CN114770605A - Robot measurement calibration system - Google Patents
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- CN114770605A CN114770605A CN202210545492.7A CN202210545492A CN114770605A CN 114770605 A CN114770605 A CN 114770605A CN 202210545492 A CN202210545492 A CN 202210545492A CN 114770605 A CN114770605 A CN 114770605A
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- 238000005259 measurement Methods 0.000 title claims abstract description 79
- 238000013519 translation Methods 0.000 claims abstract description 32
- 230000007306 turnover Effects 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 210000001503 joint Anatomy 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 7
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 description 14
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
- B25J19/02—Sensing devices
Abstract
The invention relates to the technical field of robot calibration, in particular to a robot measurement calibration system, which comprises a measurement calibration mechanism, a robot and a measuring head arranged at the tail end of the robot, wherein the measuring head is arranged on the tail end of the robot; the measurement calibration mechanism comprises a base, a rack, a base, a measurement table, a translation assembly, a rotation assembly and a turnover adjusting assembly, wherein the measurement table is used for butt joint of measurement heads; the base is connected with the rack through a rotating assembly; the robot measurement calibration system and the robot measurement calibration method are compact in structure, convenient to assemble, easy to operate, wide in applicable occasions and low in manufacturing cost, coordinate information of the tail end of the robot is obtained, a data source is provided for performance analysis of the robot, calibration and measurement of the robot are achieved, and the obtained precision is guaranteed to meet application requirements while the cost is greatly reduced.
Description
Technical Field
The invention relates to the technical field of robot calibration, in particular to a robot measurement calibration system.
Background
In recent years, related enterprises in the manufacturing industry increasingly adopt robots to complete corresponding tasks such as carrying, assembling and detecting. In the working process of the robot, the working precision of the robot needs to be calibrated and compensated, so that sufficient precision and stability can be ensured when a task is executed. Generally, when the robot leaves a factory, a manufacturer can firstly complete the calibration of the robot so as to ensure that the positioning precision of the robot meets the application requirements. However, with the normal use of the robot, the robot gradually wears, or the absolute positioning accuracy of the robot cannot be guaranteed when the robot is disassembled and assembled again when the robot fails. It is often the case that the user must contact the robot manufacturer for recalibration, which is not only expensive, but also affects the production schedule. The measuring equipment is used as an auxiliary tool, the precision of the low price cannot be guaranteed, and most enterprises of high-precision equipment cannot afford the high-precision equipment. The three-coordinate measuring instrument is a common large three-dimensional measuring system for space measurement, is widely applied to reverse engineering, and can measure the characteristic parameters of the curved surface of a workpiece with high precision. The other is a laser tracker which is commonly used, has high measurement precision and wide measurement range, but has limited dynamic measurement speed and too high price, and common small and medium-sized enterprises do not introduce a large amount of high-precision measurement equipment due to cost control.
Therefore, how to design a robot calibration measurement system with compact structure, convenient installation, wide application range and particularly low manufacturing cost to improve the application stability and precision of the current robot in the field of manufacturing becomes a problem which needs to be solved urgently.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the problems that the dynamic measurement speed of a laser tracker in the prior art is limited and the price is too high, and a large amount of high-precision measurement equipment is not introduced in general small and medium-sized enterprises due to cost control, a robot measurement calibration system is provided.
The technical scheme adopted by the invention for solving the technical problem is as follows: a robot measurement calibration system comprises a measurement calibration mechanism, a robot and a measuring head arranged at the tail end of the robot;
the measurement calibration mechanism comprises a base, a rack, a base, a measurement table, a translation assembly, a rotation assembly and a turnover adjusting assembly, wherein the measurement table is used for butt joint of measurement heads;
the base is connected with the rack through a rotating assembly, and the rotating assembly is used for driving the rack to rotate so as to enable the measuring table to rotate;
the frame and the base are connected through a turnover adjusting assembly, the frame and the base are rotatably connected, and the turnover adjusting assembly is used for driving the frame to turn over so as to turn over the measuring table;
the robot measurement calibration system and the robot measurement calibration method are compact in structure, convenient to assemble, easy to operate, wide in applicable occasions and low in manufacturing cost, coordinate information of the tail end of the robot is obtained, a data source is provided for performance analysis of the robot, calibration and measurement of the robot are achieved, and the obtained precision is guaranteed to meet application requirements while cost is greatly reduced.
