CN113084798B - Robot calibration device based on multistation is measured - Google Patents
Robot calibration device based on multistation is measured Download PDFInfo
- Publication number
- CN113084798B CN113084798B CN202110278848.0A CN202110278848A CN113084798B CN 113084798 B CN113084798 B CN 113084798B CN 202110278848 A CN202110278848 A CN 202110278848A CN 113084798 B CN113084798 B CN 113084798B
- Authority
- CN
- China
- Prior art keywords
- calibration
- station
- calibration device
- robot
- calibrated
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a robot calibration device based on multi-station measurement, which comprises a calibrated device, a calibration device and a multi-station template, wherein the multi-station template provides a plurality of calibration measurement positions for expanding the calibration measurement range of the calibration device to the calibrated device, and the position relation between the calibrated device and the calibration device is as follows: the calibrated device is connected to the robot arm and the calibrated device is connected to the multi-station template, or the calibrated device is connected to the robot arm and the calibrated device is connected to the multi-station template. The calibration device can quickly calibrate the robot at any time in an industrial field, is simple and convenient to operate, has high calibration precision, can measure a plurality of stations through the multi-station template, can obtain a large measurement range, and can be used for identifying kinematic parameters of the robot and improving the calibration precision because the relative position between the stations is known information.
Description
Technical Field
The invention relates to the field of robot calibration, in particular to a robot calibration device based on multi-station measurement.
Background
The repeated positioning precision of the robot is generally high, but the absolute positioning precision is generally low under the influence of machining assembly errors, rod deformation and the like, and in order to improve the absolute positioning precision of the robot, kinematic parameter calibration is generally required, and accurate parameters of a robot model are identified by using high-precision measurement equipment and a proper parameter identification method.
At present, measuring equipment such as a laser tracker is mostly adopted for calibrating a robot, and the equipment generally has micrometer-level measuring precision, so that the calibrating precision is very high, but the equipment is generally very expensive, and in some production fields, due to the fact that an empty calibrating environment cannot be provided, operation errors are easy to cause collision, and the application of the equipment is greatly limited.
Chinese patent CN201611002193 relates to a calibration device based on a pull-wire sensor, which can reduce the cost of the measurement equipment to a certain extent, and can complete calibration in a narrow working space, but because the device is usually affected by the error of the arc length of the guide wheel, if higher accuracy is reached, more sensors are required to be added and a mathematical model is required to be established to compensate the error, the equipment cost is still high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a robot calibration device based on multi-station measurement, which comprises a calibrated device, a calibration device and a multi-station template, wherein the multi-station template provides a plurality of calibration measurement positions for expanding the calibration measurement range of the calibration device to the calibrated device.
Further, the position relation between the calibrated device and the calibration device is as follows: the calibrated device is connected to the robot arm and the calibrated device is connected to the multi-station template, or the calibrated device is connected to the robot arm and the calibrated device is connected to the multi-station template.
Furthermore, M positioning elements and N clamping elements are arranged on the multi-station template, M is larger than 1, N is larger than 1, the positioning elements are used for positioning the calibrated device or the calibrating device, and the clamping elements are used for clamping the calibrated device or the calibrating device.
Furthermore, the multi-station template is provided with K guide rails and J movement and positioning mechanisms, wherein K is larger than 1, J is larger than 1, the guide rails are used for moving and guiding the calibrated device or the calibrating device along the guide rails, and the movement and positioning mechanisms are used for moving the calibrated device or the calibrating device along the guide rails to a preset position and then positioning the calibrated device or the calibrating device.
Further, the calibrated device is a measured device, and the calibrating device is a measuring device.
Further, the calibrated device is a constrained device, and the calibration device is a constrained device.
Further, the measured device comprises a first spherical rod arranged on the robot arm or on the multi-station template.
Further, the measuring device adopts 1-6 contact type displacement sensors or 1-6 non-contact type displacement sensors or a ball head probe, and the measuring device is used for measuring the spatial position of the first spherical rod in a local range.
Further, the 1-6 contact type displacement sensors are arranged in a non-coplanar manner, the contact type displacement sensors are arranged in an H degree manner, and the range of H is 0-180.
Furthermore, the contact type displacement sensor head is connected with a measuring head used for measuring the displacement of the first spherical rod.
