CN114800606A - Calibration system and calibration method for linear distance sensor of continuum mechanical arm - Google Patents
Calibration system and calibration method for linear distance sensor of continuum mechanical arm Download PDFInfo
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- CN114800606A CN114800606A CN202210324865.8A CN202210324865A CN114800606A CN 114800606 A CN114800606 A CN 114800606A CN 202210324865 A CN202210324865 A CN 202210324865A CN 114800606 A CN114800606 A CN 114800606A
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- 230000003287 optical effect Effects 0.000 claims abstract description 34
- 238000006073 displacement reaction Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000003750 conditioning effect Effects 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims 2
- 238000009434 installation Methods 0.000 description 4
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229920002302 Nylon 6,6 Polymers 0.000 description 1
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- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 239000000696 magnetic material Substances 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
- 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
- B25J19/021—Optical sensing devices
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Abstract
The invention discloses a calibration system and a calibration method for a continuous body mechanical arm linear distance sensor, wherein the system comprises a control unit, a linear sliding table, an optical reflector and a sensor mounting platform; the optical reflector is arranged on the linear sliding table, the sensor mounting platform is arranged at one end of the linear sliding table, and the optical reflector and the linear distance sensor to be measured on the sensor mounting platform are arranged along the motion direction of the linear sliding table; the control unit is used for controlling the linear sliding table to move according to preset displacement so as to drive the optical reflector on the linear sliding table to move linearly; the linear distance sensor to be detected is used for detecting flight time information changed by the movement of the optical reflector and converting the flight time information into linear distance information; the control unit is connected with the linear distance sensor to be detected and used for acquiring linear distance information detected by the linear distance sensor to be detected and comparing the linear distance information with preset displacement to realize calibration of the linear distance sensor to be detected. The invention has the advantages of simple structure, convenient operation and the like.
Description
Technical Field
The invention mainly relates to the technical field of sensor calibration, in particular to a calibration system and a calibration method for a continuous body mechanical arm linear distance sensor.
Background
The mechanical arm is widely applied in the industry, and in the process of completing operation tasks such as object grabbing, the mechanical arm needs to accurately know the position information of the mechanical arm and is used for enabling the tail end of the mechanical arm to approach a target point to complete a specified task. Most of the position information is acquired by an internal sensor, and a linear distance sensor is used for detecting the linear distance. The precision requirement of the continuum mechanical arm on the measurement of the linear distance is high, but measurement errors can be generated due to the fact that various sensors are influenced by a plurality of factors in the operation process, and subsequent operation and use can be influenced if the sensors are not calibrated. The linear distance sensor of the continuum mechanical arm is calibrated, so that the measurement precision of the linear distance can be effectively improved, and the form detection capability of the continuum mechanical arm is greatly improved.
The existing calibration system for the linear distance sensor is lack of universality, the sensor is often corresponding to a calibration system, in addition, the user software for calibration has simple functions, is difficult to be competent for complex and various calibration tasks, and the software functions in the aspects of state display, setting, detection and control are weak.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problems in the prior art, the invention provides a calibration system and a calibration method for a continuous body mechanical arm linear distance sensor, which are simple in structure and simple and convenient to operate.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a calibration system for a linear distance sensor of a continuum mechanical arm comprises a control unit, a linear sliding table, an optical reflector and a sensor mounting platform; the optical reflector is arranged on the linear sliding table, the sensor mounting platform is arranged at one end of the linear sliding table, and the optical reflector and the linear distance sensor to be measured on the sensor mounting platform are arranged along the motion direction of the linear sliding table; the control unit is connected with the linear sliding table and is used for controlling the linear sliding table to move according to preset displacement so as to drive the optical reflector on the linear sliding table to move linearly; the linear distance sensor to be detected is used for detecting flight time information changed by the movement of the optical reflector and converting the flight time information into linear distance information; the control unit is connected with the linear distance sensor to be detected and used for acquiring linear distance information detected by the linear distance sensor to be detected and comparing the linear distance information with preset displacement to realize calibration of the linear distance sensor to be detected.
As a further improvement of the above technical solution:
one side or two sides of the linear sliding table are provided with linear distance detection pieces for detecting the linear motion displacement value of the linear sliding table; the control unit is connected with the linear distance detection piece and used for realizing closed-loop control of the linear sliding table according to the linear motion displacement value or calibrating the linear distance sensor to be detected according to the linear motion displacement value.
The linear distance detection piece is a linear grating ruler.
