CN115265358A - Robot repeated positioning precision measuring device and method - Google Patents
Robot repeated positioning precision measuring device and method Download PDFInfo
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- CN115265358A CN115265358A CN202210689417.8A CN202210689417A CN115265358A CN 115265358 A CN115265358 A CN 115265358A CN 202210689417 A CN202210689417 A CN 202210689417A CN 115265358 A CN115265358 A CN 115265358A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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Abstract
The invention provides a device and a method for measuring the repeated positioning precision of a robot, wherein the device comprises a measuring sensing device, a measuring ball, a laser displacement sensor and a control device; one end of the measuring and sensing device is arranged on a flange at the tail end of the robot; the other end of the measuring and sensing device is fixed with the laser displacement sensor; the measuring ball is fixed in a working area of the robot; the measuring and sensing device acquires coordinates of the sphere center of the measuring ball to a flange coordinate system under different poses when the robot moves to the same position through the laser displacement sensor; and recording the coordinates for many times, and then calculating the repeated positioning precision value of the position by the control device. The invention is non-contact measurement, has higher precision, uses three laser displacement sensors and measuring balls, has low cost, simple and convenient operation, high measuring efficiency and wide application range.
Description
Technical Field
The invention relates to a robot precision test, in particular to a device and a method for measuring the repeated positioning precision of a robot.
Background
With the wide application of the robot technology in various industries, the precision requirement of the robot is higher and higher. At present, expensive precision measuring instruments such as a laser tracker, a three-coordinate measuring machine, a ball bar instrument and the like are generally used for measuring the repeated positioning precision of the robot, and professional personnel are required for operation.
Patent document CN201810424833.9 discloses a measuring device and a measuring method for the repeated positioning accuracy of a high-precision industrial robot, the device with a specific structure is adopted to realize the measurement of the repeated positioning accuracy of the industrial robot, the measuring cost is low, the accuracy is high, the operation is easy, the testing requirements of most robot manufacturers are met, and the product quality of the industrial robot is improved. However, the high precision of the measuring device depends on the accurate calibration of the position of the measuring head of the displacement measuring sensor and the direction of the measuring rod by using high-precision measuring equipment before the equipment leaves a factory, so that the high-precision equipment inevitably brings high cost. Meanwhile, if the measuring device is accidentally impacted and collided on a customer site, the mounting position of the displacement measuring sensor is deviated, and the measuring result is inevitably deviated from the actual value of the positioning precision of the measured robot sample, so that the measuring operation method is quite complex and tedious. Therefore, it is important to provide a robot precision measuring apparatus and method that can not only reduce the measuring cost, but also improve the measuring efficiency.
Disclosure of Invention
Aiming at the technical problems of expensive equipment, complex operation and the like of the robot repeated positioning precision measurement, the device and the method for measuring the robot repeated positioning precision are provided, the measurement cost is reduced, and the measurement efficiency is improved.
The invention provides a robot repeated positioning precision measuring device which comprises a measuring sensing device, a measuring ball, a laser displacement sensor and a control device, wherein the measuring ball is arranged on the measuring sensing device;
one end of the measuring and sensing device is arranged on a flange at the tail end of the robot;
the other end of the measuring and sensing device is fixed with the laser displacement sensor;
the measuring ball is fixed in a working area of the robot;
the measuring and sensing device acquires coordinates of the sphere center of the measuring ball to a flange coordinate system under different poses when the robot moves to the same position through the laser displacement sensor; and recording the coordinates for multiple times, and calculating the repeated positioning precision value of the position by the control device.
Further, the measuring ball is a smooth round steel ball.
Further, the laser displacement sensors are uniformly distributed and fixed along the circumference of the measuring and sensing device.
Further, the laser displacement sensors are at least provided in 3 numbers.