In order to solve the problem of how to realize the three-dimensional measurement of the measuring head, the overturning axis of the base plate is perpendicular to the rotating axis of the frame.
In order to solve the problem of how the base is arranged, the base is further provided with a plurality of rotating shafts, the axes of the rotating shafts are parallel, and the rotating shafts are rotatably connected with the rack through bearings.
In order to solve the problem how the translation subassembly is arranged, further include the translation subassembly include the guide rail, with slide rail assorted slip table, translation connecting seat, action wheel, from driving wheel, hold-in range and translation motor, guide rail and base fixed connection, guide rail and slip table sliding connection, the action wheel with all rotate from the driving wheel install in on the base, translation motor's output and action wheel transmission are connected, the hold-in range is around establishing at the action wheel and from the driving wheel, just the hold-in range passes through translation connecting seat and slip table connection, the slip table is followed the hold-in range and is removed along the guide rail.
In order to solve the problem of how to arrange the turnover adjusting component, the turnover adjusting component further comprises an adapter, a turnover motor and a connecting component;
one end of the adapter is fixedly connected with the base, and the other end of the adapter penetrates through a cavity formed by the synchronous belt and is connected with the output end of the connecting component;
the overturning motor is used for driving the base to overturn for the adapter to provide power, and the output end of the overturning motor is in transmission connection with the input end of the connecting assembly.
In order to solve the problem of how the connecting assembly is arranged, the connecting assembly further comprises a rotating pair and a connecting rod, the input end of the rotating pair is fixedly connected with the output end of the turnover motor, the output end of the rotating pair is rotatably connected with the input end of the connecting rod, and the output end of the connecting rod is rotatably connected with the adapter.
In order to solve the problem of how to arrange the rotating assembly, the rotating assembly further comprises a rotating motor, an external gear and an internal gear;
the rotary motor is arranged on the rack, the internal gear is arranged on the top surface of the base, the rack is rotatably connected with the top surface of the base, the internal gear is positioned between the rack and the base, the output end of the rotary motor is in transmission connection with the external gear, and the external gear is meshed with the internal gear;
when the rotating motor is started, the external gear rotates and revolves along the circumferential direction of the internal gear;
the rotating assembly further comprises a conductive slip ring, the conductive slip ring is mounted on the base and used for detecting the rotating angle of the rack.
In order to solve the problem of the support of base, further include install supporting component on the base, supporting component includes supporting seat and fixation nut, base bottom surface and supporting seat contact, base top surface and fixation nut contact, supporting seat and fixation nut threaded connection.
In order to solve the problem of energy supply of the system, the system further comprises a lithium battery used for providing energy for the electric element in the measurement calibration mechanism, and the lithium battery is installed on the base through a battery installation support.
The beneficial effects of the invention are: the robot measurement calibration system and the method thereof have the advantages of compact structure, convenience in assembly, easiness in operation, wide application range and low manufacturing cost, coordinate information of the tail end of the robot is obtained, a data source is provided for performance analysis of the robot, calibration and measurement of the robot are realized, and the obtained precision is ensured to meet application requirements while the cost is greatly reduced.
Drawings
The invention is further illustrated by the following examples in conjunction with the drawings.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the measurement calibration mechanism of the present invention;
FIG. 3 is a schematic view of another perspective structure of the measurement calibration mechanism of the present invention;
fig. 4 is a schematic view of the structure at the rotating assembly of the present invention.
In the figure: 1. measuring and calibrating mechanism, 11, a base, 12, a frame, 13, a base, 131, a rotating shaft, 14, a measuring table, 2, a robot, 21, a measuring head, 3, a translation assembly, 31, a guide rail, 32, a sliding table, 33, a translation connecting seat, 34, a driving wheel, 35, a driven wheel, 36, a synchronous belt, 37, a translation motor, 4, a rotating assembly, 41, a rotating motor, 42, an outer gear, 43, an inner gear, 44, a conductive sliding ring, 5, a turnover adjusting assembly, 51, a switching seat, 52, a turnover motor, 53, a connecting assembly, 531, a revolute pair, 532, a connecting rod, 6, a supporting assembly, 61, a supporting seat, 62, a fixing nut, 7, a lithium battery, 71 and a battery mounting bracket.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams each illustrating the basic structure of the present invention only in a schematic manner, and thus show only the constitution related to the present invention.
