CN115468502A - Device and method for measuring tail ends of space parallel robots driven by flexible thin rods - Google Patents
Device and method for measuring tail ends of space parallel robots driven by flexible thin rods Download PDFInfo
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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
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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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
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Abstract
The invention belongs to the technical field of space motion mechanism measurement, and particularly relates to a device and a method for measuring the tail end of a space parallel robot driven by a flexible thin rod, wherein the measuring device comprises a rack, a driving joint, a flexible beam, a displacement guide mechanism, a tail end mechanism and a laser sensor group; the displacement guide mechanism is arranged on the rack, and a gap for the flexible beam to pass through is arranged on the displacement guide mechanism; the displacement guide mechanism is used for guiding the movement direction of the flexible beam and stabilizing the posture of the flexible beam; one end of the flexible beam is clamped by the driving joint, and the other end of the flexible beam is connected with the tail end mechanism; under the drive of the drive joint, each flexible beam is subjected to bending deformation under the action of the friction force of the drive joint on the flexible beam and the pressure of the tail end mechanism on the flexible beam, and the tail end mechanism is driven to generate three-dimensional motion. The invention can solve the technical problem that the pose of the tail end mechanism of the existing robot cannot be accurately measured in multiple degrees of freedom by using a single sensor type.
Description
Technical Field
The invention belongs to the technical field of space motion mechanism measurement, and particularly relates to a device and a method for measuring tail ends of space parallel robots driven by flexible thin rods.
Background
In the prior art, a multi-joint robot comprises a plurality of connecting rods connected through joints, and an engineer controls the joints to move or rotate through a driver so that a tail end mechanism of the robot can reach an expected pose, further interact with the environment and complete the work given by the engineer. On the premise that the accurate pose of the robot at a certain moment is known, the pose of the end mechanism expected by people is substituted into an inverse kinematics equation in a resolving machine to solve the length of the connecting rod and the variable of the joint, and then the end mechanism is input into a controller to control a driver to enable the joint to generate corresponding linear displacement or angle, so that the end mechanism of the robot can move to the expected pose at the next moment. Therefore, accurate calculation of the pose of the end mechanism of the robot is particularly important in the robot field. The realization of the multi-degree-of-freedom measurement of the pose of the robot end mechanism is the key for accurately calculating the motion track of the robot and improving the motion precision. The method for calculating the pose of the end mechanism by building the end mechanism sensor is undoubtedly an effective solution.
However, the degree of freedom which can be detected by a single sensor in China is limited at present, and the pose of the robot end mechanism cannot be accurately measured only by carrying the single sensor, so that the technical scheme of carrying a plurality of laser range finders and camera combinations to measure the pose of the robot end mechanism in multiple degrees of freedom exists in the prior art, but the technical scheme needs to use different types of devices and highly depends on the shooting precision of the cameras, and the problems that the measurement algorithm is complex, the measurement result is not accurate enough and the like exist.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a device and a method for measuring the tail end of a space parallel robot driven by a flexible thin rod.
On one hand, the embodiment of the invention provides a flexible thin rod driven tail end measuring device of a space parallel robot, which comprises a rack, a driving joint, a flexible beam, a displacement guide mechanism, a tail end mechanism and a laser sensor group, wherein the rack is provided with a plurality of driving joints; the laser sensor group is arranged on the tail end mechanism; the driving joint is arranged on the frame;
the displacement guide mechanism is arranged on the rack, and a gap for the flexible beam to pass through is arranged on the displacement guide mechanism; the displacement guide mechanism is used for guiding the movement direction of the flexible beam and stabilizing the posture of the flexible beam;
the flexible beam is provided with a plurality of flexible beams, one end of each flexible beam is clamped by the driving joint, and the other end of each flexible beam is connected with the tail end mechanism; under the drive of the driving joints, each flexible beam is subjected to bending deformation under the action of the friction force of the driving joints on the flexible beam and the pressure of the tail end mechanism on the flexible beam, and the tail end mechanism is driven to generate three-dimensional motion.
