CN202994132U - Robot pose error measuring system based on rectangular coordinate mode - Google Patents
Robot pose error measuring system based on rectangular coordinate mode Download PDFInfo
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- CN202994132U CN202994132U CN 201220708585 CN201220708585U CN202994132U CN 202994132 U CN202994132 U CN 202994132U CN 201220708585 CN201220708585 CN 201220708585 CN 201220708585 U CN201220708585 U CN 201220708585U CN 202994132 U CN202994132 U CN 202994132U
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- 238000005259 measurement Methods 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000691 measurement method Methods 0.000 description 3
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- 230000003139 buffering Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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Abstract
The utility model discloses a robot pose error measuring system based on rectangular coordinate mode. The system comprises a frame, a guiding unit, a driving unit, a measuring unit, a robot and a workpiece, wherein the guiding unit is arranged on the frame and is driven by the driving unit, the measuring unit is arranged on the guiding unit, and the workpiece is clamped at the tail end of the robot; the driving unit drives the guiding unit to move, thereby driving the measuring unit to move so as to measure the robot pose parameters. The robot pose error measuring system solves the problems of boring data acquisition, high workload and expensive equipment in the existing technology.
Description
Technical field
The utility model relates to robot position and attitude error measuring system, particularly a kind of robot position and attitude error measuring system of utilizing geometric measurement method to carry out the rectangular coordinate mode.
Background technology
Need to judge whether it is qualified by the measurement of position and attitude error during the industrial robot product export, measuring method commonly used has: transit survey, laser measurement, servo-actuated contact pose measurement etc.
Transit survey is that the coordinate of impact point on the industrial robot end-effector can be by 2 transit surveys out, transformation relation between 2 transits also can calculate by the reader of transit, the measuring accuracy of this system is very high, can reach 0.02mm in the interior precision of the distance of 1m, but the cost of measuring is also very high.
The advantages such as it is high that laser measurement system has precision, and measurement range is large.Laser measurement method can be divided into 2 types: angle subdivision type laser tracking measurement and spherical coordinates type laser tracking measurement.The precision of dynamic Laser tracker when the measuring distance of 1m is 0.1mm, but the cost of laser measurement system is very expensive.
Servo-actuated contact pose measurement machine is equivalent to a unpowered robot that high-precision encoder is housed in each joint.The advantage of this kind metering system is that people's intervention is few, measures efficient high, easily is automated.Shortcoming is that the manufacturing accuracy of robot measurement is had relatively high expectations, and the requirement of the degree of freedom of robot measurement is many as much as possible, otherwise the interference between to-be-detected machine people and robot measurement motion might occur.
Above-mentioned each measuring technique scheme is different aspect the difficulty or ease of precision, use and cost, and all also there are gap in they and desirable measuring method, are summed up, and common shortcoming mainly contains:
(1) Data Collection is loaded down with trivial details, workload is large;
(2) most of equipment prices are expensive.
Summary of the invention
The purpose of this utility model is to provide a kind of robot position and attitude error measuring system of rectangular coordinate mode, and the Data Collection that is intended to solve existing measuring technique is loaded down with trivial details, workload is large, the problem of apparatus expensive.
The purpose of this utility model realizes by following technical proposals: the robot position and attitude error measuring system of rectangular coordinate mode, comprise frame, pilot unit, driver element, measuring unit, robot and workpiece, pilot unit is arranged on frame and is subjected to the driving of driver element, measuring unit is arranged on pilot unit, and workpiece is clamped in the end of robot; The motion of drive unit drives pilot unit, thus drive the measurement that measuring unit moves to complete robot pose parameter.
Described pilot unit comprises first set line slideway, the second cover line slideway, the 3rd cover line slideway and quadruplet line slideway, and every cover line slideway includes ball-screw and slide block; Described driver element comprises belt driver, speed reduction unit and AC servo motor;
First, second cover line slideway level is arranged on frame, and by belt driver, first, second is overlapped the ball screw connection of line slideway inside at the end away from robot; The 3rd cover line slideway horizontal positioned, its two ends are arranged on respectively on the slide block of first, second cover line slideway, and are connected with AC servo motor by speed reduction unit; The quadruplet line slideway is vertically installed, and its slide block is fixedly connected with the 3rd cover line slideway by a connection piece.
Principle of work of the present utility model is: the distance that robot is certain apart from frame, be fixed on the direction near measuring unit, and workpiece is fixed by robot end's clamper.Therefore when workpiece is clamped and moves to the position, space by robot, the ball-screw of driven by servomotor line slideway rotates, make measuring unit realize three movements on direction, and realize gradually the action that approaches of three touch panels on it and workpiece, to complete the measurement of robot location's error.That is, when the robot holding workpiece to the space a certain position, touch panel moves on three directions, has realized respectively workpiece to approaching three surface of contact on touch panel by laser displacement sensor, thus θ, α, β, θ by measuring
e, α
eAnd β
eSix calculation of parameter go out the attitude misalignment that it produces.