The linear sliding table and the sensor mounting platform are mounted on the damping table.
The linear distance sensor to be measured is installed on the sensor installation platform through an installation component, and the installation component is fastened on the sensor installation platform through a fastening piece.
The optical reflector is arranged on the linear sliding table through a mounting bracket; the bottom of the mounting bracket is provided with a cylindrical structure which is clamped in a clamping hole on the upper surface of the linear sliding table; or the mounting bracket is fastened on the linear sliding table through a flange plate.
The control unit comprises an integrated controller and a data acquisition module, and the data acquisition module is used for A/D conversion, signal conditioning and signal measurement; the integrated controller is used for data acquisition, analysis and recording.
The invention also discloses a calibration method based on the continuous body mechanical arm linear distance sensor calibration system, which comprises the following steps:
the control unit controls the linear sliding table to linearly move according to a preset displacement so as to drive the optical reflector on the linear sliding table to linearly move;
the linear distance sensor to be detected detects the flight time information changed by the linear motion of the optical reflector and converts the flight time information into linear distance information;
the control unit acquires linear distance information detected by the linear distance sensor to be detected, and compares the linear distance information with preset displacement to realize calibration of the linear distance sensor to be detected.
As a further improvement of the above technical solution:
further comprising: in the process of the movement of the linear sliding table, the linear movement displacement value of the linear sliding table is detected in real time to realize the closed-loop control of the linear sliding table, or the linear distance sensor to be detected is calibrated according to the linear movement displacement value.
Compared with the prior art, the invention has the advantages that:
according to the calibration system of the continuous mechanical arm linear distance sensor, the linear sliding table is controlled to linearly move according to the preset displacement, then the optical reflector is driven to linearly move, and the linear distance sensor to be detected detects the flight time information changed by the linear movement of the optical reflector and converts the flight time information into linear distance information; the method comprises the steps of obtaining linear distance information detected by a linear distance sensor to be detected, and comparing the linear distance information with preset displacement to realize calibration of the linear distance sensor to be detected, wherein the structure is simple and the operation is simple and convenient; the calibration system for the linear distance sensor of the continuum mechanical arm can accurately measure the linear distance, and analyze the minimum output variable quantity and the maximum output error of the linear distance sensor under the specified linear distance resolution so as to calibrate the linear distance.
Drawings
FIG. 1 is a block diagram of an embodiment of a calibration system of the present invention.
FIG. 2 is a diagram of an embodiment of the calibration system of the present invention in a specific application.
Fig. 3 is a perspective structural view of an embodiment of a sensor mounting platform in the calibration system of the present invention.
Fig. 4 is a perspective structural view of an embodiment in which a sensor to be measured in the calibration system is mounted on a sensor mounting bracket according to the present invention.
Fig. 5 is a perspective view of an embodiment of a reflector mounting bracket for mounting a reflector in a calibration system according to the present invention.
FIG. 6 is a flow chart of an embodiment of a calibration method of the present invention.
Illustration of the drawings: 1. a linear sliding table; 2. a linear distance detecting member; 201. a linear grating ruler; 3. mounting a bracket; 4. an optical reflector; 5. mounting a platform; 6. a linear distance sensor to be measured; 7. mounting the component; 8. a damping table; 9. a control unit.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 1 and 2, the calibration system for the continuous body mechanical arm linear distance sensor according to the embodiment of the present invention includes a control unit 9, a linear sliding table 1, a mounting bracket 3, an optical reflection plate 4 and a sensor mounting platform 5, wherein the optical reflection plate 4 is fixed to the linear sliding table 1 through the mounting bracket 3, the sensor mounting platform 5 is mounted at a fixed end of the linear sliding table 1, and the optical reflection plate 4 and the linear distance sensor 6 to be measured on the sensor mounting platform 5 are sequentially arranged along a movement direction of the linear sliding table 1; the control unit 9 is connected with the linear sliding table 1 and is used for controlling the linear sliding table 1 to linearly move according to preset displacement so as to drive the optical reflector 4 on the mounting bracket 3 to linearly move; the linear distance sensor 6 to be detected is used for detecting flight time information changed by the linear motion of the optical reflector 4 and converting the flight time information into linear distance information; the control unit 9 is connected to the linear distance sensor 6 to be measured, and is configured to obtain linear distance information detected by the linear distance sensor 6 to be measured, and compare the linear distance information with a preset displacement to calibrate the linear distance sensor 6 to be measured. Specifically, the optical reflector 4 receives laser information emitted by the linear distance sensor 6 and reflects the laser information back to the linear distance sensor 6, so that the linear distance sensor 6 to be measured collects flight time information, encodes the flight time information into linear distance information again, and transmits the linear distance information to the control unit 9.