Preferably, the displacement guide mechanism is a bearing support, the bearing support comprises a first bearing, a second bearing and a support, the second bearing and the first bearing are both arranged on the support, and the first bearing is positioned below the second bearing; the second bearing is parallel to the axis of the first bearing, and a gap is left between the second bearing and the first bearing for the flexible beam to pass through. Further preferably, the radius of the first bearing is smaller than the radius of the second bearing.
Preferably, the driving joint comprises a motor, a motor bracket, an extrusion bracket, a bearing and a feeding gear;
the motor bracket comprises a first mounting surface and a second mounting surface which are perpendicular to each other, a motor is fixed on the first mounting surface, and the second mounting surface is connected with the rack; two extrusion supports are arranged and are fixed on the first mounting surface of the motor support, and a bearing and a feeding gear are fixed between the inner sides of the two extrusion supports; the feeding gear is connected with the output end of the motor, and a gap through which the flexible beam passes is reserved between the feeding gear and the bearing.
Furthermore, a joint is fixed on the outer side of each extrusion support, a hose is fixed inside each joint, and the hose is overlapped with the axis of each joint and passes through a gap between the feeding gear and the bearing; the joint is sleeved at the tail end of the flexible beam.
On the other hand, the embodiment of the invention also provides a method for measuring the tail end of the space parallel robot driven by the flexible thin rod, which comprises the following steps:
when the tail end mechanism has no angle around the X axis and the Y axis, the measured values of all the laser sensors in the laser sensor group are equal, the height h of the tail end mechanism relative to the bottom surface of the rack is calculated by using the difference between the height of the rack and the measured values, and the expression is as follows:
h＝H-d i
where H is the frame height, d i Is the measured value of each laser sensor, i is the serial number of the laser sensor;
controlling the tail end mechanism to rotate around an X axis and a Y axis, and recording the measured value of the laser sensor;
respectively taking the center O of a square on the bottom surface of the rack and the center O of the tail end mechanism as original points, establishing a base coordinate system O-XYZ and a movable coordinate system O-XYZ, defining the positive and negative of angles around the coordinate axis of the movable coordinate system, wherein the positive and negative only represent directions, and when viewed from the positive direction of the coordinate axis, the angle around the X axis is set to be alpha, the angle around the Y axis is set to be beta, and the counterclockwise angle is set to be positive;
the rotation angles of the tail end mechanism around the X axis and the Y axis are divided into eight conditions; the positive and negative conditions of alpha and beta are respectively: +, -; +, +; -, +; -, -;0, -;0, +; plus, 0; -,0;
in different situations, respectively projecting the tail end mechanism, the laser emission point, the laser and the top plate onto a coordinate plane of a moving coordinate system, constructing a right triangle by making a horizontal line, solving angles around an X axis and a Y axis by utilizing an arctangent function, and further deducing an expression of h;
by the change in the magnitude of the measurement value, the amount of translation in the Z-axis direction and the amount of rotation about the X and Y axes of the tip mechanism are obtained.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention can simultaneously measure the translation amount in the Z-axis direction and the rotation amount around the X axis and the Y axis without depending on a visual recognition tool, has three degrees of freedom and high measurement efficiency.
2. The invention adopts the laser sensor to measure, belongs to non-contact measurement, does not depend on the precision of other parts, and does not influence the movement of the tail end mechanism.
3. The measuring precision of the invention is determined by the precision of a single type of sensor, the invention preferably uses a laser sensor with micron-scale resolution, and the overall precision of the measuring device is high.
4. The method has the advantages of concise calculation algorithm and short calculation time, can improve the measurement feedback speed, can better improve the real-time performance of the full closed-loop motion control, and is convenient for a space motion mechanism to realize the full closed-loop control.
