CN116494293A - Mechanical arm repeated positioning precision testing device and system - Google Patents
Mechanical arm repeated positioning precision testing device and system Download PDFInfo
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- CN116494293A CN116494293A CN202210072481.1A CN202210072481A CN116494293A CN 116494293 A CN116494293 A CN 116494293A CN 202210072481 A CN202210072481 A CN 202210072481A CN 116494293 A CN116494293 A CN 116494293A
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- 238000012360 testing method Methods 0.000 title claims abstract description 178
- 238000006073 displacement reaction Methods 0.000 claims abstract description 60
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- 230000007246 mechanism Effects 0.000 claims description 9
- 238000013480 data collection Methods 0.000 claims description 3
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- 238000005259 measurement Methods 0.000 description 22
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- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
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Classifications
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The embodiment of the application provides a mechanical arm repeated positioning precision testing device and system, and relates to the technical field of mechanical equipment. The mechanical arm repeated positioning precision testing device comprises a testing base, a mechanical arm, a laser sensor assembly, at least one upright post and at least one reflection testing standard block; the mechanical arm and the upright post are respectively arranged on the test base; the laser sensor assembly is arranged at the tail end of the mechanical arm and comprises three laser displacement sensors, the radiation light paths of the three laser displacement sensors are orthogonal in pairs, and the three laser displacement sensors respectively measure different surfaces of the reflection test standard block; the reflection test standard blocks are detachably arranged on the corresponding stand columns, positioning marks are arranged on the surfaces of the reflection test standard blocks, and the reflection test standard blocks are in one-to-one correspondence with the stand columns. The testing device can achieve the technical effects of improving testing flexibility and reducing testing cost.
Description
Technical Field
The application relates to the technical field of mechanical equipment, in particular to a device and a system for testing repeated positioning accuracy of a mechanical arm.
Background
At present, the position precision of the tail end of the robot is one of important factors for ensuring the processing quality of the robot, and the high-precision online measurement technology of the robot occupies important positions in the field of robot processing and assembly, so that the method is an important technical problem in the world at present. In recent decades, students at home and abroad have conducted a great deal of research on the robot terminal pose measurement technology, and have explored a great number of measurement methods and devices. These methods fall into two categories: direct measurement and combination measurement. The direct measurement method comprises: internal coding, multi-gyroscope measurements, etc. (without consideration of systematic errors of the mechanical arm itself, the precision is extremely limited, and the industrial site is not practical); the combined measurement method comprises the following steps: a combined measurement method of a laser system and a gyroscope, a combined measurement method of a photographing system and a gyroscope, and the like. The pose of the robot is generally measured by a gyroscope, and the position measurement of the tail end of the robot currently comprises a laser direct measurement method, a laser tracker measurement method and a photogrammetry method.
In the prior art, the laser tracker measuring method utilizes the characteristic of high measuring precision of laser in the tracker, and can realize precise measurement of the robot end effector. The basic principle of laser tracking measurement system is to set a reflector (target ball) on the target point, and the laser emitted by the tracking head is returned to the tracking head to aim at the target. Meanwhile, the returned light beam is received by the detection system and is used for measuring and calculating the space position of the target. In short, the problem to be solved by a laser tracking measurement system is to track a point moving in space, either statically or dynamically, while determining the spatial coordinates of the target point. The laser tracker is used as a large-size measuring device, has the advantages of high precision, simplicity in operation, large measuring range and the like, and has wide application in the fields of manufacturing, assembly, quality inspection and the like. However, its several features limit its application: the target ball is matched during measurement, and the target ball is fixed in some high-risk environments; the tracker has a relatively high price, can not be used continuously for a long time, and has a service life which is difficult to ensure.
Disclosure of Invention
An object of the embodiment of the application is to provide a mechanical arm repeated positioning precision testing device and a mechanical arm repeated positioning precision testing system, which can achieve the technical effects of improving testing flexibility and reducing testing cost.
In a first aspect, an embodiment of the present application provides a mechanical arm repeated positioning accuracy testing device, including a testing base, a mechanical arm, a laser sensor assembly, at least one upright post, and at least one reflection testing standard block;
the mechanical arm and the upright post are respectively arranged on the test base;
the laser sensor assembly is arranged at the tail end of the mechanical arm and comprises three laser displacement sensors, the radiation light paths of the three laser displacement sensors are orthogonal in pairs, and the three laser displacement sensors respectively measure different surfaces of the reflection test standard block;
the reflection test standard blocks are detachably arranged on the corresponding stand columns, positioning marks are arranged on the surfaces of the reflection test standard blocks, and the reflection test standard blocks are in one-to-one correspondence with the stand columns.