Further, the constrained device comprises a second spherical rod, the second spherical rod is arranged on the constrained device, the constrained device forms point constraint on the second spherical rod, the constrained device can rotate around the spherical center of the second spherical rod, and the constrained device keeps the spherical center of the second spherical rod fixed through physical constraint.
Further, the restraint device is including the locking platform that is used for retraining the second ball-shaped rod, the locking platform includes roof, fixing base, locking bolt, casing, adjusting bolt, location step, the casing sets up on the fixing base, the inside roof that is provided with of casing, the right part that the locking bolt passed the casing is connected with the right side of roof, adjusting bolt passes the left side of casing and is connected with the left side of roof, the location step sets up the upper portion at the casing.
Compared with the prior art, the invention has the advantages that:
1. the calibration device can be used for rapidly calibrating the robot at any time in an industrial field, is simple and convenient to operate, and is high in calibration precision.
2. The calibration device can measure at a plurality of stations through the multi-station template, a large measurement range can be obtained, meanwhile, the relative position between each station is known information, the calibration device can be used for robot kinematic parameter identification, and the calibration precision is improved.
Drawings
Fig. 1 is a perspective view of a robot calibration device based on multi-station measurement according to the present invention;
FIG. 2 is a perspective view of a multi-station measurement-based robot calibration device of the present invention, which is a measurement device and a measured device;
FIG. 3 is a perspective view of a multi-station template of the robot calibration device based on multi-station measurement according to the present invention;
FIG. 4 is a perspective view of a measured device of the robot calibration device based on multi-station measurement according to the present invention;
fig. 5 is a perspective view of a measuring device of the robot calibration device based on multi-station measurement according to the present invention;
FIG. 6 is a perspective view of a restraining device and a restrained device in the case of the robot calibration device based on multi-station measurement according to the present invention;
fig. 7 is a perspective view of a restraint device of the robot calibration device based on multi-station measurement according to the present invention;
fig. 8 is a perspective view of a measuring device and a measured device of a robot calibration device based on multi-station measurement according to the present invention, wherein the measuring device is a ball probe;
fig. 9 is a cross-sectional view of a locking table of the robot calibration device based on multi-station measurement according to the present invention;
the numbering in the figures illustrates:
1-calibrated device, 2-calibrated device, 3-multi-station template, 4-measured device, 5-constrained device, 6-measuring device, 7-locking platform, 8-top plate, 9-fixing seat, 10-locking bolt, 11-shell, 12-adjusting bolt, 13-positioning step, 14-constrained device, 15-first spherical rod, 16-contact displacement sensor, 17-ball probe, 18-measuring head, 19-second spherical rod, 20-positioning element, 21-clamping element and 22-flat plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1-9, a robot calibration device based on multi-station measurement includes a calibrated device 1, a calibration device 2, and a multi-station template 3, where the multi-station template 3 provides multiple calibration measurement positions for expanding a calibration measurement range of the calibrated device 1 by the calibration device 2.
The position relationship between the calibrated device 1 and the calibration device 2 is as follows: the calibrated device 1 is connected to the robot arm and the calibration device 2 is connected to the multi-station template 3 or the calibration device 2 is connected to the robot arm and the calibrated device 1 is connected to the multi-station template 3.
The multi-station template 3 can be provided with M positioning elements 20 and N clamping elements 21, where M is greater than 1 and N is greater than 1, the positioning elements 20 are used for positioning the calibrated device 1 or the calibration device 2 at different calibration measurement positions, and the clamping elements 21 are used for clamping the calibrated device 1 or the calibration device 2.
The multi-station template 3 can also be provided with K guide rails and J movement and positioning mechanisms, wherein K is larger than 1, J is larger than 1, the guide rails are used for moving and guiding the calibrated device 1 or the calibration device 2 along the guide rails, and the movement and positioning mechanisms are used for moving the calibrated device 1 or the calibration device 2 along the guide rails to different calibration measurement positions and then positioning the calibrated device. The movement and positioning mechanism may be a lead screw.
The calibrated device 1 is a measured device 4, and the calibration device 2 is a measuring device 6.
The measured quantity device 4 comprises a first spherical rod 15, which first spherical rod 15 is arranged on the robot arm or on the multi-station die plate 3.