Drawings
FIG. 1 is a schematic structural diagram of a space parallel robot end measuring device driven by a flexible thin rod in an embodiment of the invention;
FIG. 2 is a block diagram of a bearing support in an embodiment of the invention;
FIG. 3 is a structural view of a drive joint in the embodiment of the invention;
FIG. 4 is a top view of an end mechanism carrying four laser displacement sensors according to an embodiment of the present invention;
FIG. 5 is an equivalent model diagram of the spatial motion mechanism in the embodiment of the present invention;
FIG. 6 is a geometric projection of the tip mechanism, laser, and top plate of an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the invention, and not to limit the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" comprises 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.
Examples
As shown in fig. 1, the device for measuring the tail end of the space parallel robot driven by the flexible thin rod in the embodiment includes a top plate 1, a frame 2, a driving joint 4, a flexible beam 5, a tail end mechanism 6 and a laser sensor group 7.
The top plate is arranged at the top of the frame and used for reflecting light spots emitted by the laser displacement sensor group, and the top plate is preferably made of non-black materials in the embodiment, so that the measuring range of the laser sensor is ensured not to be attenuated due to the reflectivity of the materials; the driving joints are arranged at four corners of the frame and used for clamping the flexible beam; one end of the flexible beam is clamped by the driving joint, and the other end of the flexible beam is connected with the tail end mechanism; and a laser sensor group is arranged on the side surface of the tail end mechanism.
In some embodiments, as shown in fig. 2, the measuring device further comprises a bearing support 3 mounted on the frame, the bearing support comprising a first bearing 301, a second bearing 302 and a support 303, the radius of the first bearing being smaller than the radius of the second bearing. The second bearing and the first bearing are arranged up and down and are both arranged on the bracket, and the first bearing is positioned below the second bearing; the second bearing is parallel to the axis of the first bearing, and a gap is left between the second bearing and the first bearing for the flexible beam to pass through. The bearing support is used for guiding the displacement direction of the flexible beam and can stabilize the posture of the flexible beam.
In some preferred embodiments, the frame is further provided with an extending end, the bottom of the top plate is fixed on the extending end of the frame, the bearing support is fixed at the corner of the supporting surface of the extending end of the frame, and the plurality of bearing supports are symmetrically arranged.
In this embodiment, the drive joint is utilized to control the axial displacement of the flexible beam relative to the drive joint. At an initial moment, the end mechanism is located in the center of the workspace. The driving joint has a friction effect on the flexible beam, so that the flexible beam can be driven by the friction force of the driving joint on the flexible beam; the other end of the flexible beam is subjected to the pressure of the end mechanism from two sources, one is the pressure caused by the end mechanism's own weight, and the other is the pressure that the end mechanism hinders the flexible beam from returning to its original shape. Therefore, in the measuring device of the embodiment, in the working space, each flexible beam is subjected to bending deformation under the action of the friction force of the driving joint on the flexible beam and the pressure of the end mechanism on the flexible beam, the bending degree of each flexible beam is consistent, and all the bending units on the flexible beams are located in the same plane.
In some embodiments, as shown in fig. 3, the driving joint includes a motor 401, a reducer flange 402, a motor bracket 403, a quick coupling 404, a hose 405, a pressing bracket 406, a bearing 407, a feeding gear 408, and a connecting block 409, wherein the hose is a teflon pipe.
The motor is used for driving the driving joint, a speed reducer flange is fixed at the top of the motor, and the motor support is connected with the motor through the speed reducer flange. The motor support is L-shaped and comprises a first mounting surface and a second mounting surface which are perpendicular to each other, the first mounting surface is connected with the speed reducer flange and used for mounting the motor, the second mounting surface is connected with the connecting block and finally fixed on the rack through the connecting block. Specifically, the outside of the connecting block is provided with a right-angle groove which is used for being clamped and fixed with the right-angle edge of the surface of the outer side of the rack close to the top plate. Two extrusion supports are arranged and are fixed on the first mounting surface of the motor support; and a bearing and a feeding gear are fixed between the inner sides of the two extrusion supports, the feeding gear is connected with the output end of the motor, and a gap through which the flexible beam can pass is reserved between the feeding gear and the bearing. A quick joint is fixed on the outer side of each extrusion support respectively, a Teflon tube is fixed in the quick joint, and the Teflon tube is overlapped with the axial line of the quick joint and passes through a gap between the feeding gear and the bearing; the quick connector is sleeved at the tail end of the flexible beam, so that the flexible beam can be ensured to move smoothly relative to the driving joint in the axial direction.