The utility model has following advantage and effect with respect to prior art:
(1) the utility model obtains the pose data by laser displacement sensor, and calculates, processes system maintenance easy by the technical grade computing machine, apparatus structure is simple, by the automatic collection of computer realization data, the equipment development cost is low, can effectively improve the efficient that data are processed;
(2) position and attitude error that realizes of the utility model detects and can effectively be applicable to precision higher robot, for robot position and attitude error compensation provides raw data.
Description of drawings
Fig. 1 is the structural representation of the utility model robot position and attitude error measuring system;
Fig. 2 is that the robot position and attitude error is measured the coordinate system schematic diagram.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment
The utility model comprises frame 1, pilot unit, driver element, measuring unit, robot 9 and workpiece 10.As shown in Figure 1, in the present embodiment, pilot unit refers to the quadruplet line slideway, be respectively first set line slideway 2-1, the second cover line slideway 2-2, the 3rd cover line slideway 2-3 and quadruplet line slideway 2-4, every cover line slideway includes ball-screw, slide block, baffle plate and buffering gum cover etc.; Driver element comprises belt driver 3, speed reduction unit 5 and four AC servo motor 4; Measuring unit is made of six cover laser displacement sensors 8 and a touch panel 7.
In the present embodiment, first, second cover line slideway level is arranged on frame 1, and passes through belt driver 3 with first, second ball screw connection of overlapping line slideway inside at the end away from robot 9, realizes that it is synchronized with the movement.The 3rd cover line slideway horizontal positioned, its two ends are arranged on respectively on the slide block of first and second cover line slideway, the drive unit of this cover guide rail adopts AC servo motor 3 to connect speed reduction unit 5, then connects the mode of ball-screw, can realize smoothly to guarantee the motion on this axle.The quadruplet line slideway is vertically installed, and by the web member 6 shown in Fig. 1, its slide block and the 3rd cover line slideway is fixed together, therefore this axle can be realized the to-and-fro movement of up and down with respect to the 3rd cover line slideway.
Described touch panel 7 is arranged on the upper surface of quadruplet line slideway, therefore can realize moving freely on as shown in Figure 2 three directions of X, Y, Z, satisfies the motion requirement of error measure.Touch panel 7 has three surface of contact; The present embodiment adopts six cover laser displacement sensors 8 as measuring unit, six cover laser displacement sensors 8 are arranged on these three surface of contact: the A face is equipped with three cover laser displacement sensors, the B face is equipped with two cover laser displacement sensors, and the C face is equipped with a cover laser displacement sensor.
The workpiece 10 of described measurement is arranged on the clamper of robot 9 ends, and this robot 9 is arranged near the one side of measuring with touch panel 7.The utility model adopts geometric measurement method based on the scaling method of Cartesian robot, is called again the axis method, and demarcating steps is as follows:
S1, move to a locus of appointment when robot 9 holding workpieces 10, slide block on first, second and third cover line slideway keeps zero-bit motionless, slide block on the quadruplet line slideway moves, a point of fixity measuring the rectangular coordinate end (is that on surface of the work one is fixing specific, be designated as an A), obtain the first axle straight-line equation;
S2, first and second, the slide block on the quadruplet line slideway keeps zero-bit motionless, the slide block on the 3rd cover line slideway moves, and measures the point of fixity A of rectangular coordinate end, obtains the second paraxial equation;
Slide block on S3, third and fourth cover line slideway keeps zero-bit motionless, and the slide block on first, second cover line slideway moves, and measures the point of fixity A of rectangular coordinate end, obtains the 3rd axle straight-line equation;
S4, structure basis coordinates system, the angle of measuring the second axle and Y-axis is θ, and the angle on the 3rd axle and xOz plane is α, and the angle on the 3rd axle and yOz plane is β;
S5, the angle that measures according to step S4, calculating T(is the normal solution of Cartesian robot) attitude, measure again the attitude of three relative T of face of end effector (being touch panel), the attitude misalignment ε Te that produces when namely obtaining end effector is installed, more anti-angle theta of separating the second axle and Y-axis
e, the 3rd axle and xOz plane angle α
eAnd the angle β on the 3rd axle and yOz plane
eThree parameters, thus the robot position and attitude error obtained.
But each parts type selecting described in the utility model is as follows, but type selecting is not limited to this: robot 9: can select other robots of the same type; Workpiece 10: the workpiece of the same type that can select regular shape.
Above-described embodiment is the better embodiment in this aspect; but the bright embodiment of we is not restricted to the described embodiments; other any deviates from change, the modification done under Spirit Essence of the present utility model and principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, within being included in protection domain of the present utility model.