In the implementation process, the mechanical arm repeated positioning precision testing device is characterized in that a laser sensor component is arranged at the tail end of the mechanical arm to be tested, a laser beam emitted by a laser displacement sensor is incident to the surface of a reflection testing standard block, and after the laser displacement sensor receives the reflected laser beam, the distance testing data can be automatically recorded; the mechanical arm repeated positioning precision testing device acquires the position information of the tail end of the mechanical arm by adopting three mutually orthogonal laser displacement sensors, realizes non-contact measurement in the space three-dimensional direction, has high safety, can select laser displacement sensors with different specifications according to different measurement requirements, has good flexibility and effectively reduces the cost; therefore, the mechanical arm repeated positioning precision testing device can achieve the technical effects of improving testing flexibility and reducing testing cost.
Further, a magnetic attraction mechanism is arranged at the tail end of the upright post, and the reflection test standard block is installed at the tail end of the upright post through the magnetic attraction mechanism.
In the implementation process, one side surface of the reflection test standard block is adsorbed on the upright post through the magnetic attraction mechanism, so that the adjustment, the installation and the disassembly are convenient; meanwhile, as the reflection test standard block and the upright post are fixed through magnetism, when misoperation occurs and the mechanical arm is interfered and collided, the mechanical arm can push the reflection test standard block away, and damage to the mechanical arm is effectively reduced.
Further, the reflection test standard block is a cube standard block.
In the implementation process, the adjacent surfaces of the cube standard block are mutually perpendicular and correspond to the three mutually orthogonal laser displacement sensors, and the three mutually orthogonal laser displacement sensors can be respectively aligned with the three mutually perpendicular surfaces.
Further, the three adjacent surfaces of the cube standard block are respectively provided with the corresponding positioning marks.
Further, the positioning mark is a circular mark.
Further, the device also comprises a connecting piece, wherein the connecting piece is arranged at the tail end of the mechanical arm, and the laser sensor component is fixedly arranged with the connecting piece.
In the implementation process, the three laser displacement sensors can be fixedly connected with the tail end of the mechanical arm through the connecting piece.
Further, the laser beams emitted by the three laser displacement sensors intersect at a point.
Further, the laser displacement sensor is an external triggering laser displacement sensor, and the external triggering laser displacement sensor collects distance data of the target through triggering a data collection signal.
In the implementation process, the upper computer or the control end transmits a data acquisition signal to the laser displacement sensor, and the laser displacement sensor automatically records distance data after receiving the signal.
Further, the test base comprises a first test base and a second test base, the mechanical arm is installed on the first test base, and the upright post is installed on the second test base.
In the implementation process, the test base can be divided into two parts, the first test base is used for fixedly mounting the mechanical arm, and the second test base is used as a test tool and used for fixedly mounting the stand column.
In a second aspect, an embodiment of the present application provides a system for testing the accuracy of repeated positioning of a mechanical arm, including a device for testing the accuracy of repeated positioning of a mechanical arm according to any one of the first aspect and a data processing module, where the data processing module is connected with the laser sensor assembly, and the data processing module is used for recording and processing test data collected by the laser sensor assembly.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques disclosed herein.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a mechanical arm repeated positioning accuracy testing device provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a column according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a reflection test standard block according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a pillar and a reflection test standard block according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a laser sensor assembly, a post, a reflection test standard block, and a connector according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or a point connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.
The embodiment of the application provides a device and a system for testing the repeated positioning accuracy of a mechanical arm, which can be applied to testing the position accuracy of the tail end of a robot; according to the mechanical arm repeated positioning precision testing device, the laser sensor component is arranged at the tail end of the mechanical arm to be tested, the laser beam emitted by the laser displacement sensor is incident to the surface of the reflection testing standard block, and the laser displacement sensor receives the reflected laser beam, so that the testing data of the distance can be automatically recorded; the mechanical arm repeated positioning precision testing device acquires the position information of the tail end of the mechanical arm by adopting three mutually orthogonal laser displacement sensors, realizes non-contact measurement in the space three-dimensional direction, has high safety, can select laser displacement sensors with different specifications according to different measurement requirements, has good flexibility and effectively reduces the cost; therefore, the mechanical arm repeated positioning precision testing device can achieve the technical effects of improving testing flexibility and reducing testing cost.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a mechanical arm repeated positioning accuracy testing device according to an embodiment of the present application, where the mechanical arm repeated positioning accuracy testing device includes a testing base 100, a mechanical arm 200, a laser sensor assembly 300, at least one upright post 400, and at least one reflection testing standard block 500.