As shown in fig. 4, the laser sensor group includes four laser sensors (also called laser displacement sensors), each laser sensor is provided with an emitting point and a receiving point, and laser is emitted from the emitting point and then reflected to the receiving point. The four laser sensors are respectively arranged on four side surfaces of the tail end mechanism, and the emission points of the four laser sensors are distributed in central symmetry around the center of the tail end mechanism.
In some preferred embodiments, as shown in fig. 4, the rotation angle of two adjacent laser sensors of the laser sensor group relative to the top center of the end mechanism is 90 degrees, and the connecting lines of the emission points of the laser sensors at opposite positions are orthogonal.
Based on the measuring device, the specific action principle of the invention is as follows:
the motor is rotated in the upper computer control driving joint, the motor drives the feeding gear to rotate, and the flexible beam is not only extruded by the bearing and the feeding gear, but also subjected to friction force generated by the rotary motion of the feeding gear. The flexible beam generates axial displacement relative to the driving joint under the driving of the friction force. When the plurality of flexible beams are controlled to generate axial displacement relative to the driving joint, the spatial position of the tail end mechanism is changed. The end mechanism connected with the flexible beam has five degrees of freedom in a working space, namely the translational degree of freedom along X, Y and Z axes and the rotational degree of freedom around X and Y axes. The flexible beam passes through a gap between the first bearing and the second bearing, tangent points exist among the flexible beam, the first bearing and the second bearing, the other end of the flexible beam is connected with the angular point at the top of the tail end mechanism, and therefore the other ends of the four flexible beams are respectively connected with the four angular points at the top of the tail end mechanism. And connecting the tangent point and the angular point to form a vector diameter for describing the spatial position of the end mechanism. When the plurality of flexible beams are controlled to generate axial displacement relative to the driving joint, the radius mode is in positive correlation with the axial displacement, and the spatial position of the tail end mechanism is changed. Meanwhile, the deflection and the corner of the flexible beam are changed. On the basis of the original bending deformation, the flexible beam further generates elastic deformation, and in order to restore the original shape, the moment between the flexible beam and the end mechanism is changed, so that the end mechanism rotates around an X axis or a Y axis. Therefore, after the four flexible beams are driven by the driving joints, axial displacement is generated, and the tail end mechanism can generate three-dimensional motion.
Based on the measuring device, the invention also provides a method for measuring the tail end of the space parallel robot driven by the flexible thin rod, which comprises the following steps:
s1, when the tail end mechanism has no angle around the X axis and the Y axis, the measured values of all the laser displacement sensors are equal, the height h of the tail end mechanism relative to the bottom surface of the rack is calculated by using the difference between the height of the rack and the measured values, and the expression is as follows:
h＝H-d i
where H is the frame height, d i (i =1,2,3,4) is a measurement value of each laser displacement sensor.
S2, controlling the tail end mechanism to rotate around an X axis and a Y axis, and recording the measured value of the laser displacement sensor;
and S3, respectively taking the center O of the square at the bottom of the rack and the center O of the end mechanism as the original points, and establishing a base coordinate system O-XYZ and a moving coordinate system O-XYZ. For a moving coordinate system, positive and negative of an angle around a coordinate axis thereof are defined, and the positive and negative only represent directions. When the angle around the X axis is alpha, the angle around the Y axis is beta, and the counterclockwise angle is positive;
and S4, dividing the rotation angles of the tail end mechanism around the X axis and the Y axis into eight conditions. The positive and negative cases of α and β are: +, -; +, +; -, +; -, -;0, -;0, +; 0, plus, minus; -,0;
s5, respectively projecting the end mechanism, the laser emitting point, the laser and the top plate onto a coordinate plane of a moving coordinate system under different conditions, constructing a right triangle by making a horizontal line, solving angles around an X axis and a Y axis by utilizing an arctan function, and further deducing an expression of h.