Fig. 1 is a schematic structural diagram of the present invention, and a robot measurement calibration system includes a measurement calibration mechanism 1, a robot 2, and a measurement head 21 mounted at the end of the robot 2;
as shown in fig. 2, 3 and 4, the measurement calibration mechanism 1 includes a base 11, a frame 12, a base 13, a measurement table 14, a translation assembly 3, a rotation assembly 4 and a turnover adjustment assembly 5, wherein the measurement table 14 is used for docking a measurement head 21;
the base 11 and the frame 12 are connected through a rotating assembly 4, and the rotating assembly 4 is used for driving the frame 12 to rotate so as to rotate the measuring table 14;
the frame 12 and the base 13 are connected through a turnover adjusting assembly 5, the frame 12 and the base 13 are rotatably connected, and the turnover adjusting assembly 5 is used for driving the frame 12 to turn over so as to turn over the measuring table 14;
the base 13 is connected with the measuring table 14 through the translation component 3, the translation component 3 is used for driving the measuring table 14 to translate, the robot measurement calibration system and the method are compact in structure, convenient to assemble, easy to operate, wide in applicable occasions and low in manufacturing cost, coordinate information of the tail end of the robot is obtained, a data source is provided for performance analysis of the robot, calibration and measurement of the robot are achieved, and the obtained precision is guaranteed to meet application requirements while the cost is greatly reduced.
The base plate's axis of rotation is perpendicular to the axis of rotation of the frame 12.
A plurality of rotating shafts 131 are mounted on the base 13, the axes of the rotating shafts 131 are parallel, and the rotating shafts 131 are rotatably connected with the rack 12 through bearings.
As shown in fig. 2 and 3, the translation assembly 3 includes a guide rail 31, a sliding table 32, a translation connecting seat 33, a driving wheel 34, a driven wheel 35, a synchronous belt 36 and a translation motor 37, which are matched with the sliding rail, the guide rail 31 is fixedly connected with the base 13, the guide rail 31 is slidably connected with the sliding table 32, the driving wheel 34 and the driven wheel 35 are rotatably installed on the base 13, the output end of the translation motor 37 is in transmission connection with the driving wheel 34, the synchronous belt 36 is wound on the driving wheel 34 and the driven wheel 35, the synchronous belt 36 is connected with the sliding table 32 through the translation connecting seat 33, the sliding table 32 follows the synchronous belt 36 to move along the guide rail 31, the degree of freedom of linear movement is realized, the linear movement of the sliding table 32 is realized by driving the synchronous belt 36 through the translation motor 37 fixed on the measuring table 14, so that the measuring system has the degree of freedom of linear movement under a fixed posture, and the tail end of the robot is subjected to multi-position data acquisition by utilizing the high precision of linear motion, so that the precision of error measurement of the robot is ensured.
As shown in fig. 2 and 3, the turnover adjusting assembly 5 includes an adaptor 51, a turnover motor 52, and a connecting assembly 53;
one end of the adapter 51 is fixedly connected with the base 13, and the other end of the adapter passes through a cavity formed by the synchronous belt 36 and is connected with the output end of the connecting component 53;
the overturning motor 52 is used for driving the base 13 to overturn and provide power for the adapter 51, and the output end of the overturning motor 52 is in transmission connection with the input end of the connecting component 53.
As shown in fig. 2, the connection assembly 53 includes a revolute pair 531 and a connecting rod 532, an input end of the revolute pair 531 is fixedly connected with an output end of the turning motor 52, an output end of the revolute pair 531 is rotatably connected with an input end of the connecting rod 532, an output end of the connecting rod 532 is rotatably connected with the adapter 51, the measurement system pitch degree of freedom drives the connection assembly 53 through the turning motor 52 to realize the pitch of the measurement table 21, the connecting rod 532 is connected with the measurement table 14 through the revolute pair 531, and the connection assembly 53 can realize a movement range of the measurement table of 0 to 90 °.