The measuring device 6 adopts 1-6 contact type displacement sensors 16 or 1-6 non-contact type displacement sensors or ball probes 17, and the measuring device 6 is used for measuring the spatial position of the first spherical rod 15 in a local range.
The 1-6 contact displacement sensors 16 are arranged in a non-coplanar manner, the contact displacement sensors 16 are arranged at an angle of H between every two contact displacement sensors, and the range of H is 0-180.
A measuring head 18 for measuring the displacement of the first spherical rod 15 is connected to the head of the contact type displacement sensor 16, and a flat plate 22 is arranged on the measuring head 18.
The first spherical rod 15 in the measured device 4 has a standard spherical surface, when the first spherical rod 15 is installed on the measuring device 6, 1-6 contact type displacement sensors 16 are arranged on the measuring device 6, a flat plate 22 of a measuring head 18 in the contact type displacement sensors 16 is tangent to the standard spherical surface of the first spherical rod 15 in the measuring process, the spherical center pushes the flat plate 22 of the measuring head 18 to generate displacement in the XYZ direction when the first spherical rod 15 rotates, and the contact type displacement sensors 16 acquire the displacement and calculate the displacement of the spherical center through a mathematical geometric model. The measuring device 6 can be arranged at the tail end of the robot, and the measured device 4 is arranged on the multi-station template 3; or the measuring device 6 is mounted on the multi-station template 3 while the measured device 4 is mounted at the end of the robot. The robot is made to move to a plurality of poses around the center of the first spherical rod 15, the robot joint angles corresponding to the plurality of poses are recorded, and meanwhile, the displacement collected by the contact type displacement sensors 16 is used as calibration data. And switching the calibration device 2 to different calibration measurement positions, repeating the measurement process, and acquiring multiple groups of data. Since the relative coordinates of the different stations are known, the relative coordinates of the calibration device 2 at the different calibration measurement positions are also known, so that the measurement range of the calibration device 2 can be extended as a priori knowledge. This information can be used in the calibration algorithm to achieve the final kinematic parameter calibration.
Example 2:
referring to fig. 1-9, a robot calibration device based on multi-station measurement includes a calibrated device 1, a calibration device 2, and a multi-station template 3, where the multi-station template 3 provides multiple calibration measurement positions for expanding a calibration measurement range of the calibrated device 1 by the calibration device 2.
The position relationship between the calibrated device 1 and the calibration device 2 is as follows: the calibrated device 1 is connected to the robot arm and the calibration device 2 is connected to the multi-station template 3 or the calibration device 2 is connected to the robot arm and the calibrated device 1 is connected to the multi-station template 3.
The multi-station template 3 can be provided with M positioning elements 20 and N clamping elements 21, M is greater than 1, N is greater than 1, the positioning elements 20 are used for positioning the calibrated device 1 or the calibration device 2 at different calibration measurement positions, and the clamping elements 21 are used for clamping the calibrated device 1 or the calibration device 2.
The multi-station template 3 can also be provided with K guide rails and J movement and positioning mechanisms, wherein K is larger than 1, J is larger than 1, the guide rails are used for moving and guiding the calibrated device 1 or the calibration device 2 along the guide rails, and the movement and positioning mechanisms are used for moving the calibrated device 1 or the calibration device 2 along the guide rails to different calibration measurement positions and then positioning the calibrated device. The movement and positioning mechanism may be a lead screw.
The calibrated device 1 is a measured device 4, and the calibration device 2 is a measuring device 6.
The measured quantity device 4 comprises a first spherical rod 15, which first spherical rod 15 is arranged on the robot arm or on the multi-station die plate 3.
The measuring device 6 adopts 1-6 non-contact displacement sensors, and the measuring device 6 is used for measuring the spatial position of the first spherical rod 15 in a local range.
The 1-6 non-contact displacement sensors 16 are arranged in a non-coplanar manner, the non-contact displacement sensors 16 are arranged in an H degree manner, the range of H is 0-180, and the non-contact displacement sensors adopt laser displacement sensors.