The invention also provides a method for measuring the repeated positioning precision of the robot, which adopts the device for measuring the repeated positioning precision of the robot and also comprises the following steps:
step1, determining the number i of the laser displacement sensors, and installing a measuring and sensing device on a flange at the tail end of the robot;
step2, fixing the measuring ball in a working space of the robot;
the Step3 robot executes the instruction to move to the designated position according to the instruction output by the control device, and records the readings l of the i laser displacement sensorsiI =1,2,3 …, where i is the number of laser beams; simultaneously recording robot joint angle thetaiCalculating the position of the sphere center of the measuring sphere relative to a robot flange coordinate system according to the radius r of the measuring sphere;
the Step4 robot repeatedly executes the command output by the control device, reaches the designated position n times, and records the position (rx) of the sphere center of the measuring sphere relative to the flange coordinate system n timesj,ryj,rzj) J =1,2,3 …, n, the geometric center of the n measurement points is calculated
Step5, calculating the repeated positioning precision rp.
Further, i laser beams emitted by i laser displacement sensors in Step2 can be converged together to jointly strike on the measuring ball.
Further, the method for calculating the position of the sphere center of the measurement sphere relative to the robot flange coordinate system in Step3 is as follows:
setting the initial coordinates of the laser displacement sensor relative to the robot flange coordinate system as (x)i,yi,zi) Then the coordinate of the laser point on the surface of the measuring sphere at this time is (x)i,yi,zi-li) Measuring the phase of the sphereThe coordinates (x, y, z) for the flange coordinate system can be obtained by solving the following system of equations,
(xi-x)2+(yi-y)2+(zi-z-li)2＝r2 ①
two groups of solutions can be obtained by solving;
according to the coordinates (x) of the laser spot on the surface of the measuring spherei,yi,zi-li) Solving a plane equation
Ax+By+Cz+D＝0 ②
Respectively substituting the two groups of solutions passing through the equation set (1) into Ax + By + Cz + D, and selecting a group of solutions of Ax + By + Cz + D > 0; wherein, A, B, C, D plane equation parameters
Further, the geometric center of the n measurement points in Step4
The calculation method comprises the following steps:
Further, the method for calculating the repeated location precision value rp in Step5 is as follows:
wherein
S is the standard deviation.
Further, n of n measurements in Step4 is more than or equal to 30.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention is used for the repeated positioning precision measurement of the robot, and has non-contact measurement and higher precision.
2. The device uses three laser displacement sensors and measuring balls, has low cost, simple and convenient operation and high measuring efficiency, and can be widely applied to medium-sized and small enterprises.
3. The components or equipment adopted by the device can be selected from the existing mature commercial products, and the device has good feasibility in practice.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a repeated positioning precision measuring device of a robot according to the present invention;
the figures show that:
robot 1
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a robot repeated positioning precision measuring device which is characterized by comprising a measuring sensing device 2, a measuring ball 3, a laser displacement sensor 4 and a control device, wherein the measuring sensing device comprises a laser displacement sensor and a laser displacement sensor; one end of the measuring and sensing device 2 is arranged on a flange at the tail end of the robot 1; the other end of the measuring and sensing device 2 is fixed with the laser displacement sensors 4, specifically, the laser displacement sensors 4 are uniformly distributed and fixed along the circumference of the measuring and sensing device 2, and at least 3 are arranged. The measuring ball 3 is fixed in the working area of the robot 1; the measuring and sensing device 2 acquires coordinates of the center of the measuring ball 3 to a flange coordinate system under different poses when the robot 1 moves to the same position through the laser displacement sensor 4; and recording the coordinates for multiple times, and calculating the repeated positioning precision value of the position by the control device. Specifically, the measuring ball 3 is a smooth round steel ball.
The invention also provides a method for measuring the repeated positioning precision of the robot, which adopts a device for measuring the repeated positioning precision of the robot and also comprises the following steps:
step1, determining the number of the laser displacement sensors 4 to be i, and installing the measuring and sensing device 2 on a flange at the tail end of the robot 1; the number of laser displacement sensors 4 used in this embodiment is 3, i =1,2,3.
Step2, fixing the measuring ball 3 in the working space of the robot 1;
step3 robot 1 executes the instruction according to the instruction output by the control device, moves to the designated position, and records the reading l of 3 laser displacement sensors 4iI =1,2,3, where i is the number of laser beams; simultaneously recording the angle theta of the 1 joint of the robotiCalculating the position of the sphere center of the measuring sphere 3 relative to the flange coordinate system of the robot 1 according to the radius r of the measuring sphere 3;
the Step4 robot 1 repeatedly executes the command output by the control device, reaches the designated position n times, and records the position (rx) of the sphere center of the measuring ball 3 relative to the flange coordinate system n timesj,ryj,rzj) J =1,2,3 …, n, the geometric center of the n measurement points is calculated
Step5, calculating the repeated positioning precision rp.
