CN205619907U - Test composite set marks in robot - Google Patents
Test composite set marks in robot Download PDFInfo
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- CN205619907U CN205619907U CN201620312053.1U CN201620312053U CN205619907U CN 205619907 U CN205619907 U CN 205619907U CN 201620312053 U CN201620312053 U CN 201620312053U CN 205619907 U CN205619907 U CN 205619907U
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Abstract
The utility model provides a test composite set marks in robot, test composite set marks in robot matches with laser system and is used for the robot calibration gesture, test composite set marks in robot is including being fixed in scaling board and the load subassembly of snap -on on robot or scaling board in the robot, the load subassembly includes a plurality of gage blocks that can dismantle the connection and with the fixed mounting to together of a plurality of gage blocks. The load subassembly includes a plurality of gage blocks that can dismantle the connection, consequently, is carrying out the in -process that the robot demarcation was tested, can increase or reduce the quantity of gage block as required to carry out more accurate demarcation to the robot.
Description
Technical field
The utility model relates to a kind of Robot calibration test combination unit.
Background technology
Industrial robot is as production equipment crucial in flexible production and intelligence manufacture concept, its most basic function i.e. requirement possessing can be accurately positioned end effector (including pose and attitude), the open chain mechanism that the artificially common each adjacent links coupled motions of joint type industrial machine are constituted, the accurately control of its end effector pose needs by ensureing each being precisely controlled of joint parameter value.But, robot produces whole and be inevitably present many errors such as manufacture, assembling, abrasion in use periodic process.The existence of these errors makes deviation to occur, so that control is accurate not between original inside name kinematics model preset and the actual parameter of each robot individuality in robot control system.Therefore, it is required for carrying out carefully reliable demarcation, to revising the precision of robot to robot before robot puts into formal use and after safeguarding adjustment.
Industrial robot timing signal, needs the characteristics such as the pose to robot, track and speed to measure demarcation according to the requirement of national standard " GB/T 12642-2013 industrial robot performance specification and test method thereof "；And the loading condition for robot in calibration process has Regulatory requirements, i.e. must carry out full load (design requires) testing results and suggestion carries out the test request of 10% load.For exploitation heavy-load robot, need the parameter numerous and complicated of measurement, and preferably under multiple loading conditions, the operation conditions of robot model machine is demarcated, to preferably summing up and changing the design of robot.So, scaling scheme and demarcation test device, then for the time saving Robot calibration, improve operating efficiency most important easily and reliably.
Therefore, it is necessary to design the Robot calibration test combination unit of a kind of conveniently adjusted load.
Utility model content
The purpose of this utility model is to provide a kind of Robot calibration measuring under multiple loading condition test combination unit.
For realizing above-mentioned utility model purpose, the utility model provides a kind of Robot calibration test combination unit, described Robot calibration test combination unit matches with laser system and merges to demarcate robot pose, described Robot calibration test combination unit includes the scaling board being fixed in robot and the load component being directly fixed on robot or scaling board, and described load component includes some gauge blocks that can dismantle connection and some gauge blocks are fixed to fixture together.
As further improvement of the utility model, described gauge block includes first gauge block, end gauge block and the some middle gauge block being located between first gauge block and end gauge block.
As further improvement of the utility model, described first gauge block, some middle gauge blocks, end gauge block are all equal in weight.
As further improvement of the utility model, described middle gauge block has relative first surface and second surface, described first surface forms groove to second surface direction depression, described second surface protrudes out to the direction away from first surface and is formed with boss, and when in the middle of adjacent two, gauge block is fixed to together, boss and groove are respectively cooperating with fixing.
As further improvement of the utility model, described fixture includes stud and bolt, and described first gauge block, middle gauge block and end gauge block are locked with bolt mutually by stud；Described first gauge block, middle gauge block, end gauge block are all formed through the first perforation, described stud from described first perforation through and being locked with described bolt phase.