As shown in fig. 4, the rotating assembly 4 includes a rotating electric machine 41, an external gear 42, and an internal gear 43;
the rotating motor 41 is arranged on the frame 12, the internal gear 43 is arranged on the top surface of the base 11, the frame 12 is rotatably connected with the top surface of the base 11, the internal gear 43 is positioned between the frame 12 and the base 11, the output end of the rotating motor 41 is in transmission connection with the external gear 42, and the external gear 42 is meshed with the internal gear 43;
when the rotary electric machine 41 is started, the external gear 42 rotates and revolves orbitally in the circumferential direction of the internal gear 43;
the rotating assembly 4 further comprises a conductive slip ring 44, the conductive slip ring 44 is mounted on the base 11, and is used for detecting the rotating angle of the frame 12; the measuring system has the advantages that the degree of freedom of rotation around the base 11 is achieved through a gear transmission mode, the inner gear 43 is fixed on the base 11, the rotating motor 41 is connected with the outer gear 42 and meshed with the fixed inner gear 43, the measuring system is driven to rotate when the motor rotates, and the rotating motion range of the measuring system can reach 0-360 degrees by installing the conductive sliding ring 44 in the base 13, so that the measuring range and the measuring working condition adaptability of the measuring system are guaranteed.
Install supporting component 6 on the base 11, supporting component 6 includes supporting seat 61 and fixation nut 62, 11 bottom surfaces of base and supporting seat 61 contact, 11 top surfaces of base and fixation nut 62 contact, supporting seat 61 and fixation nut 62 threaded connection.
As shown in fig. 2, fig. 3, and fig. 4, the measurement calibration mechanism 1 further includes a lithium battery 7 for providing energy for the power consumption components in the measurement calibration mechanism 1, and the lithium battery 7 is mounted on the base 11 through a battery mounting bracket 71, so that the measurement calibration system does not need an external power supply to work, can effectively adapt to a factory environment, reduces field preparation work, and realizes rapid error measurement and calibration of the robot 2.
The working principle is as follows: in the calibration process of the robot 2, a measurement calibration system is arranged on the working site of the robot 2, a measuring head 21 is arranged at the tail end of the robot 2, the measuring head 21 is driven to contact with the measurement calibration system by controlling the robot 2, and the relative position relation between the measurement calibration system and the robot 2 is calculated according to the joint motion amount of the robot 2; on the basis, the change of the posture of the calibration measurement system is realized by the movement of the translation motor 37, the overturning motor 52 and the rotating motor 41 of the posture adjustment measurement calibration system, and the movement amounts of the translation motor 37, the overturning motor 52 and the rotating motor 41 are recorded; and under a new posture, the robot 2 is driven to move, the measuring head 21 at the tail end of the robot 2 is driven to be in contact with the measuring and calibrating system, and the error value and calibration of the joint DH parameters of the robot 2 are realized by continuously circulating the processes.
Specifically, the measurement calibration system has three degrees of freedom, namely rotation around the base 11, pitching of the measurement table 14 and linear movement of the measurement table 14; in the calibration process of the robot 2, according to a preset calibration motion track, a translation motor 37, a turnover motor 52 and a rotating motor 41 of the measurement calibration system are respectively driven, so that the attitude change of the tail end measuring table of the measurement calibration system in space is realized, the robot 2 is driven to follow the tail end measuring table 14 of the measurement calibration system, and the motion amount of each joint of the robot 2 is recorded; by matching the relationship between the motion quantities of the translation motor 37, the turnover motor 52 and the rotating motor 41 of the measurement and calibration system and the motion quantities of all joints of the robot, error identification is carried out on the DH parameters of the robot, and the DH parameters in the robot control system are calibrated and compensated.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. A robot measurement calibration system is characterized by comprising a measurement calibration mechanism (1), a robot (2) and a measuring head (21) arranged at the tail end of the robot (2);
the measurement calibration mechanism (1) comprises a base (11), a rack (12), a base (13), a measuring table (14), a translation assembly (3), a rotation assembly (4) and a turnover adjusting assembly (5), wherein the measuring table (14) is used for butt joint of measuring heads (21);
the base (11) and the rack (12) are connected through a rotating assembly (4), and the rotating assembly (4) is used for driving the rack (12) to rotate so as to enable the measuring table (14) to rotate;
the rack (12) and the base (13) are connected through a turnover adjusting component (5), the rack (12) and the base (13) are rotatably connected, and the turnover adjusting component (5) is used for driving the rack (12) to turn over so as to enable the measuring table (14) to turn over;
the base (13) and the measuring table (14) are connected through a translation assembly (3), and the translation assembly (3) is used for driving the measuring table (14) to translate.
