CN112518802A - High-precision device for robot rigidity measurement - Google Patents
High-precision device for robot rigidity measurement Download PDFInfo
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- CN112518802A CN112518802A CN202011350262.2A CN202011350262A CN112518802A CN 112518802 A CN112518802 A CN 112518802A CN 202011350262 A CN202011350262 A CN 202011350262A CN 112518802 A CN112518802 A CN 112518802A
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- 238000005259 measurement Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 239000012636 effector Substances 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims abstract description 4
- 230000003993 interaction Effects 0.000 claims description 9
- 238000013507 mapping Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
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- 238000005520 cutting process Methods 0.000 description 2
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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
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention relates to a high-precision robot rigidity detection device which has the motion of two moving degrees of freedom and one rotating degree of freedom and realizes the full-space rigidity detection of a robot by integrating a high-precision force sensor through an end effector. The device realizes flexible matching and replacement of the end measurement actuator by replacing the stressing head or the sensor or measuring the top sleeve, and meets the detection requirements of the rigidity of various types of robots. The detection device realizes high-precision linear motion control and real-time measurement, storage and display of the measured tail end rigidity based on independently developed control software. The high-precision robot rigidity detection device comprises three parts, namely a mechanical system, a measurement system and a control system: the mechanical system realizes the movement of three degrees of freedom in the horizontal Y-axis direction, the vertical Z-axis direction and the rotating X-axis direction; the control system realizes the horizontal direction motion control of the whole device and the real-time measurement and display of the robot rigidity, and the measurement system realizes the loading force signal acquisition in the robot rigidity detection process.
Description
Technical Field
The invention relates to the technical field of instrument measurement, in particular to a high-precision device for measuring the rigidity of a robot.
Background
Compared with a machine tool, the industrial robot is weak in rigidity, a cutting load in a metal cutting process enables a tool at the tail end of the robot to deviate from an expected machining track, and the external exciting force easily causes the robot to vibrate to influence the machining precision of the robot, so that the rigidity is an important index for measuring the rigidity of the robot.
The hybrid robot combines the advantages of series robots and parallel robots and has the advantages of high rigidity and high precision. At present, no rigidity detection device which can be directly applied to the hybrid parallel robot exists in the market, so that the invention provides a three-degree-of-freedom high-precision rigidity detection device for detecting the rigidity of the robot. The detection device integrates the moving part, the measurement part and the control part together, has the characteristics of high precision, high flexibility and universality, can realize flexible matching and replacement of the measurement end effector by replacing the force application head or the sensor or the measurement top sleeve, and can meet the detection requirements of the rigidity of various robots.
Disclosure of Invention
The invention aims to solve the difficulty of the rigidity detection of the robot at present and provides a high-precision device for the rigidity performance detection of the robot, which has the advantages of simple and compact structure, high flexibility, high precision, high stability and strong universality.
The purpose of the invention is realized as follows: a device for detecting the rigidity of a robot with high precision is designed, the device has the motion of two moving degrees of freedom and one rotating degree of freedom, and the rigidity of the robot in the whole space is detected by integrating a high-precision force sensor through an end effector; flexible matching and replacement of the end measuring actuator are realized by replacing the force application head or the sensor or the measuring top sleeve, and the detection requirements of the rigidity of various robots are met; and the control strategy based on autonomous development realizes high-precision linear motion control and real-time measurement, storage and display of the measured tail end rigidity.
The technical scheme adopted by the invention is as follows: a high-precision device for measuring the rigidity of a robot comprises three parts, namely a mechanical system, a measuring system and a control system, has two degrees of freedom of movement and one degree of freedom of rotation, and can realize the flexible detection of the robot in the whole space. The mechanical system realizes the motion of three degrees of freedom in the horizontal (Y-axis) direction, the vertical (Z-axis) direction and the rotation (X-axis) direction; the measuring system realizes the loading force signal acquisition in the rigidity detection process of the robot; the control system realizes the horizontal direction motion control of the whole device and the real-time measurement, storage and display of the rigidity of the robot.