Illustratively, the robotic arm 200, the upright 400 are mounted to the test base 100, respectively.
Illustratively, the mechanical arm 200 is a mechanical arm to be detected, and can be replaced according to actual requirements and test requirements; for example, the mechanical arm of another robot is replaced to perform the repeated positioning accuracy test.
Illustratively, the test base 100 may be divided into two parts, one part for fixedly mounting the robotic arm; the other part is used as a test tool for fixedly mounting the upright 400.
Optionally, the test base 100 includes a first test base 110 and a second test base 120, the mechanical arm 200 is mounted on the first test base 110, and the column 400 is mounted on the second test base 120.
Illustratively, the laser sensor assembly 300 is mounted at the end of the mechanical arm 200, the laser sensor assembly 300 includes three laser displacement sensors 310, the radiation paths of the three laser displacement sensors 310 are orthogonal in pairs, and the three laser displacement sensors 310 measure different surfaces of the reflective test standard block 500, respectively.
Illustratively, after the laser beam emitted by the laser displacement sensor 310 is incident on the surface of the reflective test standard block 500 and the reflected laser beam is received by the laser displacement sensor 310, the test data of the distance between the laser displacement sensor 310 and the surface of the reflective test standard block 500 can be automatically recorded.
Illustratively, the reflective test standard blocks 500 are detachably mounted on the corresponding columns 400, and the reflective test standard blocks 500 are provided with positioning marks on the surfaces thereof, and the reflective test standard blocks 500 are in one-to-one correspondence with the columns 400.
Illustratively, the reflective test standard block 500 is removably mounted with the upright 400 in a manner that facilitates adjustment of the reflective test standard block 500; the number of reflection test standard blocks 500 is the same as that of the columns 400, and the reflection test standard blocks 500 may be mounted on the columns 400 in one-to-one correspondence.
Illustratively, the positioning mark on the reflection test standard block 500 can conveniently align the center points of the laser displacement sensor 310 and the reflection test standard block 500, so as to improve the test precision of the mechanical arm repeated positioning precision test device.
In some embodiments, the mechanical arm repeated positioning precision testing device installs the laser sensor assembly 300 at the end of the mechanical arm to be tested, the laser beam emitted by the laser displacement sensor 310 is incident to the surface of the reflection test standard block 500, and then the laser displacement sensor 310 receives the reflected laser beam, so that the distance test data can be automatically recorded; the mechanical arm repeated positioning precision testing device adopts three mutually orthogonal laser displacement sensors 310 to acquire the position information of the tail end of the mechanical arm, realizes non-contact measurement in the space three-dimensional direction, has high safety, can select laser displacement sensors with different specifications according to different measurement requirements, has good flexibility and effectively reduces cost; therefore, the mechanical arm repeated positioning precision testing device can achieve the technical effects of improving testing flexibility and reducing testing cost.
Referring to fig. 2 to 4, fig. 2 is a schematic structural diagram of an upright post provided in an embodiment of the present application, fig. 3 is a schematic structural diagram of a reflection test standard block provided in an embodiment of the present application, and fig. 4 is a schematic structural diagram of an upright post and a reflection test standard block provided in an embodiment of the present application.
Illustratively, the end of the column 400 is provided with a magnetic attraction mechanism 410, and the reflective test standard block 500 is mounted at the end of the column 400 by the magnetic attraction mechanism 410.
Illustratively, one side surface of the reflection test standard block 500 is attached to the column 400 by a magnetic attachment mechanism 410, which facilitates adjustment installation and detachment; meanwhile, because the reflection test standard block 500 is fixed with the upright post 400 through magnetism, when the mechanical arm 200 is interfered and collided due to misoperation, the mechanical arm 200 can push the reflection test standard block 500 open, and damage to the mechanical arm 200 is effectively reduced.
Optionally, a strong magnet is disposed in the magnetic attraction mechanism 410, and one side surface of the reflection test standard block 500 is attracted to the column 400 by the strong magnet.
Optionally, the reflective test standard block 500 is a Q235 metal material.
Illustratively, the reflective test standard block 500 is a cube standard block.
Illustratively, adjacent surfaces of the cube standard block are perpendicular to each other, corresponding to three mutually orthogonal laser displacement sensors 310, and the three mutually orthogonal laser displacement sensors 310 may be aligned with the three mutually perpendicular surfaces, respectively.