According to the calibration system of the continuous mechanical arm linear distance sensor, linear motion is controlled through the linear sliding table 1 according to preset displacement, then the optical reflector 4 on the reflector mounting bracket 3 is driven to linearly move, and the linear distance sensor 6 to be measured detects flight time information changed by the linear motion of the optical reflector 4 and converts the flight time information into linear distance information; the control unit 9 acquires linear distance information detected by the linear distance sensor 6 to be detected, and compares the linear distance information with preset displacement to realize calibration of the linear distance sensor 6 to be detected, and the structure is simple and the operation is simple and convenient; the calibration system for the linear distance sensor of the continuum mechanical arm can accurately measure the position of the linear distance, and analyze the minimum output variable quantity and the maximum output error of the linear distance sensor under the specified linear distance resolution so as to calibrate the linear distance.
In a specific embodiment, two sides 6 of the linear sliding table 1 are provided with linear distance detection parts 2 (such as a linear grating ruler 201 and the like) for detecting a linear motion displacement value of the linear sliding table 1; the control unit 9 is connected with the linear distance detection part 2 and used for realizing closed-loop control of the linear sliding table 1 according to the linear motion displacement value and ensuring the reliability of linear motion of the linear sliding table 1; or the linear distance sensor 6 to be measured is calibrated according to the linear motion displacement value, so that the reliability of calibration is improved.
In one embodiment, the linear slide 1 is mounted on a shock mount 8 by means of M6 screws. The mounting bracket 3 is fixed on the top end of the linear sliding table 1 through M6 screws. The sensor mounting platform 5 is mounted on the shock absorbing table 8 by M6 screws. The main material of the sensor mounting platform 5 is non-conductive non-magnetic material nylon 66, and the surface is polished. According to the size of different linear distance sensors 6, the sensor mounting assembly 7 (mounting bracket) with special size is processed, the sensor mounting bracket is fixedly connected with the sensor mounting platform 5 through M4 threaded holes at the upper end and the lower end, and the linear distance sensor 6 to be measured is mounted on the sensor mounting platform 5 through the sensor mounting bracket.
Specifically, the linear sliding table 1 comprises a sliding table main body and a servo motor, wherein the sliding table main body is made of aluminum alloy, the surface of the sliding table main body is subjected to anodic oxidation blackening treatment, and the sliding table main body is driven by the motor. The linear sliding table 1 is driven by a high-precision ball screw, and combines an anti-loosening and anti-axial-movement structure, so that the screw is effectively prevented from loosening and axially moving, the precision is high, the axial clearance is small, and the service life is long; the guide rail of the linear sliding table 1 adopts a high-precision linear slider guide rail, and the whole body is connected with the bottom plate, so that a larger load can be borne; the guide rail is reasonably fixed by adopting the fine grinding bottom plate, so that the pitching and shimmying of the linear sliding table 1 are effectively reduced, and the linearity and the parallelism of the motion of the linear sliding table 1 are improved; an elastic coupling is adopted to connect the motor and the ball screw, so that the eccentric disturbance and the working noise of the linear sliding table 1 are effectively reduced; the side surface is provided with the linear grating ruler 201, so that the integral positioning precision of the sliding table is improved.
The invention is provided with the reflector mounting bracket 3, the sensor mounting platform 5 and the sensor mounting bracket, can detect various inductive linear distance sensors, can be provided with different sensor mounting brackets according to different actual sizes of the linear distance sensors, and has the characteristics of strong universality and adaptability and convenient operation;
the invention relates to a special-designed workbench for realizing accurate calibration of a linear distance sensor, which comprises a data acquisition system, an electric control system and a user computer, and can be used for randomly adjusting linear distance data of the linear distance sensor, synchronously recording standard linear distance output of a linear sliding table 1 and linear distance output of a measured linear distance sensor, and recording and analyzing minimum output variable quantity, maximum absolute error and maximum relative error under a given linear distance resolution.
As shown in fig. 6, the calibration method based on the calibration system for the linear distance sensor of the continuum robot arm according to the embodiment of the present invention includes the steps of:
the control unit 9 controls the linear sliding table 1 to move linearly according to a preset displacement so as to drive the optical reflector 4 on the reflector mounting bracket 3 to move linearly;
the linear distance sensor 6 to be measured detects the flight time information changed by the linear motion of the optical reflector 4 and converts the flight time information into linear distance information;
the control unit 9 obtains the linear distance information detected by the linear distance sensor 6 to be measured, and compares the linear distance information with a preset linear distance to calibrate the linear distance sensor 6 to be measured.