The working principle of the invention is as follows:
regarding the robot repeated positioning precision measuring device: the robot comprises a measuring and sensing device 2 arranged on a flange at the tail end of a robot 1, a measuring ball 3 is fixed in a working area of the robot 1, three laser displacement sensors 4 are arranged on the measuring and sensing device 2, and coordinates of the center of the measuring ball 3 at different poses of the robot are obtained through the laser displacement sensors 4.
As shown in fig. 1, one end of the measuring and sensing device 2 is mounted on a flange of the robot 1, and the other end is uniformly distributed and fixed with three laser displacement sensors 4 along the circumference of the measuring and sensing device 2. The measuring ball 3 is placed in the working area of the robot 1, so that the surface of the measuring ball 3 can be measured by the laser displacement sensor 4 when the robot 1 is moved.
A method of robot repositioning accuracy comprising the steps of:
1) Determining the number of the laser displacement sensors 4 to be 3, and installing the measuring and sensing device 2 on a flange at the tail end of the robot 1; the flange end is provided with a measuring and sensing device 2 which can measure the distance from the measuring and sensing device 2 to the measuring ball 3. In practical application, the measurement sensing device 2 selects a device with high measurement device precision.
2) Fixing the measuring ball 3 in the working space of the robot 1; generally, any fixing method can be adopted as long as the measuring ball 3 is fixed in the working space of the robot 1, can receive and reflect the laser from the laser displacement sensor 4, and is convenient for measuring the distance. For example, the measuring ball 3 can be fixed by screws or directly placed on a workbench, and only the measuring ball 3 is ensured not to move in the measuring process. The measuring ball 3 can be a smooth round steel ball, the diameter of the measuring ball is a certain size, and the situation that laser beams cannot be received and reflected due to the fact that the measuring ball is too small is avoided.
3) The robot 1 executes the instruction movement, so that laser beams of the three laser displacement sensors 4 (the laser displacement sensors 4 are distributed in a circumferential manner, and the three beams of light are converged as much as possible) can be irradiated on the measuring ball 3, and the readings l of the three laser displacement sensors 4 are recordediI =1,2,3,i is the number of laser beams; simultaneously recording the angle theta of the 1 joint of the robotiAnd the position of the sphere center of the measuring sphere 3 relative to the flange coordinate system of the robot 1 can be calculated according to the radius r of the measuring sphere 3 by the following calculation method:
the radius r of the measuring ball 3 and the initial coordinate of the laser displacement sensor 4 relative to the robot flange coordinate system are respectively (x)i,yi,zi) I =1,2,3, the coordinates of the laser spot on the surface of the measuring sphere 3 at this time are (x)i,yi,zi-li) And =1,2,3, the coordinates (x, y, z) of the sphere center of the measuring sphere 3 with respect to the flange coordinate system can be obtained by solving the following equation system,
(xi-x)2+(yi-y)2+(zi-z-li)2＝r2,i＝1,2,3 ①
two groups of solutions can be obtained by solving;
according to the coordinate (x) of the laser point on the surface of the measuring ball 3i,yi,zi-li) I =1,2,3
Ax+By+Cz+D＝0 ②
Respectively substituting the two groups of solutions passing through the equation set (1) into Ax + By + Cz + D, and selecting a group of solutions of Ax + By + Cz + D > 0; wherein, A, B, C and D plane equation parameters.
4) The robot 1 repeatedly executes the same instruction to reach the position for n times (n is more than or equal to 30), and the position (rx) of the sphere center of the measuring ball 3 relative to the flange coordinate system is recorded for n timesj,ryj,rzj) J =1,2,3 …, n, calculating the geometric center of the n measurement points
Where j =1,2,3 …, n.