Claims (5)
1. the robot position and attitude error measuring system of a rectangular coordinate mode, it is characterized in that, comprise frame, pilot unit, driver element, measuring unit, robot and workpiece, pilot unit is arranged on frame and is subjected to the driving of driver element, measuring unit is arranged on pilot unit, and workpiece is clamped in the end of robot; The motion of drive unit drives pilot unit, thus drive the measurement that measuring unit moves to complete robot pose parameter.
2. robot according to claim 1 position and attitude error measuring system, it is characterized in that, described pilot unit comprises first set line slideway, the second cover line slideway, the 3rd cover line slideway and quadruplet line slideway, and every cover line slideway includes ball-screw and slide block; Described driver element comprises belt driver, speed reduction unit and AC servo motor;
First, second cover line slideway level is arranged on frame, and by belt driver, first, second is overlapped the ball screw connection of line slideway inside at the end away from robot; The 3rd cover line slideway horizontal positioned, its two ends are arranged on respectively on the slide block of first, second cover line slideway, and are connected with AC servo motor by speed reduction unit; The quadruplet line slideway is vertically installed, and its slide block is fixedly connected with the 3rd cover line slideway by a connection piece.
3. robot according to claim 2 position and attitude error measuring system, is characterized in that, described measuring unit comprises the touch panel that is provided with three surface of contact, and is arranged on the laser displacement sensor on described surface of contact.
4. robot according to claim 3 position and attitude error measuring system, is characterized in that, described touch panel is arranged on the upper surface of quadruplet line slideway.
5. according to claim 3 or 4 described robot position and attitude error measuring systems, is characterized in that, described laser displacement sensor has six covers; The first surface of contact of described touch panel is equipped with three cover laser displacement sensors, and the second surface of contact is equipped with two cover laser displacement sensors, and the 3rd surface of contact is equipped with a cover laser displacement sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220708585 CN202994132U (en) | 2012-12-19 | 2012-12-19 | Robot pose error measuring system based on rectangular coordinate mode |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220708585 CN202994132U (en) | 2012-12-19 | 2012-12-19 | Robot pose error measuring system based on rectangular coordinate mode |
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| CN202994132U true CN202994132U (en) | 2013-06-12 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103017726A (en) * | 2012-12-19 | 2013-04-03 | 华南理工大学 | Robot pose error measuring system and method in Cartesian coordinate mode |
| CN103592893A (en) * | 2013-10-24 | 2014-02-19 | 中国科学院长春光学精密机械与物理研究所 | Method for automatically compensating pose errors in machining process of optical element |
| CN106066185A (en) * | 2016-05-24 | 2016-11-02 | 华南理工大学 | A kind of line laser sensor automatic calibration device towards weld joint tracking and method |
| CN106233214A (en) * | 2014-04-22 | 2016-12-14 | Abb瑞士股份有限公司 | Compensating Robot movement warp |
| CN106802656A (en) * | 2016-12-01 | 2017-06-06 | 台山核电合营有限公司 | A kind of tunnel clears up the cambered surface attitude adjusting method of robot |
-
2012
- 2012-12-19 CN CN 201220708585 patent/CN202994132U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103017726A (en) * | 2012-12-19 | 2013-04-03 | 华南理工大学 | Robot pose error measuring system and method in Cartesian coordinate mode |
| CN103017726B (en) * | 2012-12-19 | 2014-12-31 | 华南理工大学 | Robot pose error measuring system and method in Cartesian coordinate mode |
| CN103592893A (en) * | 2013-10-24 | 2014-02-19 | 中国科学院长春光学精密机械与物理研究所 | Method for automatically compensating pose errors in machining process of optical element |
| CN103592893B (en) * | 2013-10-24 | 2016-01-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of method of auto-compensation position and attitude error in optical element processing |
| CN106233214A (en) * | 2014-04-22 | 2016-12-14 | Abb瑞士股份有限公司 | Compensating Robot movement warp |
| CN106233214B (en) * | 2014-04-22 | 2019-04-12 | Abb瑞士股份有限公司 | Compensating Robot movement warp |
| CN106066185A (en) * | 2016-05-24 | 2016-11-02 | 华南理工大学 | A kind of line laser sensor automatic calibration device towards weld joint tracking and method |
| CN106066185B (en) * | 2016-05-24 | 2018-05-15 | 华南理工大学 | A kind of line laser sensor automatic calibration device and method towards weld joint tracking |
| CN106802656A (en) * | 2016-12-01 | 2017-06-06 | 台山核电合营有限公司 | A kind of tunnel clears up the cambered surface attitude adjusting method of robot |
| CN106802656B (en) * | 2016-12-01 | 2020-01-21 | 台山核电合营有限公司 | Cambered surface posture adjusting method of tunnel cleaning robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20151219 |
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| EXPY | Termination of patent right or utility model |