The first spherical rod 15 in the measured device 4 has a standard spherical surface, when the first spherical rod 15 is installed on the measuring device 6, 1-6 non-contact laser displacement sensors are arranged on the measuring device 6, and are in contact with the standard spherical surface of the first spherical rod 15 in the measuring process, the measuring head 18 is pushed to generate displacement, and the displacement collected by the non-contact laser displacement sensors is used as calibration data. The mechanical arm drives the measuring device 6 to move, so that a measuring space formed by a plurality of non-contact laser displacement sensors arranged in a non-coplanar manner in the measuring device 6 moves into the spherical rod, the non-contact laser displacement sensors emit laser onto a standard spherical surface, the distance measurement is carried out, the displacement of the spherical center is calculated through a mathematical geometric model, the reading of the non-contact laser displacement sensors and the corresponding joint angle of the mechanical arm are obtained, the pose of the mechanical arm is adjusted, the first spherical rod 15 is always kept in the measuring space, the measuring process is repeated, and a plurality of groups of data are obtained. The measuring device 6 can be arranged at the tail end of the robot, and the measured device 4 is arranged on the multi-station template 3; or the measuring device 6 is mounted on the multi-station template 3 while the measured device 4 is mounted at the end of the robot. The robot is made to move to a plurality of poses around the center of the first spherical rod 15, the robot joint angles corresponding to the plurality of poses are recorded, and meanwhile, the displacement collected by the contact type displacement sensors 16 is used as calibration data. And switching the calibration device 2 to different calibration measurement positions, repeating the measurement process, and acquiring multiple groups of data. Since the relative coordinates of the different stations are known, the relative coordinates of the calibration device 2 at the different calibration measurement positions are also known, so that the measurement range of the calibration device 2 can be extended as a priori knowledge. This information can be used in the calibration algorithm to achieve the final kinematic parameter calibration.
Example 3:
referring to fig. 1-9, a robot calibration device based on multi-station measurement includes a calibrated device 1, a calibration device 2, and a multi-station template 3, where the multi-station template 3 provides a plurality of calibration measurement positions for extending a calibration measurement range of the calibration device 2 to the calibrated device 1.
The position relationship between the calibrated device 1 and the calibration device 2 is as follows: the calibrated device 1 is connected to the robot arm and the calibrated device 2 is connected to the multi-station template 3, or the calibrated device 2 is connected to the robot arm and the calibrated device 1 is connected to the multi-station template 3.
The multi-station template 3 can be provided with M positioning elements 20 and N clamping elements 21, where M is greater than 1 and N is greater than 1, the positioning elements 20 are used for positioning the calibrated device 1 or the calibration device 2 at different calibration measurement positions, and the clamping elements 21 are used for clamping the calibrated device 1 or the calibration device 2.
The multi-station template 3 can also be provided with K guide rails and J movement and positioning mechanisms, wherein K is larger than 1, J is larger than 1, the guide rails are used for moving and guiding the calibrated device 1 or the calibration device 2 along the guide rails, and the movement and positioning mechanisms are used for moving the calibrated device 1 or the calibration device 2 along the guide rails to different calibration measurement positions and then positioning the calibrated device. The movement and positioning mechanism may be a lead screw.
The calibrated device 1 is a measured device 4, and the calibration device 2 is a measuring device 6.
The measured quantity device 4 comprises a first spherical rod 15, which first spherical rod 15 is arranged on the robot arm or on the multi-station die plate 3.
The measuring device 6 adopts a ball probe 17, and the measuring device 6 is used for measuring the spatial position of the first spherical rod 15 in a local range.
The first ball 15 of the measuring device 4 has a standard sphere, and the first ball 15 has a standard sphere and is mounted at the end of the robot arm. The measuring device 6 is a high-sensitivity ball probe 17, the tail end of the high-sensitivity ball probe is a standard spherical surface, when the spherical surface is in contact with the external environment, a trigger signal is sent out, the spherical surface is in multiple contact with the standard spherical surface of the first spherical rod 15, and the position of the center of the sphere is calculated through a mathematical geometric model. The ball probe 17 collects the displacement and calculates the displacement of the center of the sphere through a mathematical geometric model. The measuring device 6 can be arranged at the tail end of the robot, and the measured device 4 is arranged on the multi-station template 3; or the measuring device 4 is mounted on the multi-station template 3 while the measured device 6 is mounted at the end of the robot. The robot is made to move to a plurality of poses around the center of the first spherical rod 15, robot joint angles corresponding to the poses are recorded, and meanwhile, the collected displacement of the ball probe 17 is used as calibration data. And switching the calibration device 2 to different calibration measurement positions, repeating the measurement process, and acquiring multiple groups of data. Since the relative coordinates of the different stations are known, the relative coordinates of the calibration device 2 at the different calibration measurement positions are also known, so that the measurement range of the calibration device 2 can be extended as a priori knowledge. This information can be used in the calibration algorithm to achieve the final kinematic parameter calibration.
