics calibration. Currently, the measuring instruments commonly used to measure the three-dimensional position of the end of a robot are the laser tracker and the Dynalog's cable-type measuring system. When the laser tracker is used for measurement, the target lens is arranged at the tail end of the robot, and the three-dimensional position of the center of the target lens is obtained through the measurement of the main body emitting and receiving laser beams; the Dynalog's cable-based measurement system, when measuring, concentrates the four cables into a self-contained tool jaw that is mounted on the end of the robot, which reads the length values of the four cables through an encoder to obtain the three-dimensional position of the end of the robot.
The main problems and drawbacks of the prior art include:
the Dynalog cable type measuring system has low measuring precision which is only 0.3mm, can not be used for measuring the tail end position of a robot with higher precision, and has easy damage to cables and high maintenance cost; the measurement accuracy of the laser tracker is 0.01mm/m, the measurement accuracy is high, but the target mirror needs to be over against the laser beam in the measurement process, the posture of the robot is limited, and a professional needs to perform interference in the measurement process.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the invention provides the measuring instrument and the method for the three-dimensional position of the tail end of the industrial robot, solves the problems of low accurate measurement precision and limited measurement range of the existing measuring instrument, has the characteristics of high measurement precision, large measurement range, simple operation and the like, and can meet the measurement requirements of the industrial robot.
Therefore, the invention adopts the following technical scheme:
an industrial robot end three-dimensional position measuring instrument comprises a precision ball, a non-contact R-test and a three-dimensional moving platform, wherein the three-dimensional moving platform comprises X, Y, Z three-direction moving platforms and is used for providing a larger measuring range; the non-contact R-test comprises sensors in three directions, and the non-contact R-test is driven by the three-dimensional moving platform to move and is used for measuring the three-dimensional position of a precision ball arranged at the tail end of the robot in a small range.
Preferably, the precision of the three-dimensional moving platform is 0.01 mm.
Preferably, the accuracy of the non-contact R-test is 0.02 mm.
Preferably, the precision ball has a roughness precision of 0.1 μm.
Preferably, the sensors of the non-contact R-test are all Schott H050 laser displacement sensors.
Preferably, the measuring range of the three-dimensional moving platform is determined according to the body type of the industrial robot.
The method for measuring the three-dimensional position of the tail end of the industrial robot by adopting the measuring instrument for the three-dimensional position of the tail end of the industrial robot comprises the following steps:
step one, setting a zero position of a measuring instrument;
and step two, measuring the three-dimensional position of the tail end of the industrial robot in the m pose.
Further, the specific process of the step one is as follows:
and mounting the precision ball at the tail end of the industrial robot, moving the three-dimensional moving platform to drive the R-test to measure the precision ball, enabling the three sensors of the R-test to have readings, recording the three-dimensional position of the center of the ball in the R-test coordinate system at the moment, and setting the position of the measuring instrument at the moment to be a zero position.
Further, the specific process of the second step is as follows:
moving the three-dimensional moving platform to drive the R-test to measure the precision ball in the m-th pose, recording the three-dimensional position of the center of the ball in the R-test coordinate system at the moment, and calculating the three-dimensional position of the tail end of the industrial robot according to the following formula:
Pm＝(TPm-TP0)+(RPm-RP0)；
wherein, PmThe coordinates of the end of the industrial robot in the measuring instrument in the m-th pose,TP0andTP mrespectively are coordinates of the three-dimensional moving platform in the zero position and the m-th position of the industrial robot,RP0andRPmthe coordinates of the tail end of the non-contact R-test in the zero position and the m-th position of the industrial robot in the R-test are respectively.
Preferably, the measurement results are used for evaluating the accuracy performance of the industrial robot or for application in kinematic parameter calibration of the industrial robot.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts the three-dimensional mobile platform, can provide a larger measurement range, obtains the three-dimensional position of the precision ball arranged at the tail end of the robot by measuring in a smaller range through the non-contact R-test, and can change the measurement range of the three-dimensional mobile platform according to the body type of the robot, thereby solving the problems of low precision measurement precision and limited measurement range of the existing measuring instrument, and having the characteristics of high measurement precision, large measurement range and the like.
(2) The invention can also measure the three-dimensional roundness error of the robot, provides corresponding support for evaluating the precision performance of the robot in many aspects, can be applied to the robot kinematics parameter calibration, has lower cost than the existing measuring instrument, is simple to operate, can be popularized and applied to industrial robot users, and brings great convenience to the actual production.
Drawings
Fig. 1 is a schematic structural composition diagram of an industrial robot end three-dimensional position measuring instrument provided by the invention.
FIG. 2 is a configuration diagram of the noncontact R-test.