In the embodiment, under the condition that alpha is positive and beta is negative, the end mechanism, the laser emission point, the laser and the top plate are respectively projected onto a yoz surface and an xoz surface to obtain the geometric projection relation between the yoz surface and the xoz surface; wherein, C 1 、C 2 、C 3 、C 4 Is the laser emission projection point corresponding to the measured value number, E 1 、E 2 、E 3 、E 4 Is the irradiation projection point of the laser light on the top plate corresponding to the measured value number, C i E i The length of (i =1,2,3,4) represents the measured value d i The size of (d); passing point C 2 Making a horizontal line segment C 2 D 2 Cross over C 4 E 4 In D 2 Passing point C 1 Making a horizontal line segment C 1 D 1 Cross over C 3 E 3 In D 1 According to the parallel relation, alpha = D can be obtained 2 C 2 C 4 ，β＝∠D 1 C 1 C 3 Reuse of C 2 C 4 ＝C 1 C 3 (s) at Rt Δ D 2 C 2 C 4 And Rt Δ D 1 C 1 C 3 The angles of α and β can be solved using the arctan function:
where s is the distance between the emission points of two oppositely located laser sensors, d 1 、d 2 、d 3 、d 4 Respectively, the measurements of four laser sensors.
Passing point C 1 As C 1 F 1 ⊥E 4 E 2 Line of extension is to F 1 Easy to obtain C 1 F 1 ＝h，C 1 E 1 ＝d 1 ，∠E 1 C 1 F 1 At Rt Δ E of = α 1 C 1 F 1 The expression of the height h is solved by using the definition of a cosine function:
h＝d 1 cosα
passing point C 2 As C 2 F 2 ⊥E 3 E 1 Extended line to F 2 Easy to obtain C 2 F 2 ＝h，C 2 E 2 ＝d 2 ，∠E 2 C 2 F 2 β, similarly available, at Rt Δ E 2 C 2 F 2 Solving the expression of the height h:
h＝d 2 cosβ
since in all eight cases similar derivation processes can be used to solve for the rotation angles about the X, Y axes and the height h of the end mechanism, the invention concludes a general formula for solving for α, β and h:
because the end mechanism and the laser displacement sensor are fixedly connected, the translation amount of the end mechanism in the Z-axis direction and the rotation amount around the X-axis and the Y-axis can be obtained through the change of the measurement value.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
The functional blocks shown in the above structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments noted in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed at the same time.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As will be apparent to those skilled in the art, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present invention.
Claims (10)
1. A flexible thin rod driven space parallel robot tail end measuring device is characterized by comprising a rack, a driving joint, a flexible beam, a displacement guide mechanism, a tail end mechanism and a laser sensor group; the laser sensor group is arranged on the tail end mechanism; the driving joint is arranged on the frame;
the displacement guide mechanism is arranged on the rack, and a gap for the flexible beam to pass through is arranged on the displacement guide mechanism; the displacement guide mechanism is used for guiding the movement direction of the flexible beam and stabilizing the posture of the flexible beam;
the flexible beam is provided with a plurality of flexible beams, one end of each flexible beam is clamped by the driving joint, and the other end of each flexible beam is connected with the tail end mechanism; under the drive of the drive joint, each flexible beam is subjected to bending deformation under the action of the friction force of the drive joint on the flexible beam and the pressure of the tail end mechanism on the flexible beam, and the tail end mechanism is driven to generate three-dimensional motion.
2. The flexible thin rod driven space parallel robot tail end measuring device according to claim 1, characterized in that the displacement guide mechanism is a bearing support, the bearing support comprises a first bearing, a second bearing and a support, the second bearing and the first bearing are both mounted on the support, and the first bearing is located below the second bearing; the second bearing is parallel to the axis of the first bearing, and a gap is left between the second bearing and the first bearing, through which the flexible beam can pass.
3. The flexible thin rod driven spatial parallel robot end measurement device according to claim 2, wherein the radius of the first bearing is smaller than the radius of the second bearing.