Illustratively, three adjacent surfaces of a cube standard block are each provided with a corresponding locating mark 510.
In some embodiments, at least three adjacent surfaces of the cube standard block surface need to be provided with positioning marks 510; in addition, the positioning mark 510 may be provided on other surfaces of the cube standard block, which is not limited herein.
Illustratively, the locating marks 510 are circular marks.
Illustratively, in reflecting the surface finish positioning mark 510 of the test standard block 500, only the surface is marked with a circle; typically, laser marking or a marker pen may be used for scribing.
Illustratively, on the surface of the reflection test standard block 500, a positioning mark 510 is formed by aligning the intersection point of the laser beams of the laser sensor assembly 300 with the body center of the reflection test standard block 500, the positioning mark 510 is circular, the radius of the circular mark can be obtained by theoretical analysis, and when three laser beams of the laser sensor assembly 300 all fall in the positioning mark 510, the requirement of the laser beam to be perpendicular to the measuring plane is met; the laser vertical detection structure is simple and practical, and can effectively ensure the measurement accuracy of the mechanical arm repeated positioning accuracy testing device.
In some embodiments, if the repeated positioning accuracy of the mechanical arm 200 is ±50μm, i.e. the detected range of distance fluctuation is within 100 μm; ideally, the laser beam emitted by the laser displacement sensor 310 is perpendicular to the measurement plane of the reflective test standard block 500, and the available displacement increment Δx is equal to the difference Δd between two readings of the laser displacement sensor 310, i.e., Δx=Δd.
However, in the actual test, when the actual angle between the laser beam emitted by the laser displacement sensor 310 and the measurement plane of the reflection test standard block 500 is θ, there is Δx=Δdsin θ, and if the error of the mechanical arm repeated positioning accuracy testing device caused by non-perpendicular incidence is within 2 μm and is within an acceptable range, it can be obtained that the actual angle θ between the laser beam and the measurement plane is required to satisfy: (1/sinθ -1). Times.100 μm.ltoreq.2 μm. When θ is more than or equal to 0 and less than or equal to 90 degrees, sin θ monotonically increases, so that θ is more than or equal to 78.52 degrees and less than or equal to 90 degrees.
Therefore, as long as the laser beam is a conical curved surface at 10 ° to the center line, a circle intersecting the measurement plane is a limit range; the repeated positioning precision of the mechanical arm is +/-50 mu m, so that the change of the cross section circle caused by the position change of the mechanical arm can be ignored; the installation distance of the laser displacement sensor 310 is 50mm (i.e., the normal distance between the laser emission position of the laser displacement sensor 310 and the surface of the positioning mark 510), and the radius of the formed circle is 50mm×sin10 ° =8.68 mm, so that the accuracy of the mechanical arm repeated positioning accuracy testing device can be ensured as long as the laser beam of the laser displacement sensor 310 irradiates in the circular mark with the radius of 8mm, and the error control of the mechanical arm repeated positioning accuracy testing device caused by non-normal incidence is ensured to be within 2 μm.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a laser sensor assembly, a post, a reflection test standard block and a connector according to an embodiment of the present application.
Illustratively, the mechanical arm repeated positioning accuracy testing device further comprises a connecting piece 600, wherein the connecting piece 600 is installed at the tail end of the mechanical arm 200, and the laser sensor assembly 300 is fixedly installed with the connecting piece 600.
Illustratively, three laser displacement sensors 310 may be fixedly coupled to the distal end of the robotic arm 200 via a connector 600.
Illustratively, the laser displacement sensor 310 is an external trigger laser displacement sensor that collects distance data of the target by triggering a data collection signal.
Illustratively, after the laser beam of the laser displacement sensor 310 is emitted, the laser beam is incident on the surface of the reflection test standard block 500 and reflected, and after the laser displacement sensor 310 receives the reflected laser beam, corresponding distance data can be recorded; optionally, an acquisition command (data acquisition signal) is issued to the laser displacement sensor 310 through the host computer or the control end, and after the laser displacement sensor 310 receives the command, the distance data is automatically recorded.
Illustratively, the laser sensor assembly 300 includes three laser displacement sensors 310; the wire harness of the three laser displacement sensors 310 is of a quick-dismantling structure, and the laser sensor assembly 300 can be conveniently installed on the mechanical arm 200.