Fig. 3 is a flowchart of a method for measuring a three-dimensional position of an end of an industrial robot according to an embodiment of the present invention.
Fig. 4 is a distribution diagram of the robot end measurement points according to the embodiment of the present invention.
Description of reference numerals: 1. a three-dimensional mobile platform; 2. non-contact R-test; 3. a precision ball; 2-1, a first sensor; 2-2, a second sensor; 2-3, and a third sensor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
In one aspect, as shown in fig. 1 and 2, the invention provides an industrial robot end three-dimensional position measuring instrument, which comprises a precision sphere 3, a non-contact R-test 2 and a three-dimensional moving platform 1, wherein the three-dimensional moving platform 1 comprises X, Y, Z three-direction moving platforms for providing a larger measuring range; the non-contact R-test 2 comprises sensors in three directions, namely a first sensor 2-1, a second sensor 2-2 and a third sensor 2-3, and the non-contact R-test 2 moves under the driving of the three-dimensional moving platform 1 and is used for measuring the three-dimensional position of the precision ball 3 arranged at the tail end of the robot in a small range.
The precision of the three-dimensional moving platform is 0.01 mm.
The accuracy of the non-contact R-test is 0.02 mm.
The roughness precision of the precision ball is 0.1 mu m.
And sensors of the non-contact R-test are all Schott H050 laser displacement sensors.
The measuring range of the three-dimensional moving platform is determined according to the body type of the industrial robot.
In another aspect, the invention further provides a method for measuring the three-dimensional position of the end of the industrial robot, which uses the measuring instrument for measuring the three-dimensional position of the end of the industrial robot, and comprises the following steps:
step one, setting a zero position of a measuring instrument;
and step two, measuring the three-dimensional position of the tail end of the industrial robot in the m pose.
The specific process of the step one is as follows:
and mounting the precision ball at the tail end of the industrial robot, moving the three-dimensional moving platform to drive the R-test to measure the precision ball, enabling the three sensors of the R-test to have readings, recording the three-dimensional position of the center of the ball in the R-test coordinate system at the moment, and setting the position of the measuring instrument at the moment to be a zero position.
The specific process of the second step is as follows:
moving the three-dimensional moving platform to drive the R-test to measure the precision ball in the m-th pose, recording the three-dimensional position of the center of the ball in the R-test coordinate system at the moment, and calculating the three-dimensional position of the tail end of the industrial robot according to the following formula:
Pm＝(TPm-TP0)+(RPm-RP0)；
wherein, PmThe coordinates of the end of the industrial robot in the measuring instrument in the m-th pose,TP0andTPmrespectively are coordinates of the three-dimensional moving platform in the zero position and the m-th position of the industrial robot,RP0andRPmthe coordinates of the tail end of the non-contact R-test in the zero position and the m-th position of the industrial robot in the R-test are respectively.
The measurement result is used for evaluating the precision performance of the industrial robot or applied to the kinematic parameter calibration of the industrial robot.
Examples
As shown in fig. 3, the measuring method using the industrial robot end three-dimensional position measuring instrument provided by the invention comprises the following measuring steps:
(1) and setting the zero position of the measuring instrument.
And mounting the precision ball at the tail end of the industrial robot, moving the three-dimensional moving platform to drive the non-contact R-test to measure the precision ball, enabling the three sensors of the non-contact R-test to have readings, recording the three-dimensional position of the center of the ball in a non-contact R-test coordinate system at the moment, and setting the position of the measuring instrument at the moment to be a zero position.
(2) And measuring the three-dimensional position of the tail end of the robot in the mth pose.
Moving the three-dimensional moving platform to drive the non-contact R-test to measure the precision ball in the m-th pose, and recording the three-dimensional position of the center of the ball in the non-contact R-test coordinate system, so that the three-dimensional position of the tail end of the robot can be calculated by the following formula:
Pm＝(TPm-TP0)+(RPm-RP0)
wherein, PmThe coordinates of the tail end of the robot in the m-th pose in the measuring instrument are obtained,TP0andTPmrespectively are coordinates of the three-dimensional moving platform in the zero position and the m-th position of the robot,RP0andRPmthe coordinates of the tail end of the R-test in the zero position and the m-th position of the robot in the R-test are respectively.
Taking Huazhong numerical control 6012 industrial robot as an example, the position measurement steps are as follows:
step 1): setting the zero position of the measuring instrument to be (0,0, 0);
step 2): planning 50 measurement poses in a flexible working space of the robot, wherein the nominal position of a measurement point is shown in figure 4, measuring the position of the robot in the mth pose by using a measuring instrument, recording displacement values of the three-dimensional moving platform and the non-contact R-test, and finally obtaining the three-dimensional position of the tail end of the industrial robot, wherein the three-dimensional position is shown in table 1.