As further improvement of the utility model, described gauge block is square, and described first perforation is provided with four and is arranged on four angles of gauge block.
As further improvement of the utility model, described laser system includes receiving the laser tracker of laser, in order to reflect the reflecting target ball of laser；Described Robot calibration test combination unit also includes the flange in order to fixation reflex target ball and/or load component and/or scaling board.
As further improvement of the utility model, described flange is directly fixed on robot or load component, and described flange center position is provided with the target stand in order to fixation reflex target ball.
As further improvement of the utility model, described flange is fixed in robot, and described scaling board is the extension scaling board in strip；Described extension scaling board one end is fixed on flange, and the other end extends to outside flange and in order to fix described reflecting target ball.
As further improvement of the utility model, described flange is fixed in robot, and described scaling board is plate-shaped and area is more than the attitude scaling board of described flange and load component；Described attitude scaling board is arranged between described flange and load component, and described load component and flange are both secured on described attitude scaling board lean on paracentral position；Described attitude scaling board is away from being provided with target stand and in order to fix three described reflecting target balls on the position of load component.
As further improvement of the utility model, described flange includes end flange and demarcates flange, and described end flange is fixed between robot and scaling board, and described scaling board is plate-shaped biasing scaling board；Described biasing scaling board one end is fixed on end flange, and the other end stretches out from end flange and in order to fix described load component；Described demarcation flange is fixed on the side away from robot on described load component, and the center position of described demarcation flange is provided with the target stand in order to fixation reflex target ball.
The beneficial effects of the utility model are: described load component includes some gauge blocks that can dismantle connection, therefore, during carrying out Robot calibration test, the quantity of gauge block can be increased or decreased as required, thus demarcate robot more accurately.Further, owing to load component is divided into several gauge blocks, the weight of every piece of gauge block is all relatively light, and it is more convenient to be easier to when being therefore fixed operation.
Brief description
Fig. 1 is the overall structure schematic diagram of the utility model Robot calibration test combination unit；
Fig. 2 is the structural representation of the utility model load component；
Fig. 3 is the structural representation of the first gauge block of the utility model and end gauge block；
Fig. 4 is the structural representation of gauge block in the middle of the utility model；
Fig. 5 is the first scaling method of the utility model Robot calibration test combination unit；
Fig. 6 is the second scaling method of the utility model Robot calibration test combination unit；
Fig. 7 is the third scaling method of the utility model Robot calibration test combination unit；
Fig. 8 is the 4th kind of scaling method of the utility model Robot calibration test combination unit；
Fig. 9 is the 5th kind of scaling method of the utility model Robot calibration test combination unit.
Detailed description of the invention
Below with reference to each embodiment shown in the drawings, the utility model is described in detail.But these embodiments are not limiting as the utility model, structure, method or conversion functionally that those of ordinary skill in the art is made according to these embodiments are all contained in protection domain of the present utility model.
Such as Fig. 1 to Fig. 9, the utility model provides a kind of Robot calibration test combination unit 100, and described Robot calibration test combination unit 100 matches with laser system and merges to demarcate robot 200.Described laser system includes launching and receive the laser tracker of laser the 1st, in order to reflect the reflecting target ball 2 of laser；Described Robot calibration test combination unit 100 includes the scaling board demarcating robot 200, the load component 4 being fixed in robot 200 and the flange 5 in order to fixation reflex target ball 2 and/or load component 4 and/or scaling board.