Example 4:
referring to fig. 1-9, a robot calibration device based on multi-station measurement includes a calibrated device 1, a calibration device 2, and a multi-station template 3, where the multi-station template 3 provides multiple calibration measurement positions for expanding a calibration measurement range of the calibrated device 1 by the calibration device 2.
The position relationship between the calibrated device 1 and the calibration device 2 is as follows: the calibrated device 1 is connected to the robot arm and the calibration device 2 is connected to the multi-station template 3 or the calibration device 2 is connected to the robot arm and the calibrated device 1 is connected to the multi-station template 3.
The multi-station template 3 is provided with M positioning elements 20 and N clamping elements 21, M is larger than 1, N is larger than 1, the positioning elements 20 are used for positioning the calibrated device 1 or the calibration device 2 at different calibration measurement positions, and the clamping elements 21 are used for clamping the calibrated device 1 or the calibration device 2.
The multi-station template 3 can be provided with K guide rails and J movement and positioning mechanisms, wherein K is larger than 1, J is larger than 1, the guide rails are used for moving and guiding the calibrated device 1 or the calibration device 2 along the guide rails, and the movement and positioning mechanisms are used for moving the calibrated device 1 or the calibration device 2 along the guide rails to different calibration measurement positions and then positioning the calibrated device. The movement and positioning mechanism may be a lead screw.
The calibrated device 1 is a constrained device 5, and the calibration device 2 is a constrained device 14.
The constrained device 5 comprises a second spherical rod 19, the second spherical rod 19 is arranged on the constrained device 14, the constrained device 14 forms point constraint on the second spherical rod 19, the constrained device 14 can rotate around the spherical center of the second spherical rod 19, and the constrained device 14 keeps the position of the spherical center of the second spherical rod 19 fixed through physical constraint.
In this embodiment, the positioning element 20 is a positioning pin hole, the clamping element 21 is a quick clamp, the second ball rod 19 is placed in the housing 11, the adjusting bolt 12 can adjust the gap between the top plate 8 and the second ball rod 19, so that when the locking bolt 10 is loosened, the second ball rod 19 can rotate and adjust the posture freely in the housing 11, when the locking bolt 10 is locked, the locking bolt 10 rotates to push the top plate 8 upwards, so that the ball rod 6 is pressed on the positioning step 13 of the housing 11, and the center of the ball of the second ball rod 19 is located at a fixed position relative to the housing 11.
The second spherical rod 19 is arranged at the tail end of the mechanical arm, the mechanical arm is dragged to enable the locking platform 7 to move to the positioning pin hole to achieve positioning, the multi-station template 3 is fixed through a quick clamp, the mechanical arm is manually dragged to rotate around the spherical center of the second spherical rod 19 at the tail end of the mechanical arm, the second spherical rod 19 is locked in a certain position, then the joint angle information at the moment is recorded, the position of the mechanical arm is adjusted, the measurement process is repeated, and multiple groups of joint angles of the second spherical rod 19 are obtained under the condition that the spherical center is restrained at a fixed point. Simultaneously installing the constrained device 5 on the multi-station template 3; or the restraining device 14 is mounted on the multi-station template 3 while the restrained device 5 is mounted at the end of the robot. And (3) enabling the robot to move to a plurality of positions around the spherical center of the second spherical rod 19, and recording the joint angles of the robot corresponding to the plurality of positions. The restriction device 14 is switched to a different nominal measurement position, the measurement process is repeated, and a plurality of sets of data are acquired. Since the relative coordinates of the different stations are known, the relative coordinates of the calibration device 2 at the different calibration measurement positions are also known, so that the measurement range of the calibration device 2 can be extended as a priori knowledge. This information can be used in the calibration algorithm to achieve the final kinematic parameter calibration.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.