The calibration method has simple process and simple and convenient operation.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (9)
1. A calibration system for a linear distance sensor of a continuum mechanical arm is characterized by comprising a control unit (9), a linear sliding table (1), an optical reflector (4) and a sensor mounting platform (5); the optical reflector (4) is arranged on the linear sliding table (1), the sensor mounting platform (5) is arranged at one end of the linear sliding table (1), and the optical reflector (4) and the linear distance sensor (6) to be measured on the sensor mounting platform (5) are arranged along the movement direction of the linear sliding table (1); the control unit (9) is connected with the linear sliding table (1) and is used for controlling the linear sliding table (1) to move according to preset displacement so as to drive the optical reflector (4) on the linear sliding table (1) to move linearly; the linear distance sensor (6) to be measured is used for detecting flight time information changed by the movement of the optical reflector (4) and converting the flight time information into linear distance information; the control unit (9) is connected with the linear distance sensor (6) to be detected and used for acquiring linear distance information detected by the linear distance sensor (6) to be detected and comparing the linear distance information with preset displacement to realize calibration of the linear distance sensor (6) to be detected.
2. The continuum robot arm linear distance sensor calibration system according to claim 1, wherein one or both sides of the linear sliding table (1) are provided with linear distance detection pieces (2) for detecting linear motion displacement values of the linear sliding table (1); the control unit (9) is connected with the linear distance detection piece (2) and is used for realizing closed-loop control of the linear sliding table (1) according to the linear motion displacement value or calibrating the linear distance sensor (6) to be detected according to the linear motion displacement value.
3. The continuum arm linear distance sensor calibration system of claim 2, characterized in that the linear distance detection element (2) is a linear grating scale (201).
4. The continuum robot arm linear distance sensor calibration system of claim 1, 2 or 3, further comprising a shock absorption table (8), wherein the linear sliding table (1) and the sensor mounting platform (5) are both mounted on the shock absorption table (8).
5. The continuum robot arm linear distance sensor calibration system of claim 1, 2 or 3, characterized in that a linear distance sensor (6) to be tested is mounted on the sensor mounting platform (5) by a mounting assembly (7), the mounting assembly (7) being fastened to the sensor mounting platform (5) by fasteners.
6. The continuum robot arm linear distance sensor calibration system of claim 1, 2 or 3, characterized in that the optical reflector (4) is mounted on the linear slipway (1) by a mounting bracket (3); the bottom of the mounting bracket (3) is provided with a cylindrical structure which is clamped in a clamping hole on the upper surface of the linear sliding table (1); or the mounting bracket (3) is fastened on the linear sliding table (1) through a flange plate.
7. The continuum robot arm linear distance sensor calibration system of claim 1, 2 or 3, characterized in that the control unit (9) comprises an integrated controller and data acquisition module for a/D conversion, signal conditioning and signal measurement; the integrated controller is used for data acquisition, analysis and recording.
8. A calibration method of the calibration system of the continuum mechanical arm linear distance sensor based on any one of claims 1 to 7 is characterized by comprising the following steps:
the control unit (9) controls the linear sliding table (1) to linearly move according to preset displacement so as to drive the optical reflector (4) on the linear sliding table (1) to linearly move;
the linear distance sensor (6) to be measured detects the flight time information changed by the linear motion of the optical reflector (4) and converts the flight time information into linear distance information;
the control unit (9) acquires linear distance information detected by the linear distance sensor (6) to be detected, and compares the linear distance information with preset displacement to realize calibration of the linear distance sensor (6) to be detected.
9. The calibration method according to claim 8, further comprising: in the process of movement of the linear sliding table (1), the linear movement displacement value of the linear sliding table (1) is detected in real time to realize closed-loop control of the linear sliding table (1), or the linear distance sensor (6) to be detected is calibrated according to the linear movement displacement value.
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| CN202210324865.8A CN114800606A (en) | 2022-03-30 | 2022-03-30 | Calibration system and calibration method for linear distance sensor of continuum mechanical arm |
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| CN202210324865.8A CN114800606A (en) | 2022-03-30 | 2022-03-30 | Calibration system and calibration method for linear distance sensor of continuum mechanical arm |
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