CN203758455U - Industrial robot repetitive positioning precision measuring device - Google Patents
Industrial robot repetitive positioning precision measuring device Download PDFInfo
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- CN203758455U CN203758455U CN201420123934.XU CN201420123934U CN203758455U CN 203758455 U CN203758455 U CN 203758455U CN 201420123934 U CN201420123934 U CN 201420123934U CN 203758455 U CN203758455 U CN 203758455U
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- industrial robot
- repetitive positioning
- coordinate system
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- 230000003252 repetitive effect Effects 0.000 title claims abstract description 25
- 238000005259 measurement Methods 0.000 claims description 32
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000001413 cellular effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Abstract
The utility model discloses an industrial robot repetitive positioning precision measuring device, comprising three laser distance measuring sensors, a measuring block, a data acquisition and process unit. Light emitted by the three laser distance measuring sensors is mutually perpendicular to each other, and the three-path light intersects at one point, forming a three-dimensional measuring coordinate system. The measuring block is disposed at a flange of the tail end of the industrial robot. The distance from each surface to the laser distance measuring sensors can be measured by reflecting light from the laser distance measuring sensor, and the position of the measuring block in the three-dimensional measuring coordinate system can be obtained. The data acquisition and process unit is connected to the three laser distance measuring sensors, and the position data of the measuring block in the three-dimensional measuring coordinate system can be acquired. The precision value of the repetitive positioning of the robot can be obtained through multi-time repetitive measuring and data processing. Compared with the prior art, the industrial robot repetitive positioning precision measuring device is advantageous in that use is convenient and operation is simple; investment on devices and labor can be reduced; the accuracy of the repetitive positioning precision measuring of the industrial robot can be increased.
Description
Technical field
The utility model relates to industrial robot repetitive positioning accuracy to be measured, and relates in particular to a kind of industrial robot repetitive positioning accuracy measurement mechanism, belongs to industrial automatic control field.
Background technology
At present, the repetitive positioning accuracy of industrial robot adopts laser tracker to measure mostly.Laser tracker is carrying out in industrial robot repetitive positioning accuracy measuring process, must limit the speed of robot within the specific limits, lose optical phenomenon otherwise just there will be, need re-start measurement, the repetitive positioning accuracy obtaining under measuring is at a slow speed inaccurate, and this device has certain requirement to operating personnel, and complex operation, cost is high, measure as being only used in industrial robot repetitive positioning accuracy, can form the wasting of resources, and in the finished product factory testing process of industrial robot, can not each station joining a laser tracker detects industrial robot, so a kind of cost of utility model is low, easy to operate industrial robot repetitive positioning accuracy test measurement device is just very necessary.
Summary of the invention
The utility model discloses a kind of industrial robot repetitive positioning accuracy measurement mechanism, solve laser tracker and have circumscribed problem in industrial robot repetitive positioning accuracy is measured, overcome the defect that existing equipment exists.
For realizing above-mentioned utility model object, the technical scheme that the utility model is taked is: a kind of industrial robot repetitive positioning accuracy measurement mechanism, comprises three laser range sensors, measures piece, data acquisition and processing unit;
The light that described three laser range sensors send between two mutually vertical Qie San road ray intersection, in a bit, forms three-dimensional measurement coordinate system;
Described measurement piece is arranged in industrial robot end flange, in the time that robot drives measurement piece to move in described three-dimensional measurement coordinate system, three laser range sensors are irradiated to respectively on three orthogonal surfaces measuring piece, measure each the distance to laser range sensor by reflection, draw and measure the position of piece in three-dimensional measurement coordinate system, thereby obtain robot end position;
Described data acquisition and processing unit are connected with three laser range sensors, obtain and measure the position data of piece in three-dimensional measurement coordinate system, and repeatedly duplicate measurements carry out data processing, can draw robot repetitive positioning accuracy value.