5) Calculating the repeated positioning accuracy
Wherein
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The robot repeated positioning precision measuring device is characterized by comprising a measuring sensing device (2), a measuring ball (3), a laser displacement sensor (4) and a control device;
one end of the measuring and sensing device (2) is arranged on a flange at the tail end of the robot (1);
the other end of the measuring and sensing device (2) is fixed with the laser displacement sensor (4);
the measuring ball (3) is fixed in the working area of the robot (1);
the measurement sensing device (2) acquires coordinates of the sphere center of the measurement ball (3) to a flange coordinate system under different poses when the robot (1) moves to the same position through the laser displacement sensor (4); and recording the coordinates for many times, and calculating the repeated positioning accuracy value of the position by using a control device.
2. The robot repositioning accuracy measuring device according to claim 1, wherein the measuring ball (3) is a smooth round steel ball.
3. The robot repositioning accuracy measuring device according to claim 1, wherein the laser displacement sensors (4) are uniformly distributed and fixed along the circumference of the measuring and sensing device (2).
4. The robot repositioning accuracy measuring device according to claim 1, wherein at least 3 laser displacement sensors (4) are provided.
5. A method for measuring the accuracy of robot repositioning, which is characterized by using the apparatus for measuring the accuracy of robot repositioning according to claims 1-4, and further comprising the steps of:
step1, determining the number of the laser displacement sensors (4) to be used as i, and installing the measuring and sensing device (2) on a flange at the tail end of the robot (1);
step2, fixing the measuring ball (3) in the working space of the robot (1);
the Step3 robot (1) executes the command to move to the designated position according to the command output by the control device, and records the readings l of the i laser displacement sensors (4)iI =1,2,3, where i is the number of laser beams; simultaneously recording the joint angle theta of the robot (1)iCalculating the position of the sphere center of the measuring ball (3) relative to a flange coordinate system of the robot (1) according to the radius r of the measuring ball (3);
the Step4 robot (1) repeatedly executes the command output by the control device, reaches the designated position n times, and records the position (rx) of the sphere center of the measuring sphere (3) relative to the flange coordinate system n timesj，ryj，rzi) J =1,2,3.., n, the geometric center of the n measurement points is calculated
Step5, calculating the repeated positioning precision rp.
6. The method for measuring the repeated positioning accuracy of the robot as claimed in claim 5, wherein the i laser beams emitted by the i laser displacement sensors (4) in Step2 can be converged together and jointly hit on the measuring ball (3).
7. The method for measuring the precision of robot repeated positioning according to claim 6, wherein the method for calculating the position of the center of the measuring ball (3) relative to the flange coordinate system of the robot (1) in Step3 is as follows:
setting the initial coordinates of the laser displacement sensor (4) relative to the robot flange coordinate system as (x)i，yi，zi) Then the coordinate of the laser point on the surface of the measuring ball (3) is (x)i，yi，zi-li) Measure, measureThe coordinates (x, y, z) of the centre of the sphere (3) relative to the flange coordinate system can be obtained by solving the following system of equations,
(xi-x)2+(yi-y)2+(zi-z-li)2＝r2①
two groups of solutions can be obtained by solving;
according to the coordinate (x) of the laser point on the surface of the measuring ball (3)i，yi，zi-li) Solving a plane equation
Ax+By+Cz+D＝0②
Respectively substituting the two groups of solutions passing through the equation set (1) into Ax + By + Cz + D, and selecting a group of solutions with Ax + By + Cz + D > 0; wherein, A, B, C and D are plane equation parameters.
8. The method of claim 7, wherein the geometric center of the n measurement points in Step4 is measured
The calculation method comprises the following steps:
9. The method of claim 8, wherein the Step5 for calculating the repositioning accuracy rp comprises:
wherein
S is the standard deviation.
10. The method of claim 9, wherein n is greater than or equal to 30 in Step 4.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117644306A (en) * | 2024-01-30 | 2024-03-05 | 武汉新耐视智能科技有限责任公司 | Focus detection device and method for robot laser remote welding equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117644306A (en) * | 2024-01-30 | 2024-03-05 | 武汉新耐视智能科技有限责任公司 | Focus detection device and method for robot laser remote welding equipment |
| CN117644306B (en) * | 2024-01-30 | 2024-05-03 | 武汉新耐视智能科技有限责任公司 | Focus detection device and method for robot laser remote welding equipment |
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