Claims (11)
1. The robot calibration device based on the multi-station measurement comprises a calibrated device (1), a calibration device (2) and a multi-station template (3), and is characterized in that the multi-station template (3) provides a plurality of calibration measurement positions for expanding a calibration measurement range of the calibration device (2) to the calibrated device (1), the calibrated device (1) is connected to a robot arm, the calibration device (2) is connected to the multi-station template (3), the multi-station template (3) is provided with M positioning elements (20) and N clamping elements (21), M is larger than 1, N is larger than 1, the positioning elements (20) are used for positioning the calibration device (2), and the clamping elements (21) are used for clamping the calibration device (2).
2. A robot calibration device based on multi-station measurement comprises a calibrated device (1), a calibration device (2) and a multi-station template (3), and is characterized in that the multi-station template (3) provides a plurality of calibration measurement positions for expanding the calibration measurement range of the calibration device (2) to the calibrated device (1), the calibration device (2) is connected to a robot arm, and the calibrated device (1) is connected to the multi-station template (3); the multi-station template (3) is provided with M positioning elements (20) and N clamping elements (21), M is larger than 1, N is larger than 1, the positioning elements (20) are used for positioning the calibration device (2), and the clamping elements (21) are used for clamping the calibration device (2).
3. The robot calibration device based on multi-station measurement according to claim 1 or 2, wherein the multi-station template (3) is provided with K guide rails and J movement and positioning mechanisms, K is greater than 1, J is greater than 1, the guide rails are used for movably guiding the calibrated device (1) or the calibration device (2) along the guide rails, and the movement and positioning mechanisms are used for positioning the calibrated device (1) or the calibration device (2) after moving to a preset position along the guide rails.
4. A calibration device for a robot based on multi-station measurement according to claim 1 or 2, characterized in that the calibrated device (1) is a measured device (4) and the calibration device (2) is a measuring device (6).
5. A calibration device for a robot based on multi-station measurement according to claim 1 or 2, characterized in that the calibrated device (1) is a constrained device (5) and the calibration device (2) is a constrained device (14).
6. A calibration device for a robot based on multi-station measurement according to claim 4, characterized in that the measured device (4) comprises a first spherical rod (15), and the first spherical rod (15) is arranged on the robot arm.
7. The robot calibration device based on multi-station measurement according to claim 4, wherein the measuring device (6) adopts 1-6 contact type displacement sensors (16) or 1-6 non-contact type displacement sensors or ball probes (17), and the measuring device (6) is used for measuring the spatial position of the first spherical rod (15) in a local range.
8. The robot calibration device based on multi-station measurement according to claim 7, wherein the 1-6 contact displacement sensors (16) are arranged in a non-coplanar manner, the contact displacement sensors (16) are arranged at an angle H between each two, and the range of H is 0-180.
9. The robot calibration device based on multi-station measurement according to claim 7 or 8, characterized in that a measuring head (18) for measuring the displacement of the first spherical rod (15) is connected to the head of the contact displacement sensor (16).
10. A calibration device for a robot based on multi-station measurement according to claim 5, wherein the constrained device (5) comprises a second spherical rod (19), the second spherical rod (19) is arranged on the constrained device (14), the constrained device (14) forms a point constraint on the second spherical rod (19), the constrained device (14) can rotate around the spherical center of the second spherical rod (19), and the constrained device (14) keeps the position of the spherical center of the second spherical rod (19) fixed through physical constraint.