Furthermore, the mechanical system comprises a motor, a motor seat, an X-axis lead screw, an X-axis small sliding table, an X-axis guide rail, an X-axis large sliding table, an X-axis coupler, a rotary turntable, a sliding plate, a rotary dividing disc, a thrust ring, a Z-axis lead screw, a hand wheel, a Z-axis sliding bearing, a T-shaped nut and an upright post.
In order to realize high-precision movement in the X-axis direction, the motor adopts a servo motor, and has the advantages of high positioning precision, high response speed, high stability and the like. The motor is fixedly arranged on the motor base, and an output shaft of the motor is connected with the X-axis lead screw through the X-axis coupler to drive the X-axis small sliding table to realize high-precision movement in the X-axis direction on the X-axis guide rail.
In order to realize the manual movement and the positioning of the rotating shaft, the manual movement and the positioning rotating dividing disc of the rotating shaft are connected with a rotating turntable, and the rotating turntable is connected with a sliding plate through two T-shaped nuts to realize the manual movement and the positioning of the rotating shaft.
In order to realize the manual movement and positioning of the Z shaft, the hand wheel is connected with the Z shaft screw rod through the Z shaft sliding bearing to realize the manual control of the Z shaft, and the locking of the Z shaft is realized through the two thrust rings.
Further, the measuring system comprises a sensor, a measuring top sleeve, a sensor seat and a force application head.
In order to realize the loading force signal acquisition in the robot rigidity detection process, the sensor is arranged on the sensor seat, the sensor seat is connected with the measuring top sleeve, the force application head is connected with the sensor seat, and the force application head and the sensor seat jointly form a measuring end effector to realize the robot rigidity detection.
The measurement end effector can realize flexible matching and changing, and different measurement requirements are met by changing the stressing head or the sensor or the measurement top sleeve.
Force is applied to a robot measuring position through the force applying head, a high-precision force sensor feeds back a force signal, a motor encoder feeds back an X-axis displacement signal, and a mapping model of the force feedback signal and the encoder signal is established.
Further, the control system comprises a PLC, a driver and a touch screen. The control system adopts a control mode of a PLC + all-in-one machine, and the control software comprises a human-computer interaction interface and operation control software.
The human-computer interaction interface and the operation control software are developed based on a QT software platform and a Bo-Tou V15 software respectively, and data are transmitted between the human-computer interaction interface and the operation control software through TCP/IP protocol communication.
And (3) autonomously developing control software based on a mapping model of a force feedback signal and an encoder signal to realize high-precision control of servo motion and real-time calculation, storage and display of robot rigidity.
Compared with the prior art, the high-precision device for detecting the rigidity of the robot has the following characteristics and advantages: the high-precision robot rigidity detection device adopts an integrated design, integrates a moving part, a measuring part and a control part together, provides three freedom degrees of movement, adopts a high-precision force sensor and servo control, has simple and compact structure, good precision, high response speed, high flexibility and low cost, is suitable for rigidity detection of various robots, and has practical significance for promoting the practical application of the robots, particularly the hybrid series-parallel robots.
Drawings
Fig. 1 is a schematic structural diagram of a high-precision device for measuring the rigidity of a robot according to the present invention.
Fig. 2 is a schematic view of a horizontally moving part and a measuring part in an embodiment of the present invention.
Fig. 3 is a schematic view of a vertical motion part and a rotational motion part in an embodiment of the present invention.
Detailed Description
The concept principle and the concrete structure related to the method of the present invention are given by the following embodiments and the attached drawings. The present invention will be described in detail with reference to fig. 1 to 3.
