CN203310407U - Mechanical arm positioning precision calibration device - Google Patents
Mechanical arm positioning precision calibration device Download PDFInfo
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- CN203310407U CN203310407U CN2013203293128U CN201320329312U CN203310407U CN 203310407 U CN203310407 U CN 203310407U CN 2013203293128 U CN2013203293128 U CN 2013203293128U CN 201320329312 U CN201320329312 U CN 201320329312U CN 203310407 U CN203310407 U CN 203310407U
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- mechanical arm
- speed camera
- imaging screen
- positioning precision
- laser
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Abstract
The utility model provides a mechanical arm positioning precision calibration device used for measuring the positioning precision of a mechanical arm. The mechanical arm positioning precision calibration device is characterized by comprising a laser transmitter, an imaging screen, a high speed camera, a guide rail groove, a graduated scale and an upper computer, wherein the laser transmitter is used for emitting laser and fixedly installed on the mechanical arm, the imaging screen is arranged to be opposite to the laser transmitter and used for receiving the incident laser to form facula; the high speed camera is arranged to be opposite to the imaging screen and used for collecting the movement locus of the facula on the imaging screen due to movement of the mechanical arm, the guide rail groove is used for setting the distance between the high speed camera and the imaging screen, the graduated scale is used for measuring the distance between the high speed camera and the imaging screen, and the upper computer is connected with the high speed camera and used for transmitting a control command to the high speed camera, processing an image signal collected by the high speed camera and displaying the processing result.
Description
Technical field
The utility model belongs to Image processing and compute machine vision technique field, particularly in commercial Application to automatic detection and the demarcation of the positioning precision of mechanical arm.
Background technology
Along with the develop rapidly of electronic computer technology, industrial robot is more and more in industrial application.Assembling is to need one of maximum work post of manual operations in the automobile assembling field, by general aut.eq., can't substitute, thereby can be applied to assembly robot in the automobile assembling field, can realize automatic assembling.Assembly robot is more dexterousr and perfect than other aut.eq., for example the people bearing is packed in dead eye is whether accurately the cooperation of the sensation by vision and finger obtains feedback information, by finger, constantly adjust bearing again, until the cooperate degree between bearing and dead eye is suitable.The technology such as robot and numerically-controlled machine, computer-aided design (CAD) and manufacture can, in conjunction with forming flexible process and assemble system, realize the increasingly automated of production run.
In assembly robot, the position of most critical is exactly mechanical arm, and it can be located service part flexibly quickly and accurately.The mechanical arm of certain model has multiple joint assembly, so usable range is not limited to right angle motion, action that can also the simulating human arm.These joint component must have height swing accuracy and high rigidity, can not produce deviation when guaranteeing that moment stops locating.Therefore, the positioning precision of mechanical arm is the important indicator of judgement assembly robot service condition, so need a high-precision test macro to test and analyze the positioning precision of the mechanical arm of assembly robot.
In conventional solution, the test of positioning precision is carried out the contact test with analysis by recording pointer and registering instrument, the defect that ubiquity is with high costs, upgrading correcting restriction is large, automaticity is not high.
The utility model content
The purpose of this utility model is to provide the mechanical arm positioning precision caliberating device that a kind of cost is low, upgrading correcting flexibility ratio is good and automaticity is high.
The utility model provides a kind of mechanical arm positioning precision caliberating device be used to the positioning precision of measuring mechanical arm, have such feature: comprising: generating laser, be used to sending laser, is fixedly installed on mechanical arm; Imaging screen, arrange with the generating laser subtend, thereby form hot spot be used to the incident that receives laser; High-speed camera, be arranged on the opposite of imaging screen, the movement locus formed on imaging screen due to the movement of mechanical arm be used to gathering hot spot; Guide-track groove, for the distance between setting high-speed video camera and imaging screen; Rule, be used to measuring the distance between high-speed camera and imaging screen; And host computer, with high-speed camera, be connected, for to high-speed camera, transmitting steering order and the picture signal of being come by the high-speed camera collection being processed to Graphics Processing result afterwards.
In what device in the utility model, can also have such feature: wherein, high-speed camera and imaging screen are arranged on the two ends of guide-track groove, and can be close or mutually far away along the direction of guide-track groove.
Effect of the present utility model is:
The mechanical arm positioning precision caliberating device cost that the utility model provides is low, upgrading correcting flexibility ratio is good and automaticity is high.
The mechanical arm positioning precision caliberating device that the utility model provides adopts generating laser and high-speed camera to demarcate the mechanical arm positioning precision, generating laser, high-speed camera, imaging screen and guide-track groove and rule all can directly purchase, easy to maintenance, make that mechanical arm positioning precision caliberating device unitary construction is simple, cost is low, more be conducive to the upgrading of product, flexibility ratio is good, has wide using value and marketable value.