Illustratively, the laser beams emitted by the three laser sensor assemblies 300 are in two orthogonal directions, and the laser beams emitted by the three laser sensor assemblies simultaneously strike the reflection test standard block 500; the three laser sensor assemblies 300 are fixedly connected with the tail end of the mechanical arm 200 through the connecting piece 600, and perform translational/rotational movement along with the tail end of the mechanical arm 200, and the three laser sensor assemblies 300 are positioned in a mode of being orthogonal to each other in pairs and at right angles to each other by 90 degrees.
Illustratively, the radiation paths of the three laser displacement sensors 310 are orthogonal in pairs, i.e., the end of the mechanical arm corresponds to the origin, and the three laser beams emitted by the three laser sensor assemblies 300 correspond to the X, Y, Z axes of the three-dimensional orthogonal coordinate system.
The embodiment of the application also provides a system for testing the repeated positioning precision of the mechanical arm, which comprises a device for testing the repeated positioning precision of the mechanical arm shown in fig. 1 to 5 and a data processing module, wherein the data processing module is connected with the laser sensor assembly 300 and is used for recording and processing test data acquired by the laser sensor assembly 300.
In some implementation scenarios, the data processing module of the mechanical arm repeated positioning accuracy test system sets test software, and the service flow of the test software is as follows:
s1: starting software;
s2: loading a user configuration file;
s3: the connecting mechanical arm and the connecting laser sensor component;
s4: inputting test conditions;
s5: starting the test;
s6: the mechanical arm starts to move from a safety point;
s7: the mechanical arm moves to a designated test position;
s8: collecting data;
s9: judging whether the data acquisition of all the designated positions is completed, if yes, jumping to S10, and if not, jumping to S7;
s10: judging whether the preset cycle times are reached, if yes, jumping to S11, and if not, jumping to S6;
s11: data analysis and drawing;
s12: saving the original data, the test report and the user configuration;
s13: the software is pushed out.
Illustratively, the mechanical arm positioning accuracy is acquired and output according to the flow of S1-S13; wherein, S4: the test condition inputs the position of the reflection test standard block 500, and information such as the stabilization time, the sampling time, the running speed, the cycle number, and the like; then starting a test, when the execution is finished in the step S8, judging whether the data acquisition of all the specified positions is finished or not through the step S9, and if the data of the reflection test standard block 500 of all the specified positions is not acquired, returning to the step S7, and continuing to circulate until the data of the reflection test standard block 500 of all the specified positions is acquired; running S10, judging whether the data acquisition times of the reflection test standard blocks 500 reach the designated times, if not, returning to S6 to continue circulation, and if so, running S11: data analysis and mapping. The analysis end operation S12 may save and export the raw data, the data after the analysis processing, the test report, and the user configuration information.
Illustratively, the collected data is analyzed after the collection is completed, and the specific steps of the analysis are as follows:
s111: reading data;
s112: calculating repeated positioning accuracy of the designated position;
s113: drawing a real-time curve of a designated position;
s114: and drawing a repeated positioning precision curve under each cycle number.
Exemplary, S111-S114 correspond to S11 described above; s111, data are read, S112 is carried out according to the cycle times input by the S4 test condition, and repeated positioning accuracy of each appointed position is calculated; the calculation completion operation S113 draws real-time curves of all the designated positions and acquires real-time dynamic position information and fluctuation conditions of all the designated positions; s114, drawing a repeated positioning precision curve under each cycle number, and facilitating comparison and analysis.
The test software architecture of the mechanical arm repeated positioning precision test system provided in the embodiment of the application includes one or more functional modules of mechanical arm connection, sensor connection, information reading, parameter setting, motion control, data acquisition, data storage, data analysis, drawing, file loading and test state display, which are not limited herein.
The mechanical arm communicates with the test software of the upper computer through a TCP/IP protocol, and the laser sensor component communicates with the test software of the upper computer through RS232 serial communication, so that the instantaneity and the stability of data transmission are ensured. The test software of the upper computer controls the movement of the mechanical arm through the mechanical arm SDK, and data of the laser sensor assembly are collected through the serial port. The system such as the motion parameters (the motion speed and the acceleration of the mechanical arm), the acquisition parameters, the communication parameters (the port, the baud rate and the sending period), the space position points and other information can provide default values, and a user can set according to the conditions in the national standard. At the same time, the system will save the user's system configuration for the next run to use directly. The test software reserves an interface, and can expand the functions of the upper computer software according to the requirements, such as changing the communication interface mode, receiving and transmitting signals or data in real time, calculating and automatically recording the measurement data required by the clients.