Described industrial robot repetitive positioning accuracy measurement mechanism also can comprise three laser range sensor positions and perpendicularity regulating device, three laser range sensors respectively correspondence are arranged on each laser range sensor position and perpendicularity regulating device, by regulating laser range finder sensing station and perpendicularity regulating device, ensures light that three laser range sensors send between two mutually vertically Qie San road ray intersection in a bit.
Industrial robot repetitive positioning accuracy measurement mechanism in the utility model, compared with existing equipment, easy to use, simple to operate, cost is low, the mass that can be used for industrial robot workshop uses, reduce the input of equipment and human cost, and improved the accuracy that industrial robot repetitive positioning accuracy is measured.
Brief description of the drawings
Fig. 1 is the utility model device schematic diagram.
Fig. 2 is the utility model device partial schematic diagram.
Fig. 3 is perpendicularity regulating device schematic diagram.
Fig. 4 is for measuring piece schematic diagram.
Fig. 5 is data receiver cellular construction schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is the utility model device schematic diagram, comprises fixed side 1-1, laser range sensor 1-2, perpendicularity regulating device 1-4, measures piece 1-3 and data receiver and processing unit 1-5.As shown in Figure 2, this device comprise three road laser range sensors (2-1,2-2 and 2-3) and three perpendicularity regulating devices (2-1 ', 2-2 ' and 2-3 '), laser range sensor is arranged on respectively on perpendicularity regulating device, the light sending by perpendicularity regulating device Shi San road laser range sensor is mutually vertical between two, forms three-dimensional measurement coordinate system.Measuring piece 1-3 is arranged on robot end's flange, robot drives measurement piece to move in three-dimensional measurement coordinate system, can obtain measuring the position data of piece in three-dimensional measurement coordinate system by data receiver and processing unit 1-5, can obtain robot end's positional value simultaneously, repeatedly duplicate measurements carry out data processing, can draw robot repetitive positioning accuracy value.
Fig. 3 is perpendicularity regulating device schematic diagram, by regulating direction adjusting apparatus A, the direction adjusting apparatus B in figure, can carry out to laser sensor the adjusting of left and right angle, regulate direction adjusting apparatus C, the direction adjusting apparatus D shown in figure, can carry out to laser sensor the adjusting of upper lower angle.Fix a road laser sensor, regulate respectively other two-way, can ensure that three road laser range sensors are mutually vertical between two.
Fig. 4 is for measuring piece schematic diagram, measuring piece 4-1 is canonical measure piece, be generally standard cube body, this measurement piece 4-1 is arranged on robot end's flange 4-2, in the time that robot drives measurement piece 4-1 to move in three-dimensional measurement coordinate system, three road laser range sensors are irradiated to respectively on three orthogonal surfaces measuring piece 4-1, measure each the position to laser range sensor by reflection, draw and measure the position of piece in three-dimensional measurement coordinate system, thereby obtain robot end position.
Fig. 5 is data receiver cellular construction schematic diagram.Wherein, central processing unit is flush bonding processor, is the control module of whole system, mainly comprises and the function such as the reception of user's mutual, data, data processing, data storage; Touch-screen, for system and user's interactive function, comprises the functions such as default, setting parameter, data are checked, data importing derivation; RTC clock is responsible for providing clock information to system; Storer is responsible for the storage of data; Ethernet is for communicating by letter with external system, as the function such as system upgrade, system debug; USB is mainly used in importing and the export function of measurement data; Three road laser range sensor interfaces receive respectively the data of three laser range sensors.
In the time that system starts to measure, robot drives measures piece 1-3 circular flow repeatedly, and while arriving measurement point, data receiver unit 1-5 records current positional value at every turn, after measurement completes, calculate radius of a ball value taking position cluster centers as the centre of sphere and be the repetitive positioning accuracy of robot.
Claims (2)
1. an industrial robot repetitive positioning accuracy measurement mechanism, is characterized in that: comprise three laser range sensors, measure piece, data acquisition and processing unit;
The light that described three laser range sensors send between two mutually vertical Qie San road ray intersection, in a bit, forms three-dimensional measurement coordinate system;
Described measurement piece is arranged on industrial robot ring flange end;
Described data acquisition and processing unit are connected with three laser range sensors, obtain and measure the position data of piece in three-dimensional measurement coordinate system.