The mechanical arm positioning precision caliberating device that the utility model provides sends laser by the generating laser be fixedly mounted on mechanical arm, when mechanical arm positions test, mechanical arm can carry out fast moving up and down, generating laser also can move thereupon, the hot spot that laser produces will produce corresponding movement locus on imaging screen, by high-speed camera, movement locus is carried out to high speed acquisition, again institute is gathered to image signal transmission to host computer, thereby the running orbit that host computer can automatic detecting machine tool arm, and to the test analysis of the positioning precision of mechanical arm, finally judge the positioning precision of mechanical arm.The mechanical arm positioning precision caliberating device that the utility model provides high, artificial participation of automaticity in positioning the mensuration process of precision is low.
The accompanying drawing explanation
Fig. 1 is the structural representation of mechanical arm positioning precision caliberating device in embodiment of the present utility model.
Embodiment
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is the structural representation of mechanical arm positioning precision caliberating device in embodiment of the present utility model.
As shown in Figure 1, mechanical arm 200 positioning precision marking apparatus 100 in the present embodiment are for measuring the positioning precision of assembly robot mechanical arm 200, and mechanical arm 200 positioning precision marking apparatus 100 comprise generating laser 1, imaging screen 2, CCD high-speed camera 3, guide-track groove 4, rule 5 and host computer 6.
Generating laser 1, be used to sending laser, is fixedly installed on mechanical arm 200, when mechanical arm 200 positions test, and mechanical arm 200 meeting quick swings up and down, generating laser 1 also can be along with mechanical arm 200 motions.
Imaging screen 2 and generating laser 1 subtend setting, after the laser of being launched by generating laser 1, thereby imaging screen 2 receives the incident of this laser and has formed hot spot, quick swing along with mechanical arm 200, thereby the hot spot that generating laser 1 produces will produce corresponding movement locus on imaging screen 2.
CCD high-speed camera 3 is arranged on the opposite of imaging screen 2, and the spot on 3 pairs of imaging screens 2 of CCD high-speed camera is taken pictures, thereby can collect the movement locus that hot spot forms on imaging screen 2 due to the movement of mechanical arm 200.
Guide-track groove 4 is be used to setting the distance between CCD high-speed camera 3 and imaging screen 2, and high-speed camera and imaging screen 2 are arranged on the two ends of guide-track groove 4, and high-speed camera can be close or mutually far away along the direction of guide-track groove 4 with imaging screen 2.
Rule 5 is installed along guide-track groove 4, is used for measuring the distance between CCD high-speed camera 3 and imaging screen 2.
In the present embodiment, mechanical arm 200 positioning precision marking apparatus 100 adopt the method for indirectly measuring, namely, the movement locus of the hot spot by indirect measurement laser analyzes the performance of mechanical arm 200.
By generating laser 1, imaging screen 2 has formed image capture module, the generating laser 1 that can launch red light source is fixed on mechanical arm 200, when mechanical arm 200 positions the fast moving that can carry out upper and lower, left and right in test process, generating laser 1 also can move thereupon, and the hot spot that generating laser 1 produces will produce movement locus on imaging screen 2.
By CCD high-speed camera 3, guide-track groove 4, rule 5, formed image capture module, by utilizing the adjusting of guide-track groove 4, facilitated CCD high-speed camera 3 can according to actual conditions adjust flexibly and imaging screen 2 between distance, for example when being demarcated to camera parameter in advance, CCD high-speed camera 3 adjusts distance, so that the picture signal collected reaches the optimal imaging effect.Rule 5 is the distances that record CCD high-speed camera 3 and imaging screen 2, facilitates follow-up data to process.The image that CCD high-speed camera 3 gathers is sent in host computer 6 and carries out subsequent treatment by image acquisition line 7.In the present embodiment, before measuring the positioning precision of mechanical arm 200, need to demarcate image capture module, with the pixel of determining CCD high-speed camera 3 and the corresponding relation between imaging screen 2 sizes.
The effect of utility model and effect
To sum up, effect of the present utility model is:
The mechanical arm positioning precision caliberating device cost that the utility model provides is low, upgrading correcting flexibility ratio is good and automaticity is high.
The mechanical arm positioning precision caliberating device that the utility model provides adopts generating laser and high-speed camera to demarcate the mechanical arm positioning precision, generating laser, CCD high-speed camera, imaging screen and guide-track groove and rule all can directly purchase, easy to maintenance, make that mechanical arm positioning precision caliberating device unitary construction is simple, cost is low, more be conducive to the upgrading of product, flexibility ratio is good, has wide using value and marketable value.
The mechanical arm positioning precision caliberating device that the utility model provides sends laser by the generating laser be fixedly mounted on mechanical arm, when mechanical arm positions test, mechanical arm can carry out fast moving up and down, generating laser also can move thereupon, the hot spot that laser produces will produce corresponding movement locus on imaging screen, by high-speed camera, movement locus is carried out to high speed acquisition, again institute is gathered to image signal transmission to host computer, thereby the running orbit that host computer can automatic detecting machine tool arm, and to the test analysis of the positioning precision of mechanical arm, finally judge the positioning precision of mechanical arm.The mechanical arm positioning precision caliberating device that the utility model provides high, artificial participation of automaticity in positioning the mensuration process of precision is low.