2. The robot measurement calibration system of claim 1, wherein: the overturning axis of the base plate is vertical to the rotating axis of the frame (12).
3. The robotic measurement calibration system of claim 1, wherein: a plurality of rotating shafts (131) are installed on the base (13), the axes of the rotating shafts (131) are parallel, and the rotating shafts (131) are rotatably connected with the rack (12) through bearings.
4. The robot measurement calibration system of claim 1, wherein: translation subassembly (3) include guide rail (31), with slide rail assorted slip table (32), translation connecting seat (33), action wheel (34), follow driving wheel (35), hold-in range (36) and translation motor (37), guide rail (31) and base (13) fixed connection, guide rail (31) and slip table (32) sliding connection, action wheel (34) and follow driving wheel (35) all rotate install in on base (13), the output and the drive wheel (34) transmission of translation motor (37) are connected, hold-in range (36) are around establishing on action wheel (34) and follow driving wheel (35), just hold-in range (36) are connected through translation connecting seat (33) and slip table (32), slip table (32) are followed hold-in range (36) and are removed along guide rail (31).
5. The robot measurement calibration system of claim 1, wherein: the overturning adjusting component (5) comprises an adapter (51), an overturning motor (52) and a connecting component (53);
one end of the adapter (51) is fixedly connected with the base (13), and the other end of the adapter penetrates through a cavity formed by the synchronous belt (36) in a surrounding mode and is connected with the output end of the connecting component (53);
the overturning motor (52) is used for driving the base (13) to overturn for the adapter (51) so as to provide power, and the output end of the overturning motor (52) is in transmission connection with the input end of the connecting component (53).
6. The robotic measurement calibration system of claim 5, wherein: the connecting assembly (53) comprises a revolute pair (531) and a connecting rod (532), the input end of the revolute pair (531) is fixedly connected with the output end of the turnover motor (52), the output end of the revolute pair (531) is rotatably connected with the input end of the connecting rod (532), and the output end of the connecting rod (532) is rotatably connected with the adapter (51).
7. The robotic measurement calibration system of claim 1, wherein: the rotating assembly (4) comprises a rotating motor (41), an external gear (42) and an internal gear (43);
the rotary motor (41) is installed on the rack (12), the internal gear (43) is installed on the top surface of the base (11), the rack (12) is rotatably connected with the top surface of the base (11), the internal gear (43) is located between the rack (12) and the base (11), the output end of the rotary motor (41) is in transmission connection with the external gear (42), and the external gear (42) is meshed with the internal gear (43);
when the rotating motor (41) is started, the external gear (42) rotates and revolves along the circumferential direction of the internal gear (43);
the rotating assembly (4) further comprises a conductive slip ring (44), wherein the conductive slip ring (44) is installed on the base (11) and is used for detecting the rotating angle of the frame (12).
8. The robot measurement calibration system of claim 1, wherein: install supporting component (6) on base (11), supporting component (6) are including supporting seat (61) and fixation nut (62), base (11) bottom surface and supporting seat (61) contact, base (11) top surface and fixation nut (62) contact, supporting seat (61) and fixation nut (62) threaded connection.
9. The robot measurement calibration system of claim 1, wherein: the measurement calibration mechanism (1) further comprises a lithium battery (7) used for providing energy for the electric elements in the measurement calibration mechanism (1), and the lithium battery (7) is installed on the base (11) through a battery installation support (71).
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| CN202210545492.7A CN114770605A (en) | 2022-05-19 | 2022-05-19 | Robot measurement calibration system |
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| CN202210545492.7A CN114770605A (en) | 2022-05-19 | 2022-05-19 | Robot measurement calibration system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115302519A (en) * | 2022-10-10 | 2022-11-08 | 广州太威机械有限公司 | Robot measuring and processing method |
| CN115302519B (en) * | 2022-10-10 | 2022-12-16 | 广州太威机械有限公司 | Robot measuring and processing method |
| CN117681253A (en) * | 2024-02-02 | 2024-03-12 | 武汉软件工程职业学院(武汉开放大学) | Performance test device for intelligent robot manufacturing |
| CN117681253B (en) * | 2024-02-02 | 2024-04-26 | 武汉软件工程职业学院(武汉开放大学) | Performance test device for intelligent robot manufacturing |
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