In an exemplary mechanical arm repeated positioning accuracy testing device provided in an embodiment of the present application, in conjunction with fig. 1 to 5, a mechanical arm 200 and five columns 400 are respectively mounted on a test base 100, and a reflection test standard block 500 is mounted on each column. The positions of the five reflection test standard blocks 500 meet the requirements of national standards GB/T12642-2013 industrial robot performance Specification and test methods thereof; the end of the robot arm 200 mounts a laser sensor assembly 300. When the mechanical arm repeated positioning precision testing device starts working, the mechanical arm 200 is controlled to perform data acquisition according to the flow of S1-S13, when S4 is executed, the positions of 5 reflection testing standard blocks 500, the stable time, the sampling time, the running speed and the circulation times are input, the operation is continued to be performed downwards, when S8 is executed, each time the data of one reflection testing standard block 500 is acquired, whether the data acquisition of all designated positions is completed or not is judged through S9, namely the data of 5 reflection testing standard blocks 500 is acquired, and if the data of 5 reflection testing standard blocks 500 is not acquired, the operation returns to S7 and continues to circulate until the data of 5 reflection testing standard blocks 500 is acquired; and S10, judging whether the acquisition times of the designated 5 reflection test standard block data 500 are reached, if not, returning to S6, continuing to circulate, and if so, executing the following steps S11-S13.
In all embodiments of the present application, "large" and "small" are relative terms, "more" and "less" are relative terms, "upper" and "lower" are relative terms, and the description of such relative terms is not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the application," or "as an alternative" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrases "in this embodiment," "in this application embodiment," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required in the present application.
In various embodiments of the present application, it should be understood that the size of the sequence numbers of the above processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The mechanical arm repeated positioning precision testing device is characterized by comprising a testing base, a mechanical arm, a laser sensor assembly, at least one upright post and at least one reflection testing standard block;
the mechanical arm and the upright post are respectively arranged on the test base;
the laser sensor assembly is arranged at the tail end of the mechanical arm and comprises three laser displacement sensors, the radiation light paths of the three laser displacement sensors are orthogonal in pairs, and the three laser displacement sensors respectively measure different surfaces of the reflection test standard block;
the reflection test standard blocks are detachably arranged on the corresponding stand columns, positioning marks are arranged on the surfaces of the reflection test standard blocks, and the reflection test standard blocks are in one-to-one correspondence with the stand columns.
2. The mechanical arm repeated positioning precision testing device according to claim 1, wherein a magnetic attraction mechanism is arranged at the tail end of the upright post, and the reflection testing standard block is installed at the tail end of the upright post through the magnetic attraction mechanism.
3. The mechanical arm repeated positioning precision testing device according to claim 1, wherein the reflection test standard block is a cube standard block.
4. The mechanical arm repeated positioning precision testing device according to claim 3, wherein the three adjacent surfaces of the square standard block are respectively provided with the corresponding positioning marks.
5. The mechanical arm repeated positioning accuracy testing device according to claim 1, wherein the positioning mark is a circular mark.
6. The device for testing the repeated positioning accuracy of the mechanical arm according to claim 1, further comprising a connecting piece, wherein the connecting piece is installed at the tail end of the mechanical arm, and the laser sensor assembly is fixedly installed with the connecting piece.
7. The mechanical arm repeated positioning accuracy testing device according to claim 1, wherein laser beams emitted by the three laser displacement sensors intersect at one point.
8. The mechanical arm repeated positioning precision testing device according to claim 1, wherein the laser displacement sensor is an external trigger laser displacement sensor, and the external trigger laser displacement sensor collects distance data of a target through a trigger data collection signal.
9. The mechanical arm repeated positioning precision testing device according to claim 1, wherein the testing base comprises a first testing base and a second testing base, the mechanical arm is mounted on the first testing base, and the upright is mounted on the second testing base.
10. A mechanical arm repeated positioning precision testing system, which is characterized by comprising the mechanical arm repeated positioning precision testing device according to any one of claims 1 to 9 and a data processing module, wherein the data processing module is connected with the laser sensor assembly and is used for recording and processing test data acquired by the laser sensor assembly.
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| CN202210072481.1A CN116494293A (en) | 2022-01-21 | 2022-01-21 | Mechanical arm repeated positioning precision testing device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210072481.1A CN116494293A (en) | 2022-01-21 | 2022-01-21 | Mechanical arm repeated positioning precision testing device and system |
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| CN202210072481.1A Pending CN116494293A (en) | 2022-01-21 | 2022-01-21 | Mechanical arm repeated positioning precision testing device and system |
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