2. a kind of industrial robot repetitive positioning accuracy measurement mechanism according to claim 1, is characterized in that: also comprise three perpendicularity regulating devices, three laser range sensors are arranged on respectively on three perpendicularity regulating devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420123934.XU CN203758455U (en) | 2014-04-25 | 2014-04-25 | Industrial robot repetitive positioning precision measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420123934.XU CN203758455U (en) | 2014-04-25 | 2014-04-25 | Industrial robot repetitive positioning precision measuring device |
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| Publication Number | Publication Date |
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| CN203758455U true CN203758455U (en) | 2014-08-06 |
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| CN201420123934.XU Expired - Lifetime CN203758455U (en) | 2014-04-25 | 2014-04-25 | Industrial robot repetitive positioning precision measuring device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103940335A (en) * | 2014-04-25 | 2014-07-23 | 南京埃斯顿机器人工程有限公司 | Device for measuring repeated positioning accuracy of industrial robot |
| CN104613872A (en) * | 2015-03-05 | 2015-05-13 | 安徽埃夫特智能装备有限公司 | Test system for measuring repositioning precision of industrial robot |
| CN106839933A (en) * | 2016-12-23 | 2017-06-13 | 重庆华数机器人有限公司 | A kind of Simple robot accuracy detecting device and detection method |
| CN107270854A (en) * | 2017-05-12 | 2017-10-20 | 哈工大机器人集团有限公司 | A kind of robot repetitive positioning accuracy detection means |
| CN110146017A (en) * | 2019-06-08 | 2019-08-20 | 青岛科技大学 | Industrial robot repetitive positioning accuracy measurement method |
| CN110985827A (en) * | 2019-12-09 | 2020-04-10 | 芜湖赛宝机器人产业技术研究院有限公司 | A shock attenuation support for testing industrial robot repeated positioning accuracy |
| CN111256979A (en) * | 2020-03-25 | 2020-06-09 | 贾佳 | Inflation monitoring devices and system |
| CN114260944A (en) * | 2022-01-20 | 2022-04-01 | 深圳市恒文利科技有限公司 | Robot laser calibration device and calibration method thereof |
-
2014
- 2014-04-25 CN CN201420123934.XU patent/CN203758455U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103940335A (en) * | 2014-04-25 | 2014-07-23 | 南京埃斯顿机器人工程有限公司 | Device for measuring repeated positioning accuracy of industrial robot |
| CN104613872A (en) * | 2015-03-05 | 2015-05-13 | 安徽埃夫特智能装备有限公司 | Test system for measuring repositioning precision of industrial robot |
| CN106839933A (en) * | 2016-12-23 | 2017-06-13 | 重庆华数机器人有限公司 | A kind of Simple robot accuracy detecting device and detection method |
| CN107270854A (en) * | 2017-05-12 | 2017-10-20 | 哈工大机器人集团有限公司 | A kind of robot repetitive positioning accuracy detection means |
| CN110146017A (en) * | 2019-06-08 | 2019-08-20 | 青岛科技大学 | Industrial robot repetitive positioning accuracy measurement method |
| CN110985827A (en) * | 2019-12-09 | 2020-04-10 | 芜湖赛宝机器人产业技术研究院有限公司 | A shock attenuation support for testing industrial robot repeated positioning accuracy |
| CN110985827B (en) * | 2019-12-09 | 2021-02-12 | 芜湖赛宝机器人产业技术研究院有限公司 | A shock attenuation support for testing industrial robot repeated positioning accuracy |
| CN111256979A (en) * | 2020-03-25 | 2020-06-09 | 贾佳 | Inflation monitoring devices and system |
| CN114260944A (en) * | 2022-01-20 | 2022-04-01 | 深圳市恒文利科技有限公司 | Robot laser calibration device and calibration method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140806 |
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| CX01 | Expiry of patent term |