4. The flexible thin rod driven space parallel robot tail end measuring device according to claim 1, characterized in that the driving joint comprises a motor, a motor bracket, a squeezing bracket, a bearing and a feeding gear;
the motor bracket comprises a first mounting surface and a second mounting surface which are perpendicular to each other, a motor is fixed on the first mounting surface, and the second mounting surface is connected with the rack; two extrusion supports are arranged and are fixed on the first mounting surface of the motor support, and a bearing and a feeding gear are fixed between the inner sides of the two extrusion supports; the feeding gear is connected with the output end of the motor, and a gap through which the flexible beam passes is reserved between the feeding gear and the bearing.
5. The flexible thin rod driven space parallel robot tail end measuring device is characterized in that a joint is fixed on the outer side of each extrusion support, a hose is fixed inside each joint, and the hose is coincident with the axis of each joint and passes through a gap between a feeding gear and the bearing; the joint sleeve is arranged at the tail end of the flexible beam.
6. The flexible thin rod driven space parallel robot end measuring device according to any one of claims 1 to 5, wherein the space moving mechanism measuring device further comprises a top plate installed on the top of the frame;
the laser sensor group comprises a plurality of laser sensors, each laser sensor is provided with a transmitting point and a receiving point, the plurality of laser sensors are arranged on the side surface of the tail end mechanism, and the transmitting points of the plurality of laser sensors are distributed in a central symmetry mode around the center of the tail end mechanism; the laser of the laser sensor irradiates the bottom surface of the top plate to form a light spot.
7. The flexible thin rod driven space parallel robot tail end measuring device according to claim 6, wherein the rotation angle of two adjacent laser sensors of the laser sensor group relative to the top center of the tail end mechanism is 90 degrees, and the connecting lines of the emission points of the laser sensors at opposite positions are orthogonal.
8. The flexible thin rod driven space parallel robot end measuring device according to claim 6, wherein the frame is further provided with an extending end, and the bottom of the top plate is fixed on the extending end of the frame.
9. The flexible thin rod driven spatial parallel robot end measurement device according to claim 6, wherein the top plate is a non-black material.
10. A method for measuring the tail end of a space parallel robot driven by a flexible thin rod, which is characterized in that the measuring method is based on the device for measuring the tail end of the space parallel robot of any one of claims 6-9, and comprises the following steps:
when the tail end mechanism has no angle around the X axis and the Y axis, the measured values of all the laser sensors in the laser sensor group are equal, and the height h of the tail end mechanism relative to the bottom surface of the rack is calculated by utilizing the height of the rack and the measured values as a difference, wherein the expression is as follows:
h＝H-d i
wherein H is the gantry height, d i Is the measured value of each laser sensor, i is the serial number of the laser sensor;
controlling the tail end mechanism to rotate around an X axis and a Y axis, and recording the measured value of the laser sensor;
respectively taking the center O of a square on the bottom surface of the rack and the center O of the end mechanism as original points, establishing a base coordinate system O-XYZ and a movable coordinate system O-XYZ, defining the positive and negative of the angle around the coordinate axis of the movable coordinate system, wherein the positive and negative only represent the direction, and when viewed from the positive direction of the coordinate axis, the angle around the X axis is set as alpha, the angle around the Y axis is set as beta, and the counterclockwise angle is set as positive;
the rotation angles of the tail end mechanism around the X axis and the Y axis are divided into eight conditions; the positive and negative cases of α and β are: +, -; +, +; -, +; -, -;0, -;0, +; plus, 0; -,0;
in different situations, respectively projecting a tail end mechanism, a laser emission point, laser and a top plate onto a coordinate plane of a moving coordinate system, constructing a right triangle by making a horizontal line, solving angles around an X axis and a Y axis by utilizing an arctan function, and further deducing an expression of h;
through the change of the magnitude of the measured value, the translation amount in the Z-axis direction and the rotation amount around the X-axis and the Y-axis of the end mechanism are obtained.
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