The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
The invention discloses a high-precision robot rigidity detection device which comprises three parts, namely a mechanical system, a measurement system and a control system, has three degrees of freedom of two-movement and one-rotation, and can realize the full-space flexible detection of a robot. In the figure: 1. the device comprises motors 1 and 2, a motor seat, 3, an X-axis screw rod, 4, an X-axis small sliding table, 5, an X-axis guide rail, 6, a measuring jacking sleeve, 7, a sensor seat, 8, a force application head, 9, a Z-axis screw rod, 10, an X-axis large sliding table, 11, a rotary turntable, 12, a sliding plate, 13, a rotary dividing disc, 14, a hand wheel, 15, a stand column, 16, a touch screen, 17, a PLC, 18, a driver, 19, an X-axis coupler, 20, a sensor, 21, a Z-axis sliding bearing, 22, a thrust ring, 23 and a T-shaped nut.
According to the coordinate system direction specified in the figure 1, the mechanical system realizes the movement of three degrees of freedom in the horizontal (X-axis) direction, the vertical (Z-axis) direction and the rotating (A-axis) direction; the measuring system realizes the detection of the rigidity of the robot; the control system realizes the horizontal direction motion control of the whole device and the real-time measurement, storage and display of the rigidity of the robot.
As shown in fig. 1-3, the mechanical system includes a motor 1, a motor base 2, an X-axis screw rod 3, an X-axis small sliding table 4, an X-axis guide rail 5, an X-axis large sliding table 10, an X-axis coupler 19, a rotary turntable 11, a sliding plate 12, a rotary indexing disc 13, a thrust collar 22, a Z-axis screw rod 9, a hand wheel 14, a Z-axis sliding bearing 21, a T-shaped nut 23, and a column 15.
As shown in fig. 1 and 2, the measuring system comprises a sensor 20, a measuring top sleeve 6, a sensor seat 7 and a force application head 8.
The control system comprises a PLC17, a driver 18 and a touch screen 16.
The motor 1 adopts a servo motor and has the advantages of high positioning precision, high response speed, high stability and the like. The motor 1 is fixedly arranged on the motor base 2, and an output shaft of the motor is connected with the X-axis lead screw 5 through the X-axis coupler 19 to drive the X-axis small sliding table 4 to realize high-precision movement in the X-axis direction on the X-axis guide rail 5.
As shown in fig. 3, the rotary indexing disc 13 is connected with the rotary turntable 11, and the rotary turntable 11 is connected with the sliding plate 12 through two T-nuts 23, so as to realize manual work and positioning of the rotary shaft.
As shown in fig. 3, the handwheel 14 is connected with the Z-axis screw 9 through a Z-axis sliding bearing 21 to realize manual control of the Z-axis, and two thrust rings 22 are used to realize locking of the Z-axis.
As shown in fig. 2, the sensor 20 is installed on the sensor seat 7, the sensor seat 7 is connected with the measuring ejection sleeve 6, and the force application head 8 is connected with the sensor seat 7 to jointly form a measuring end effector, so that the rigidity of the robot can be detected.
The measurement end effector can realize flexible matching and changing, and different measurement requirements are met by changing the stressing head 8 or the sensor 20 or the measurement top sleeve 6.
Force is applied to the robot measuring position through the force applying head 8, the high-precision force sensor 20 feeds back a force signal, the motor 1 encoder feeds back an X-axis displacement signal, and a mapping model of the force feedback signal and the encoder signal is established.
As shown in fig. 1, the control system adopts a control mode of a PLC + all-in-one machine, and the control software includes a human-computer interaction interface and operation control software.
The human-computer interaction interface and the operation control software are developed based on a QT software platform and a Bo-Tou V15 software respectively, and data are transmitted between the human-computer interaction interface and the operation control software through TCP/IP protocol communication.
And (3) autonomously developing control software based on a mapping model of a force feedback signal and an encoder signal to realize high-precision control of servo motion and real-time calculation, storage and display of robot rigidity.
The above embodiment is only an example of the present invention, and simple modifications based on the principle shown in the above embodiment are within the scope of the present invention.
Claims (6)
1. A robot rigidity detection device of high accuracy which characterized in that: the robot flexible detection system comprises a mechanical system, a measurement system and a control system, has two-degree-of-freedom and one-degree-of-freedom, and can realize the full-space flexible detection of the robot;
the mechanical system realizes the motion of three degrees of freedom in the horizontal direction, the vertical direction and the rotating direction;
the measuring system realizes the loading force signal acquisition in the rigidity detection process of the robot;
the control system realizes the motion control in the horizontal direction and the real-time measurement, storage and display of the rigidity of the robot.