11. The robot calibration device based on multi-station measurement according to claim 5, wherein the restraining device (14) comprises a locking table (7) for restraining the second spherical rod (19), the locking table (7) comprises a top plate (8), a fixed seat (9), a locking bolt (10), a housing (11), an adjusting bolt (12) and a positioning step (13), the housing (11) is arranged on the fixed seat (9), the top plate (8) is arranged inside the housing (11), the locking bolt (10) penetrates through the right portion of the housing (11) to be connected with the right side of the top plate (8), the adjusting bolt (12) penetrates through the left side of the housing (11) to be connected with the left side of the top plate (8), and the positioning step (13) is arranged on the upper portion of the housing (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110278848.0A CN113084798B (en) | 2021-03-16 | 2021-03-16 | Robot calibration device based on multistation is measured |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110278848.0A CN113084798B (en) | 2021-03-16 | 2021-03-16 | Robot calibration device based on multistation is measured |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113084798A CN113084798A (en) | 2021-07-09 |
| CN113084798B true CN113084798B (en) | 2022-11-01 |
Family
ID=76667167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110278848.0A Active CN113084798B (en) | 2021-03-16 | 2021-03-16 | Robot calibration device based on multistation is measured |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113084798B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113538579B (en) * | 2021-07-14 | 2023-09-22 | 浙江大学 | Mobile robot positioning method based on unmanned aerial vehicle map and ground binocular information |
| CN113771093A (en) * | 2021-09-28 | 2021-12-10 | 浙江大学湖州研究院 | Mechanical arm calibration and precision measurement device based on linear motion platform |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009089010A2 (en) * | 2008-01-10 | 2009-07-16 | Parata Systems, Llc | System and method for calibrating an automated materials handling system |
| CN102553833B (en) * | 2011-01-04 | 2016-04-27 | 浙江大学 | A kind of slewing parts multistation Multi-parameter visual measuring system and method |
| CN107042528B (en) * | 2017-06-01 | 2019-06-21 | 中国科学院宁波材料技术与工程研究所 | A kind of Kinematic Calibration system and method for industrial robot |
| JP6924112B2 (en) * | 2017-09-29 | 2021-08-25 | 川崎重工業株式会社 | A method for obtaining the positional relationship between the board transfer device and the board transfer robot and the board mounting portion. |
| CN208384634U (en) * | 2018-05-25 | 2019-01-15 | 深圳中科精工科技有限公司 | The equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter |
| CN109676636A (en) * | 2019-03-06 | 2019-04-26 | 南京航空航天大学 | A kind of industrial robot kinematics calibration system and scaling method |
| CN109746920B (en) * | 2019-03-06 | 2021-12-24 | 南京航空航天大学 | Industrial robot geometric parameter error calibration method based on two-step method |
| CN110978059B (en) * | 2019-12-23 | 2022-12-23 | 芜湖哈特机器人产业技术研究院有限公司 | Portable six-axis manipulator calibration device and calibration method thereof |
| CN111660295B (en) * | 2020-05-28 | 2023-01-03 | 中国科学院宁波材料技术与工程研究所 | Industrial robot absolute precision calibration system and calibration method |
| CN112013766A (en) * | 2020-08-31 | 2020-12-01 | 华中科技大学 | Non-contact R-test structural parameter redundancy-free calibration method |
-
2021
- 2021-03-16 CN CN202110278848.0A patent/CN113084798B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113084798A (en) | 2021-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7640674B2 (en) | Systems and methods for calibrating a portable coordinate measurement machine | |
| CN111660295B (en) | Industrial robot absolute precision calibration system and calibration method | |
| CN113084798B (en) | Robot calibration device based on multistation is measured | |
| EP2559965B1 (en) | Method of error compensation in a coordinate measuring machine | |
| JP4005921B2 (en) | Industrial robot calibration apparatus, method and computer program product for calibration | |
| US8457790B2 (en) | Robotic calibration method | |
| EP2162701B1 (en) | Methods for calibrating a scanning head | |
| CN111964589B (en) | Laser displacement sensor calibration device and calibration method for normal detection | |
| CN110220454B (en) | Pose calibration method of three-coordinate positioning mechanism | |
| EP3542130B1 (en) | Method of calibrating an analogue contact probe and method of transforming a probe signal from an analogue contact probe into a spatial measurement value | |
| WO2008067561A2 (en) | Interior contour measurement probe | |
| CN105531563A (en) | A measurement method | |
| EP2990754B1 (en) | Shape measurement machine | |
| CN111336894B (en) | Method for operating a surface measuring device | |
| US11002529B2 (en) | Robot system with supplementary metrology position determination system | |
| JP2005265700A (en) | Work piece temperature correction method in three-dimensional measuring machine | |
| CN110315530A (en) | The evaluation method and evaluating apparatus of calibration accuracy | |
| US5154002A (en) | Probe, motion guiding device, position sensing apparatus, and position sensing method | |
| EP1491287B1 (en) | Self-centring sensing device | |
| CN115503022A (en) | Robot measurement configuration determining method based on multi-station measurement | |
| US11774227B2 (en) | Inspection gauge for coordinate measuring apparatus and abnormality determination method | |
| CN113670280B (en) | Verticality measuring device and measuring method | |
| CN115674271A (en) | Robot calibration method based on multi-station measurement | |
| CN212445322U (en) | Industrial robot precision calibration device | |
| CN114136357A (en) | Testing method and testing system suitable for surface structure light sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |