CN114536403A - Positioning precision measurement system and method of joint module - Google Patents
Positioning precision measurement system and method of joint module Download PDFInfo
- Publication number
- CN114536403A CN114536403A CN202210167643.XA CN202210167643A CN114536403A CN 114536403 A CN114536403 A CN 114536403A CN 202210167643 A CN202210167643 A CN 202210167643A CN 114536403 A CN114536403 A CN 114536403A
- Authority
- CN
- China
- Prior art keywords
- joint module
- load
- rotation angle
- laser tracker
- signal
- 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.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a positioning precision measuring system and a method of a joint module, wherein the system comprises the joint module, a load, a target ball, a laser tracker and a signal processor; the joint module drives the load to sequentially rotate to a plurality of positions based on a set control signal; the control signal indicates the set rotation angle of the joint module; when the load is positioned at a plurality of positions, the laser tracker collects position signals of the target ball; and the signal processor determines the positioning precision of the joint module based on the position signal and the set rotation angle. The mode adopts the load which is consistent with the mechanical arm connected with the joint module in the actual work to be connected with the joint module, and the positioning precision of the joint module is determined based on the comparison between the position signal of the actual rotating position which is acquired by the laser tracker and corresponds to the set rotating angle and the set rotating angle, so that the measuring accuracy of the positioning precision of the joint module is improved.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a positioning precision measuring system and method of a joint module.
Background
With the development of science and technology, mechanical arms are widely applied to mechanical and automatic control industries such as automobiles, catering and buildings. The precision control of the mechanical arm is a core index of the mechanical arm, and an important component joint module of the mechanical arm plays a key role in the precision control.
In the related art, the butt-supporting motor, the measuring encoder and the joint module are usually arranged on a test bench and sequentially connected with each other. In the test process, the load is applied to the joint module by the support motor, the operation process of the joint module is controlled by the industrial personal computer, and test data is recorded by the measuring encoder, so that the measurement of the control precision of the joint module is realized. However, the above method applies load to the traction motor, which is not in line with the actual use scenario of the joint module in the mechanical arm, and collects the angular deviation of the joint module in the rotation direction through the measuring encoder, resulting in inaccurate test, and thus lower measurement accuracy of the positioning accuracy of the joint module.
Disclosure of Invention
In view of the above, the present invention provides a system and a method for measuring the positioning accuracy of a joint module, so as to improve the measurement accuracy of the positioning accuracy of the joint module.
In a first aspect, an embodiment of the present invention provides a positioning accuracy measurement system for a joint module, where the system includes a joint module, a load, a target ball, a laser tracker, and a signal processor; the joint module is connected with a load; the target ball is arranged on the load; the joint module is used for driving the load to sequentially rotate to a plurality of positions based on a set control signal; the control signal indicates the set rotation angle of the joint module; the laser tracker is used for collecting position signals of the target ball when the load is positioned at a plurality of positions; and the signal processor is used for determining the positioning precision of the joint module based on the position signal and the set rotation angle.
Optionally, in a first implementation manner of the first aspect of the present invention, the set rotation angle includes a plurality of rotation angles; setting the number of the rotation angles to be more than or equal to eight; the interval angle between two adjacent set rotation angles is less than or equal to 90 degrees.
Optionally, in a second implementation manner of the first aspect of the present invention, the set rotation angle includes multiple sets of set angles; a set of set angles are 0 DEG, 45 DEG, 90 DEG, 135 DEG, 180 DEG, 225 DEG, 270 DEG, 315 DEG, 360 DEG, -45 DEG, -90 DEG, -135 DEG, -180 DEG, -225 DEG, -270 DEG, and-315 DEG, respectively.
Optionally, in a third implementation manner of the first aspect of the present invention, the location information includes a plurality of location points corresponding to respective locations; the signal processor is also used for generating a track formed by driving the load to rotate by the joint module based on the position point fitting; determining an actual rotation angle corresponding to the position point based on a connecting line between the position point and the center of the track; and determining the positioning precision of the joint module based on the difference value between the actual rotating angle and the set rotating angle.
Optionally, in a fourth implementation manner of the first aspect of the present invention, the signal processor is further configured to determine an axial accuracy error of the joint module based on a plane formed by the track if the determined positioning accuracy of the joint module is greater than a preset accuracy threshold.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the system further includes a swing link; the joint module is connected with the load through the swing rod; the sum of the weight of the oscillating bar and the load is matched with the weight of a preset mechanical arm; the joint module drives the load to rotate through the swing rod.
Optionally, in a sixth implementation manner of the first aspect of the present invention, the system further includes a mounting rack; the mounting rack is rigidly connected with the ground; the joint module is fixed on the mounting rack.
Optionally, in a seventh implementation manner of the first aspect of the present invention, the mounting rack includes a plurality of mounting racks; the laser tracker sets gradually in the settlement position of a plurality of installation racks according to predetermineeing the order, and when joint module drive load rotation to a plurality of positions on the installation rack, gathers position signal.
Optionally, in an eighth implementation manner of the first aspect of the present invention, the joint module includes a rotation module and a communication module; the communication module is used for sending a signal to the laser tracker when the rotating module rotates to a position corresponding to the control signal; the laser tracker is also used for collecting position signals of the target ball if the signals are received.
In a second aspect, an embodiment of the present invention provides a method for measuring positioning accuracy of a joint module, where the method is applied to a system for measuring positioning accuracy of the joint module; the system comprises a joint module, a load, a target ball, a laser tracker and a signal processor; the joint module is connected with a load; the target ball is arranged on the load; the method comprises the following steps: the joint module drives the load to sequentially rotate to a plurality of positions based on a set control signal; the control signal indicates the set rotation angle of the joint module; when the load is at a plurality of positions, the laser tracker collects position signals of the target ball; and the signal processor determines the positioning precision of the joint module based on the position signal and the set rotation angle.
Optionally, in a first implementation manner of the second aspect of the present invention, the location information includes a plurality of location points corresponding to respective locations; based on the position signal and the set rotation angle, determining the positioning accuracy of the joint module, comprising: generating a track formed by driving the load to rotate by the joint module based on position point fitting; determining an actual rotation angle corresponding to the position point based on a connecting line between the position point and the center of the track; and determining the positioning precision of the joint module based on the difference value between the actual rotating angle and the set rotating angle.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a positioning precision measuring system and a positioning precision measuring method for a joint module, wherein the system comprises the joint module, a load, a target ball, a laser tracker and a signal processor; the joint module drives the load to sequentially rotate to a plurality of positions based on a set control signal; the control signal indicates the set rotation angle of the joint module; when the load is positioned at a plurality of positions, the laser tracker collects position signals of the target ball; and the signal processor determines the positioning precision of the joint module based on the position signal and the set rotation angle. In the mode, the load consistent with the mechanical arm connected with the joint module in actual work is connected with the joint module, and the positioning precision of the joint module is determined based on the comparison between the position signal of the actual rotating position, which is acquired by the laser tracker and corresponds to the set rotating angle, and the set rotating angle, so that the measurement accuracy of the positioning precision of the joint module is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a positioning accuracy testing table of a joint module in the related art according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a positioning accuracy measurement system of a joint module according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another positioning accuracy measurement system for a joint module according to an embodiment of the present invention;
fig. 4 is a schematic view of a corner in a positioning accuracy measurement process of a joint module according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a common scenario of debugging stages and testing according to an embodiment of the present invention;
fig. 6 is a flowchart of a positioning accuracy measuring method of a joint module according to an embodiment of the present invention.
Icon: 10-a pair of dragging motors; 20-a measurement encoder; 30-a joint module; 40-an industrial personal computer; 50-load; 60-target ball; 70-laser tracker; 80-a signal processor; 90-test bench; 100-swing link.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the age of rapid development of the industrial technical level in the 21 st century, robots gradually enter our lives with the advantages of rapidness, flexibility, low long-term investment cost and the like, gradually replace manual operation, and are widely applied to mechanical and automatic control industries such as automobiles, catering, buildings and the like. With the wide application of robots, the problems of numerous product models, poor part universality and the like occur, and the development of a modular mechanical arm with higher integration, stronger reliability and better universality is extremely important. Among them, the key joint modules of the modular robot arm have also become important research points. As is well known, the precision control of the mechanical arm is the core index of the mechanical arm, and meanwhile, the joint module plays a key role in the precision control. However, the detection method and detection means of the joint module are in the search stage. At present, most of joint module precision detection methods are carried out by referring to a motor test bench.
In the related art, the precision testing method is generally performed in a way that a test bench is built by a motor or a speed reducer. As shown in figure 1, the test bench is provided with a butt-dragging motor 10, a measuring encoder 20 and a joint module 30 which are connected in sequence, the joint module is fixed on the test bench through a joint module mounting tool, and an industrial personal computer 40 controls the butt-dragging motor, the measuring encoder and the joint module in the test process. In the measuring process, the mode is difficult to control the load at the tail end, and the actual use scene of the mechanical arm cannot be simulated, so that the measurement is inaccurate; the axial precision error perpendicular to the rotating plane cannot be measured, the faulty joint module is difficult to discriminate, and the testing efficiency is low; in addition, the debugging and test bench is separated in this mode, needs many times dismouting, and the human cost is higher.
Based on this, the embodiment of the invention provides a positioning precision measurement system and method of a joint module, which are suitable for debugging and detection processes of various joint modules.
First, as shown in fig. 2, an embodiment of the present invention provides a positioning accuracy measurement system for a joint module, which includes a joint module 30, a load 50, a target ball 60, a laser tracker 70, and a signal processor 80; the joint module is connected with a load; the target ball is arranged on the load.
In the working process of the system, the joint module is used for driving the load to rotate to a plurality of positions in sequence based on a set control signal; wherein the control signal indicates a set rotation angle of the joint module; the laser tracker is used for collecting position signals of the target ball when the load is positioned at a plurality of positions; and the signal processor is used for determining the positioning precision of the joint module based on the position signal and the set rotation angle.
Adopt the load that can simulate the operating condition of joint module to be connected with the joint module among the above-mentioned mode to based on the position signal of the actual rotational position that the laser tracker gathered and correspond with the settlement rotation angle and set for the rotation angle contrast, confirm the positioning accuracy of joint module, thereby improved the measurement accuracy to the positioning accuracy of joint module.
The control signal may be a current signal or a voltage signal, and may be an externally input control signal according to the type of the joint module, or may be a control signal generated by a signal generation part of the joint module by inputting a control parameter to the joint module through a human-computer interaction device, which is not limited herein. The magnitude of the control signal is typically linearly or positively correlated with the angle of rotation of the joint module.
In order to comprehensively test each rotation angle of the joint module, a plurality of set rotation angles can be set. Because the rotation angle that the joint module easily goes wrong is generally 90 °, 180 °, 270 °, setting 8 rotation angles can improve the measurement accuracy of the positioning accuracy of the joint module. Generally, the number of the set rotation angles is greater than or equal to eight; the interval angle between two adjacent set rotation angles is less than or equal to 90 degrees. In addition, in order to ensure the repeatability of the precision test, the set rotation angle can also comprise a plurality of sets of set angles; it is recommended to use 16 set angles in one measurement process, the 16 set angles being 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 °, 360 °, -45 °, -90 °, 135 °, -180 °, 225 °, -270 °, and-315 °, respectively. In specific implementation, the joint module can rotate the set angles respectively by taking the initial position as a starting point and clockwise as a positive direction, so as to drive the load to reach the corresponding position.
The load connected with the joint module is mainly used for simulating the test working condition of the joint module so as to accord with the actual working condition of the joint module. The structure and the weight of the load can be set to be the same as those of the mechanical arm connected with the joint module.
In concrete implementation, the joint module can be connected with a load through the swing rod. In order to simulate the working condition that the joint module is connected with the mechanical arm in actual work, the sum of the weights of the oscillating bar and the load is matched with the weight of the preset mechanical arm, namely the sum of the weights of the oscillating bar and the load is the same as the weight of the mechanical arm connected with the joint module, and in addition, the structure formed by connecting the oscillating bar, the load and the joint module also simulates the structure formed by connecting the mechanical arm and the joint module. The joint module drives the load to rotate through the swing rod. Because the precision of the position signals collected by the laser tracker has a certain range, when the swing rod is longer, the joint module rotates by the same angle, the track formed by the load and corresponding to the angle is longer, the difference value between the two position signals collected by the laser tracker before and after the rotation of the joint module is larger, and the sector length corresponding to the difference value is in direct proportion to the product of the actual rotation angle and the length of the swing rod.
When calculating the single measurement accuracy of joint module, can be based on the fan-shaped length of setting for rotation angle and pendulum rod length calculation standard, then subtract the fan-shaped length of standard by the fan-shaped length that the difference corresponds and obtain the absolute error of fan-shaped length, then divide the absolute error of fan-shaped length by the fan-shaped length of standard, obtain the relative error of fan-shaped length, because fan-shaped length is directly proportional with the rotation angle, can regard the relative error of fan-shaped length as joint module to rotation angle's control accuracy.
The measurement accuracy of the laser tracker is limited, and the measurement accuracy also affects the measurement result of the control accuracy of the joint module. For example, when the measurement accuracy of the laser tracker is 0.1mm, if the swing rod is not adopted, the joint module drives the load to rotate by a certain angle, the sector length corresponding to the difference value calculated based on the two collected position signals is 10.1mm, and when the standard sector length is 10mm, the single control accuracy of the joint module on the rotation angle calculated at the moment is 0.01; if set up the pendulum rod, distance between joint module and the target on the load becomes 10 times of distance when not adopting the pendulum rod, and the joint module passes through the pendulum rod and drives the rotatory same angle of load, and the fan-shaped length that the difference that calculates based on two position signals that gather corresponds is 101.2mm, and the fan-shaped length that calculates and obtains the standard is 100mm, and the joint module that calculates this moment and obtains is 0.012 to rotation angle's single control precision. The difference of the control precision results obtained by the two calculations is one magnitude, and obviously, the control precision result of the joint module is more accurate after the swing rod is arranged.
The position information collected by the laser tracker includes a plurality of position points corresponding to respective positions corresponding to the plurality of set rotation angles. If the joint module comprises a rotating module and a communication module; when the rotating module rotates to the position corresponding to the control signal, the signal can be sent to the laser tracker through the communication module; if the laser tracker receives the signal, the position signal of the target ball at the position, namely the position point, is collected.
After the laser tracker acquires the position signals, the signal processor generates a track formed by driving the load to rotate by the joint module based on the position point fitting, and a circular track is generated according to the position point fitting corresponding to a set of set angles; then, determining an actual rotation angle corresponding to the position point based on a connecting line between the position point and the center of the track, wherein the connecting line between the position point corresponding to the initial position of the joint module and the center of the track is generally required to be referred in the process; and determining the positioning precision of the joint module based on the difference value between the actual rotating angle and the set rotating angle. In the process of determining the positioning accuracy of the joint module, if multiple groups of set angles are adopted in the test process, corresponding averaging processing needs to be carried out on the positioning accuracy, and further, the repeated positioning accuracy can be calculated.
If the determined positioning accuracy of the joint module is larger than a preset accuracy threshold value, the signal processor can determine that the accuracy of the joint module is invalid, and the axial accuracy error of the joint module is determined on the basis of a plane formed by the track, so that data support is provided for relevant workers, and the relevant workers can analyze the reasons of the invalid.
In a specific implementation process, the system can further comprise a mounting rack; wherein, the mounting rack is rigidly connected with the ground; the joint module is fixed on the mounting rack. In a specific implementation process, a plurality of mounting racks can be provided; the laser tracker sets gradually in the settlement position of a plurality of installation racks according to predetermineeing the order, and when joint module on the installation rack drove the load and rotates to a plurality of positions, gathers position signal. After the joint module is installed on the installation rack, the positioning precision of the joint module can be directly measured, the joint module does not need to be repeatedly disassembled or moved to other test platforms, the operation is simple, the convenience and the rapidness are realized, and the test efficiency is improved.
The embodiment of the invention provides a positioning precision measuring system of a joint module, which comprises the joint module, a load, a target ball, a laser tracker and a signal processor, wherein the load is arranged on the joint module; the joint module drives the load to sequentially rotate to a plurality of positions based on a set control signal; the control signal indicates the set rotation angle of the joint module; when the load is positioned at a plurality of positions, the laser tracker collects position signals of the target ball; and the signal processor determines the positioning precision of the joint module based on the position signal and the set rotation angle. In the mode, the load consistent with the mechanical arm connected with the joint module in actual work is connected with the joint module, and the positioning precision of the joint module is determined based on the comparison between the position signal of the actual rotating position, which is acquired by the laser tracker and corresponds to the set rotating angle, and the set rotating angle, so that the measurement accuracy of the positioning precision of the joint module is improved.
The embodiment of the invention also provides another positioning precision measuring system of the joint module, which is realized on the basis of the system shown in the figure 2. As shown in fig. 3, the system includes a laser tracker 70, a test stage 90 (also referred to as a "joint module mounting stage" or "stage"), a swing link 100, a load 50, a target ball 60, and a joint module 30.
For the test result is more accurate, there are the following requirements to test rack and load:
wherein, the rack is rigidly connected with the ground, and the spatial position is not allowed to move in the test process; deformation cannot occur during the test due to the weight factors of the prototype and the load (the material of the rack is recommended to be high-carbon steel 235B).
The sum of the weight of the swing arm and the load, the material and the structure should simulate the actual use condition of the mechanical arm, and the whole rigidity and the stress condition of the joint module can be more fit with the actual use scene. The test results are more representative.
Based on the system, the test steps of the joint module refer to the following steps:
1. under the rated load and the rated speed, the driver is set to be in a position control mode;
2. the joint module moves sequentially according to theoretical input rotation angle values of 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, 315 degrees, 360 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees and 315 degrees, and the pause time of each angle is t. During the pause period, the laser tracker sequentially collects the position information of the target ball when the joint module actually rotates, and after each group of position information is fitted to a circle, the angle values of the two points in the circle are calculated, so that the corresponding actual rotation angle value can be obtained.
When the rotation angle (corresponding to the above-mentioned "preset rotation angle") is set, the following rule is usually followed: the number of the rotating angles is more than or equal to 8, and the interval angle is less than or equal to 90 degrees. The values of the angles of rotation shown in fig. 4 are recommended, the number of the angles of rotation is 16, the interval angle is 45 degrees, and the circle in the center of fig. 4 represents the joint module.
The above-mentioned dwell time is suggested to be set to 6s based on the actual behavior of the joint module. In general, when the joint module is stabilized in the space of 0.3mm, the stabilization time is 1-3 s, the laser tracker waits for 2s after the stabilization to acquire the position signal, and the acquisition time is 0.5s, so that the total time is 3+2+0.5 to 5.5 s. Considering efficiency, it is set to 6 s. The waiting time 2s and the acquisition time 0.5s can be set in the laser tracker.
During the pause period, the laser tracker is combined with Spatial Analyzer analysis software (or related software capable of being matched with the laser tracker to acquire Spatial position information) to sequentially acquire the position information of the target ball during actual rotation of the joint module by using the laser tracker, and after each group of position information is fitted to a circle by using MATLAB software (or software capable of fitting a circle according to a plurality of Spatial point position information, calculating angles and the like), the angle values of the two points in the circle are calculated, so that the corresponding actual rotation angle value can be obtained. The Spatial Analyzer analysis software is mainly used for automatically acquiring target ball position information by a laser tracker in a test process, and the MATLAB calculation software is mainly used for calculating the absolute positioning precision and the repeated positioning precision of the joint module and analyzing the axial precision error of the joint module after failure.
In the concrete implementation process, the parameters of the laser tracker can be set to be in a stable measurement mode, the stable space is recommended to be set to be 0.3mm, and the stable time is 2s, so that the automatic test can be realized. If the joint module is equipped with IO (Input/Output ) function, can realize the communication of joint module and laser tracker through IO control box: after the joint module reaches a target position, a signal is sent to the laser tracker, and after the laser tracker receives the signal, position information is collected through the target ball; after the position information is collected, the signal is sent to the joint module, and the joint module moves to the next target position after receiving the signal, so that the measurement of all the rotation angle values is completed in a circulating mode.
3. Calculating the difference between the actual rotation angle value of the joint module and the theoretical input rotation angle value (corresponding to the above-mentioned "set rotation angle"), circulating n times (n is 10), and taking the average value, that is, the positioning accuracy.
4. Calculating to obtain the repeated positioning precision RPaThe formula is as follows:
in the formula:
ajis the jth actual output angle value; n is the test cycle.
The above mode has the following advantages:
1. completely simulating the operation condition and load of the whole mechanical arm; each cycle is only influenced by gravity when at the same position, and the load gravity is completely simulated for the actual use condition of the mechanical arm.
2. When the precision of the joint module fails, the axial precision error of the joint module and the angle error of the rotating plane can be analyzed. In an actual use scene, an axial precision error perpendicular to a rotation plane can be generated in the module motion process. The conventional measurement method cannot identify the error. The above approach may solve this problem. The Spatial position information of all theoretical rotation angles of the joint module is collected through the laser tracker, a circle can be fitted through all point positions through Spatial Analyzer analysis software, and the vertical distance from a query point to the circle is the axial precision error of the vertical rotation plane.
3. The test and debugging bench is shared, convenient and fast.
After the joint module is produced, the research and development personnel generally adjust PID parameters or perform a running-in checking function. The price of the original motor or speed reducer test platform is generally between 80 and 100 thousands, so that a plurality of prototype machines cannot be installed on the motor/speed reducer test platform for debugging. Resulting in separate debugging and testing and therefore reduced efficiency. The test and construction of the system mainly comprises the racks and the loads, and the price of 1 set of the racks and the loads is within 1 ten thousand yuan, so that the system can be composed of a plurality of racks and 1 laser tracker. The common scene schematic diagram of the debugging rack and the test is shown in fig. 5, four racks and one laser tracker are taken as an example in fig. 5, the laser tracker shown by a dotted line can be used for realizing the common use of the debugging rack and the test in the way that the laser tracker corresponds to each rack in the measurement process, and the module does not need to be repeatedly disassembled, so that the aspect is fast.
Based on the shared scene, after the joint module on the bench 1 is debugged, the joint module does not need to be disassembled again, and the laser tracker only needs to be moved to the corresponding position of the first bench on the left side of the upper part in the graph 5 to carry out precision testing. In the same way, the joint modules on the gantries 2, 3 and 4 can also be debugged in this way, and the test can be carried out at the corresponding positions of each gantry in turn by moving the laser tracker. Therefore, the debugging rack and the test can be shared, the module does not need to be repeatedly disassembled, and the aspect is fast.
4. And (3) utilizing software such as Matlab and the like to realize automatic calculation through the collected point positions, and generating a report by one key.
Corresponding to the system embodiment, the embodiment of the invention also provides a positioning precision measuring method of the joint module, which is applied to the positioning precision measuring system of the joint module; the system comprises a joint module, a load, a target ball, a laser tracker and a signal processor; as shown in fig. 6, the method includes the steps of:
step S602, the joint module drives the load to rotate to a plurality of positions in sequence based on a set control signal; the control signal indicates the set rotation angle of the joint module.
Step S604, when the load is at a plurality of positions, the laser tracker collects position signals of the target ball.
In step S606, the signal processor determines the positioning accuracy of the joint module based on the position signal and the set rotation angle.
Further, the position information includes a plurality of position points corresponding to the respective positions; based on the position signal and the set rotation angle, determining the positioning accuracy of the joint module, comprising: generating a track formed by driving the load to rotate by the joint module based on position point fitting; determining an actual rotation angle corresponding to the position point based on a connecting line between the position point and the center of the track; and determining the positioning precision of the joint module based on the difference value between the actual rotating angle and the set rotating angle.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (11)
1. The positioning precision measurement system of the joint module is characterized by comprising the joint module, a load, a target ball, a laser tracker and a signal processor; the joint module is connected with the load; the target ball is arranged on the load;
the joint module is used for driving the load to sequentially rotate to a plurality of positions based on a set control signal; the control signal indicates a set rotation angle of the joint module;
the laser tracker is used for collecting position signals of the target ball when the load is positioned at the plurality of positions;
the signal processor is used for determining the positioning accuracy of the joint module based on the position signal and the set rotation angle.
2. The system of claim 1, wherein the set rotation angle comprises a plurality; the number of the set rotation angles is more than or equal to eight; the interval angle between two adjacent set rotating angles is smaller than or equal to 90 degrees.
3. The system of claim 1, wherein the set rotation angle comprises a plurality of sets of set angles; one set of the set angles is 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 °, 360 °, -45 °, -90 °, -135 °, -180 °, -225 °, -270 °, and-315 °, respectively.
4. The system of claim 1, wherein said location information includes a plurality of location points corresponding to respective ones of said locations; the signal processor is further used for generating a track formed by the joint module driving the load to rotate based on the position point fitting; determining an actual rotation angle corresponding to the position point based on a connecting line between the position point and the center of the track; and determining the positioning precision of the joint module based on the difference value between the actual rotating angle and the set rotating angle.
5. The system of claim 4, wherein the signal processor is further configured to determine an axial accuracy error of the joint module based on a plane formed by the trajectory if the determined positioning accuracy of the joint module is greater than a preset accuracy threshold.
6. The system of claim 1, further comprising a swing link; the joint module is connected with the load through the swing rod; the sum of the weights of the oscillating bar and the load is matched with the weight of a preset mechanical arm; the joint module drives the load to rotate through the oscillating bar.
7. The system of claim 1, further comprising a mounting stand; the mounting rack is rigidly connected with the ground; the joint module is fixed on the mounting rack.
8. The system of claim 7, wherein the mounting stand comprises a plurality; the laser tracker sets gradually in the settlement position of a plurality of installation racks according to predetermineeing the order joint module drive on the installation rack when the load is rotatory to a plurality of positions, gathers position signal.
9. The system of claim 1, wherein the joint module comprises a rotation module and a communication module; the communication module is used for sending a signal to the laser tracker when the rotating module rotates to a position corresponding to the control signal; the laser tracker is also used for collecting the position signal of the target ball if the signal is received.
10. A method for measuring the positioning accuracy of a joint module, which is applied to a system for measuring the positioning accuracy of a joint module according to any one of claims 1 to 9; the system comprises a joint module, a load, a target ball, a laser tracker and a signal processor; the joint module is connected with the load; the target ball is arranged on the load; the method comprises the following steps:
the joint module drives the load to sequentially rotate to a plurality of positions based on a set control signal; the control signal indicates a set rotation angle of the joint module;
the laser tracker collects position signals of the target ball when the load is at the plurality of positions;
and the signal processor determines the positioning precision of the joint module based on the position signal and the set rotation angle.
11. The method of claim 10, wherein the location information includes a plurality of location points corresponding to respective ones of the locations;
determining the positioning accuracy of the joint module based on the position signal and the set rotation angle, comprising:
generating a track formed by driving the load to rotate by the joint module based on the position point fitting;
determining an actual rotation angle corresponding to the position point based on a connecting line between the position point and the center of the track;
and determining the positioning precision of the joint module based on the difference value between the actual rotating angle and the set rotating angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210167643.XA CN114536403A (en) | 2022-02-23 | 2022-02-23 | Positioning precision measurement system and method of joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210167643.XA CN114536403A (en) | 2022-02-23 | 2022-02-23 | Positioning precision measurement system and method of joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114536403A true CN114536403A (en) | 2022-05-27 |
Family
ID=81678389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210167643.XA Withdrawn CN114536403A (en) | 2022-02-23 | 2022-02-23 | Positioning precision measurement system and method of joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114536403A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115302506A (en) * | 2022-08-08 | 2022-11-08 | 科大讯飞股份有限公司 | Joint module testing method, device, equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100176270A1 (en) * | 2009-01-09 | 2010-07-15 | Lau Kam C | Volumetric error compensation system with laser tracker and active target |
| CN106595485A (en) * | 2017-01-17 | 2017-04-26 | 北京航空航天大学 | CoKriging-based absolute positioning error estimation method of mechanical arm |
| CN207858886U (en) * | 2017-12-22 | 2018-09-14 | 中国电子产品可靠性与环境试验研究所 | Industrial robot operating accuracy auxiliary test unit and test device |
| CN109163675A (en) * | 2018-08-01 | 2019-01-08 | 成都飞机工业（集团）有限责任公司 | A method of angle swing shaft position precision is detected based on laser tracker |
| CN110281241A (en) * | 2019-06-27 | 2019-09-27 | 大连理工大学 | Mechanical arm kinematic calibration method is measured based on laser tracker |
| CN111844135A (en) * | 2020-07-29 | 2020-10-30 | 伯朗特机器人股份有限公司 | Robot joint parameter measuring method and device, storage and robot |
| CN112276999A (en) * | 2020-07-29 | 2021-01-29 | 广东产品质量监督检验研究院（国家质量技术监督局广州电气安全检验所、广东省试验认证研究院、华安实验室） | Rod length calibration method and device for industrial robot based on laser tracker |
| CN112833792A (en) * | 2021-02-24 | 2021-05-25 | 南京邮电大学 | Precision calibration and verification method for six-degree-of-freedom mechanical arm |
| CN114029959A (en) * | 2021-12-13 | 2022-02-11 | 中国计量大学 | Mechanical arm structure parameter identification method and device |
-
2022
- 2022-02-23 CN CN202210167643.XA patent/CN114536403A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100176270A1 (en) * | 2009-01-09 | 2010-07-15 | Lau Kam C | Volumetric error compensation system with laser tracker and active target |
| CN106595485A (en) * | 2017-01-17 | 2017-04-26 | 北京航空航天大学 | CoKriging-based absolute positioning error estimation method of mechanical arm |
| CN207858886U (en) * | 2017-12-22 | 2018-09-14 | 中国电子产品可靠性与环境试验研究所 | Industrial robot operating accuracy auxiliary test unit and test device |
| CN109163675A (en) * | 2018-08-01 | 2019-01-08 | 成都飞机工业（集团）有限责任公司 | A method of angle swing shaft position precision is detected based on laser tracker |
| CN110281241A (en) * | 2019-06-27 | 2019-09-27 | 大连理工大学 | Mechanical arm kinematic calibration method is measured based on laser tracker |
| CN111844135A (en) * | 2020-07-29 | 2020-10-30 | 伯朗特机器人股份有限公司 | Robot joint parameter measuring method and device, storage and robot |
| CN112276999A (en) * | 2020-07-29 | 2021-01-29 | 广东产品质量监督检验研究院（国家质量技术监督局广州电气安全检验所、广东省试验认证研究院、华安实验室） | Rod length calibration method and device for industrial robot based on laser tracker |
| CN112833792A (en) * | 2021-02-24 | 2021-05-25 | 南京邮电大学 | Precision calibration and verification method for six-degree-of-freedom mechanical arm |
| CN114029959A (en) * | 2021-12-13 | 2022-02-11 | 中国计量大学 | Mechanical arm structure parameter identification method and device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115302506A (en) * | 2022-08-08 | 2022-11-08 | 科大讯飞股份有限公司 | Joint module testing method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101758422B (en) | Detection analysis device for technical indexes of numerical control device | |
| CN102866030B (en) | Five-axis linkage loading test device and loading test method for machine tool | |
| CN104797907B (en) | Measuring appliance and measuring method for object automatic measurement | |
| US9146175B2 (en) | Method and a device for detecting abnormal changes in play in a transmission unit of a movable mechanical unit | |
| CN109773588A (en) | A kind of twin model performance test method of lathe number and device | |
| CN107081787A (en) | Kinetic characteristic detection method based on industrial robot built-in sensors signal | |
| CN109682626B (en) | Robot speed testing method and device | |
| CN103017690A (en) | Method for measuring straightness of super-long guide rail | |
| CN105403148A (en) | Measurement apparatus of center position accuracy of all journals of crank shaft, and measurement and calibration methods thereof | |
| CN114536403A (en) | Positioning precision measurement system and method of joint module | |
| CN112710871B (en) | Test method and device for positioning speed measurement system host | |
| CN102962728A (en) | Device for detecting position of center of ball joint | |
| CN116400642A (en) | Machine tool precision compensation method and device, storage medium and electronic equipment | |
| CN110095288A (en) | A kind of robot speed reducer comprehensive performance off-line test experimental rig and test method | |
| CN111002328A (en) | Wheeled robot checking system and method | |
| CN109059816B (en) | Method and system for determining the circumferential wear position of a rotating mechanism | |
| CN112344895A (en) | Multi-parameter model and calibration method of articulated arm coordinate measuring machine | |
| CN111752279B (en) | Multi-sensor fusion self-checking method and system for robot | |
| CN106247934A (en) | A kind of pose measuring apparatus based on 6 SPS parallel institutions | |
| CN105526959A (en) | Encoder reliability test device and method | |
| CN112945535B (en) | Rotating machinery fault detection method and device based on numerical simulation | |
| CN113199509B (en) | Robot joint testing method, system, device, processing equipment and medium | |
| CN202964282U (en) | Ball head and ball center position detector | |
| CN109297691B (en) | Detection equipment and method for parameters of smoke machine | |
| CN105424352A (en) | Fatigue testing machine for sugarcane detrashing machine detrashing element |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220527 |
|
| WW01 | Invention patent application withdrawn after publication |