2. The high-precision rigidity detection device for the robot according to claim 1, wherein: the mechanical system comprises a motor, a motor base, an X-axis lead screw, an X-axis small sliding table, an X-axis guide rail, an X-axis large sliding table, an X-axis coupler, a rotary turntable, a sliding plate, a rotary dividing disc, a thrust collar, a Z-axis lead screw, a hand wheel, a Z-axis sliding bearing, a T-shaped nut and an upright post;
the motor is fixedly arranged on the motor base, and an output shaft of the motor is connected with the X-axis lead screw through the X-axis coupler to drive the X-axis small sliding table to realize high-precision movement in the X-axis direction on the X-axis guide rail;
the manual movement and positioning rotary dividing disc of the rotating shaft is connected with a rotary turntable, and the rotary turntable is connected with a sliding plate through two T-shaped nuts to realize the manual movement and positioning of the rotating shaft;
the hand wheel is connected with the Z-axis screw rod through the Z-axis sliding bearing to achieve manual control of the Z axis, and locking of the Z axis is achieved through the two thrust rings.
3. The high-precision rigidity detection device for the robot according to claim 1, wherein: the motor adopts a servo motor.
4. The high-precision rigidity detection device for the robot according to claim 2, wherein: the measuring system comprises a sensor, a measuring top sleeve, a sensor seat and a force application head;
the sensor is arranged on the sensor seat, the sensor seat is connected with the measuring ejection sleeve, the force application head is connected with the sensor seat, and the force application head and the sensor seat jointly form a measuring end effector to realize the detection of the rigidity of the robot.
5. The high-precision rigidity detection device for the robot according to claim 4, wherein: the measuring end executor can realize flexible matching and exchange, and different measuring requirements are met by replacing the stressing head or the sensor or the measuring top sleeve; force is applied to a robot measuring position through the force applying head, a high-precision force sensor feeds back a force signal, a motor encoder feeds back an X-axis displacement signal, and a mapping model of the force feedback signal and the encoder signal is established.
6. The high-precision rigidity detection device for the robot according to claim 5, wherein: the control system comprises a PLC, a driver and a touch screen; the control system adopts a control mode of a PLC + all-in-one machine, and control software comprises a human-computer interaction interface and operation control software; the human-computer interaction interface and the operation control software are developed based on a QT software platform and a Botu V15 software respectively, and data are transmitted between the human-computer interaction interface and the operation control software through TCP/IP protocol communication; and (3) autonomously developing control software based on a mapping model of a force feedback signal and an encoder signal to realize high-precision control of servo motion and real-time calculation, storage and display of robot rigidity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011350262.2A CN112518802A (en) | 2020-11-26 | 2020-11-26 | High-precision device for robot rigidity measurement |
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| CN202011350262.2A CN112518802A (en) | 2020-11-26 | 2020-11-26 | High-precision device for robot rigidity measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084868A (en) * | 2021-03-24 | 2021-07-09 | 北京航空航天大学 | Flexible finger rigidity testing system |
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2020
- 2020-11-26 CN CN202011350262.2A patent/CN112518802A/en active Pending
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| US5156053A (en) * | 1989-06-20 | 1992-10-20 | Fujitsu Limited | Measuring system using a robot |
| CN204758418U (en) * | 2015-07-01 | 2015-11-11 | 合肥兴科机电科技有限公司 | Test device |
| US20180128710A1 (en) * | 2016-11-09 | 2018-05-10 | Beijing University Of Technology | Device and Method for measuring three-dimensional contact stiffness of spur gear based on rough surface |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113084868A (en) * | 2021-03-24 | 2021-07-09 | 北京航空航天大学 | Flexible finger rigidity testing system |
| CN113084868B (en) * | 2021-03-24 | 2022-08-30 | 北京航空航天大学 | Flexible finger rigidity testing system |
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