Above-mentioned embodiment is preferred case of the present utility model, is not used for limiting protection domain of the present utility model.
Claims (2)
1. the mechanical arm positioning precision caliberating device be used to the positioning precision of measuring mechanical arm, is characterized in that, comprising:
Generating laser, be used to sending laser, be fixedly installed on described mechanical arm;
Imaging screen, arrange with described generating laser subtend, thereby form hot spot be used to the incident that receives described laser;
High-speed camera, be arranged on the opposite of described imaging screen, the movement locus formed on described imaging screen due to the movement of described mechanical arm be used to gathering described hot spot;
Guide-track groove, be used to setting the distance between described high-speed camera and described imaging screen;
Rule, be used to measuring the distance between described high-speed camera and described imaging screen; And
Host computer, be connected with described high-speed camera, for to described high-speed camera, transmitting steering order and the picture signal of being come by described high-speed camera collection being processed to Graphics Processing result afterwards.
2. according to the mechanical arm positioning precision caliberating device described in claim 1, it is characterized in that:
Wherein, described high-speed camera and described imaging screen are arranged on the two ends of described guide-track groove, and can be close or mutually far away along the direction of described guide-track groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203293128U CN203310407U (en) | 2013-06-07 | 2013-06-07 | Mechanical arm positioning precision calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203293128U CN203310407U (en) | 2013-06-07 | 2013-06-07 | Mechanical arm positioning precision calibration device |
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| CN203310407U true CN203310407U (en) | 2013-11-27 |
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| CN2013203293128U Expired - Fee Related CN203310407U (en) | 2013-06-07 | 2013-06-07 | Mechanical arm positioning precision calibration device |
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| CN (1) | CN203310407U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792542A (en) * | 2015-04-08 | 2015-07-22 | 吉林大学 | Automobile brake performance detecting system calibrating apparatus and automobile brake performance detecting system calibrating method based on stereoscopic vision |
| CN104889092A (en) * | 2015-04-28 | 2015-09-09 | 国家电网公司 | Water washing robot sighting system based on ultrasonic distance measurement and image identification, and method thereof |
| CN105486289A (en) * | 2016-01-31 | 2016-04-13 | 山东科技大学 | Laser photography measuring system and camera calibration method |
| CN107044826A (en) * | 2017-04-25 | 2017-08-15 | 东莞台盈拓科技股份有限公司 | Laser relative position measurement instrument |
| CN110111394A (en) * | 2019-05-16 | 2019-08-09 | 湖南三一快而居住宅工业有限公司 | Based on manipulator feature to the method and device of video camera automatic Calibration |
| CN110347273A (en) * | 2019-07-12 | 2019-10-18 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN112066859A (en) * | 2020-09-11 | 2020-12-11 | 广东博智林机器人有限公司 | Light spot position detection method and light spot position detection system |
| CN115589531A (en) * | 2022-09-13 | 2023-01-10 | 深圳市拓普智造科技有限公司 | Shooting method and system of target scene and storage medium |
-
2013
- 2013-06-07 CN CN2013203293128U patent/CN203310407U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792542A (en) * | 2015-04-08 | 2015-07-22 | 吉林大学 | Automobile brake performance detecting system calibrating apparatus and automobile brake performance detecting system calibrating method based on stereoscopic vision |
| CN104792542B (en) * | 2015-04-08 | 2017-07-04 | 吉林大学 | Test System for Automobile Brake Performance calibrating installation and method based on stereoscopic vision |
| CN104889092A (en) * | 2015-04-28 | 2015-09-09 | 国家电网公司 | Water washing robot sighting system based on ultrasonic distance measurement and image identification, and method thereof |
| CN105486289A (en) * | 2016-01-31 | 2016-04-13 | 山东科技大学 | Laser photography measuring system and camera calibration method |
| CN105486289B (en) * | 2016-01-31 | 2018-03-23 | 山东科技大学 | A kind of laser photography measuring system and camera calibration method |
| CN107044826A (en) * | 2017-04-25 | 2017-08-15 | 东莞台盈拓科技股份有限公司 | Laser relative position measurement instrument |
| CN110111394A (en) * | 2019-05-16 | 2019-08-09 | 湖南三一快而居住宅工业有限公司 | Based on manipulator feature to the method and device of video camera automatic Calibration |
| CN110347273A (en) * | 2019-07-12 | 2019-10-18 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN110347273B (en) * | 2019-07-12 | 2023-04-28 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN112066859A (en) * | 2020-09-11 | 2020-12-11 | 广东博智林机器人有限公司 | Light spot position detection method and light spot position detection system |
| CN115589531A (en) * | 2022-09-13 | 2023-01-10 | 深圳市拓普智造科技有限公司 | Shooting method and system of target scene and storage medium |
| CN115589531B (en) * | 2022-09-13 | 2023-10-20 | 深圳市拓普智造科技有限公司 | Shooting method, shooting system and storage medium of target scene |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131127 Termination date: 20140607 |