Table 1 measured three-dimensional position of industrial robot
The measuring range of the industrial robot end three-dimensional position measuring instrument provided by the invention can be changed according to the size of the robot body, and for a robot with a larger body size, a non-contact R-test can be installed on a three-dimensional moving platform with a larger measuring range; the robot with a small size can be replaced by a three-dimensional mobile platform with a small measuring range, is simple to operate, has high flexibility, and can be used for evaluating the precision of the robot and calibrating the kinematic parameters of the robot.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and scope of the present invention should be included in the present invention.
Claims (10)
1. An industrial robot terminal three-dimensional position measuring instrument characterized in that: the measuring instrument comprises a precision ball, a non-contact R-test and a three-dimensional moving platform, wherein the three-dimensional moving platform comprises X, Y, Z moving platforms in three directions and is used for providing a larger measuring range; the non-contact R-test comprises sensors in three directions, and the non-contact R-test is driven by the three-dimensional moving platform to move and is used for measuring the three-dimensional position of a precision ball arranged at the tail end of the robot in a small range.
2. An industrial robot end three-dimensional position measuring instrument according to claim 1, characterized in that: the precision of the three-dimensional moving platform is 0.01 mm.
3. An industrial robot end three-dimensional position measuring instrument according to claim 1, characterized in that: the accuracy of the non-contact R-test is 0.02 mm.
4. An industrial robot end three-dimensional position measuring instrument according to claim 1, characterized in that: the roughness precision of the precision ball is 0.1 mu m.
5. An industrial robot end three-dimensional position measuring instrument according to claim 1, characterized in that: and sensors of the non-contact R-test are all Schott H050 laser displacement sensors.
6. An industrial robot end three-dimensional position measuring instrument according to any one of claims 1-5, characterized in that: the measuring range of the three-dimensional moving platform is determined according to the body type of the industrial robot.
7. A method for measuring the three-dimensional position of the tail end of an industrial robot is characterized by comprising the following steps: measurement with an industrial robot end three-dimensional position measuring instrument according to any of the claims 1-6, comprising the steps of:
step one, setting a zero position of a measuring instrument;
and step two, measuring the three-dimensional position of the tail end of the industrial robot in the m pose.
8. An industrial robot end three-dimensional position measuring method according to claim 7, characterized in that: the specific process of the step one is as follows:
and mounting the precision ball at the tail end of the industrial robot, moving the three-dimensional moving platform to drive the R-test to measure the precision ball, enabling the three sensors of the R-test to have readings, recording the three-dimensional position of the center of the ball in the R-test coordinate system at the moment, and setting the position of the measuring instrument at the moment to be a zero position.
9. An industrial robot end three-dimensional position measuring method according to claim 7, characterized in that: the specific process of the second step is as follows:
moving the three-dimensional moving platform to drive the R-test to measure the precision ball in the m-th pose, recording the three-dimensional position of the center of the ball in the R-test coordinate system at the moment, and calculating the three-dimensional position of the tail end of the industrial robot according to the following formula:
Pm＝(TPm-TP0)+(RPm-RP0)；
wherein, PmThe coordinates of the end of the industrial robot in the measuring instrument in the m-th pose,TP0andTPmrespectively are coordinates of the three-dimensional moving platform in the zero position and the m-th position of the industrial robot,RP0andRPmthe coordinates of the tail end of the non-contact R-test in the zero position and the m-th position of the industrial robot in the R-test are respectively.
10. An industrial robot end three-dimensional position measuring method according to any one of claims 7-9, characterized in that: the measurement result is used for evaluating the precision performance of the industrial robot or applied to the kinematic parameter calibration of the industrial robot.
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| CN202010896737.1A CN111981985A (en) | 2020-08-31 | 2020-08-31 | Industrial robot tail end three-dimensional position measuring instrument and method |
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| CN202010896737.1A CN111981985A (en) | 2020-08-31 | 2020-08-31 | Industrial robot tail end three-dimensional position measuring instrument and method |
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2020
- 2020-08-31 CN CN202010896737.1A patent/CN111981985A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102706277A (en) * | 2012-05-25 | 2012-10-03 | 南京理工大学 | Industrial robot online zero position calibration device based on all-dimensional point constraint and method |
| US20170138981A1 (en) * | 2014-04-03 | 2017-05-18 | Hitachi Automotive Systems, Ltd. | Acceleration Sensor |
| CN104613872A (en) * | 2015-03-05 | 2015-05-13 | 安徽埃夫特智能装备有限公司 | Test system for measuring repositioning precision of industrial robot |
| US20180067210A1 (en) * | 2016-09-06 | 2018-03-08 | Sharp Kabushiki Kaisha | Autonomous traveling apparatus |
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