Described load component 4 is fixed in robot 200, it is generally the case that described load component 4 is fixed in robot 200 by flange 5 or scaling board.Described load component 4 includes some gauge blocks 41 that can dismantle connection and in order to gauge block 41 is fixed to fixture together.Described gauge block 41 includes first gauge block the 411st, end gauge block 412 and the some middle gauge block 413 being located between first gauge block 411 and end gauge block 412.In the present embodiment, described first gauge block the 411st, some middle gauge blocks the 413rd, end gauge block 412 is all arranged in one direction, stacking extends i.e. in one direction, if certain described gauge block 41 stacks arrangement in other modes irregular, it is possible to reach the purpose of this utility model.The weight of described first gauge block the 411st, end gauge block the 412nd, middle gauge block 413 is all equal, and in the present embodiment, the weight of described gauge block 41 is 10kg.Described gauge block 41 is all in tetragonal structure, and in the present embodiment, the general perspective of described gauge block 41 is all square.Described fixture includes stud (non-label) and bolt (non-label), fixed by stud and bolt between described gauge block 41, described gauge block 41 is all formed through the first perforation 410, the diameter of described first perforation 410 is more than described stud diameter about 2mm, facilitates stud to pass through and fixes with bolts assemblies.In the present embodiment, described gauge block 41 is all square, and described first perforation 410 is provided with four and the center with gauge block 41 is symmetric, and near four angle distributions of described gauge block 41.
As shown in Figures 2 and 3, described first gauge block 411 and end gauge block 412 include square substrate 4111 and protrude out the projection 4112 of formation on substrate 4111 to a direction, described projection 4112 is formed on four right angles of described substrate 4111, and described first perforation 410 is formed on described projection 4112.Described first gauge block 411 and end gauge block 412 have been processed to form flange-interface 4113 away from the side of projection 4112, in order to dock with flange 5 phase.Existence due to projection 4112, it is formed with gap 4114 between described first gauge block 411 and end gauge block 412 and middle gauge block 413, in present embodiment, the height of described projection 4112 is about 40mm, therefore, being formed with the gap 4114 of about 40mm between the substrate 4111 of described first gauge block 411 and end gauge block 412 and middle gauge block 413, when described gap 4114 is docked with flange 5 for first gauge block 411 and end gauge block 412, convenient wrench stretches into operation from gap 4114.
As shown in Figure 2,3, 4, the general perspective of described middle gauge block 413 and described first gauge block 411 and end gauge block 412 in the same size, and that described first perforation 410 is formed on four right angles of described middle gauge block 413 and its size and location are all bored a hole with first on first gauge block 411 and last gauge block 412 is 410 consistent.Described middle gauge block 413 has relative first surface and second surface, described first surface forms groove 4131 to second surface direction depression, described second surface protrudes out formation boss 4132 to the direction away from first surface, and in the middle of adjacent two, boss 4132 and the groove 4131 of gauge block 413 are respectively cooperating with fixing.Therefore, between in an installation during gauge block 413, first by groove 4131 and the boss 4132 phase positioning of middle gauge block 413, and then centre gauge block 413 phase can be stacked, and can ensure that middle gauge block 413 is all arranged in one direction, and some first perforation 410 are corresponding in order to fixing.
Accordingly, because the weight of described gauge block 41 is all equal and conveniently dismantles and installation, then during robot 200 is demarcated, the middle gauge block 413 of detachable or installation, conveniently robot 200 is demarcated in the case of different loads.
In described robot 200 calibration process, by different scaling board, and one or more reflecting target balls 2 of various location can be fixed on, robot 200 is demarcated.The three-dimensional coordinate information of specified point when described laser tracker 1 and described reflecting target ball 2 operate according to robot 200 described in different test request records, and save the data in computer, and utilize measurement system support software data processing, thus robot 200 is demarcated.Scaling board has several structure, and reflecting target ball 2 is different from the connected mode of scaling board, then the three-dimensional coordinate data of measured robot 200 is also different, can more fully demarcate test to robot 200.
It is illustrated in figure 5 the first scaling method, is fixed on described flange 5 in robot 200, and described reflecting target ball 2 is fixed on the center of described flange 5, thus demarcate the robot 200 when non-loaded.
Being illustrated in figure 6 the second scaling method, fixing described load component 4 with described robot 200, described flange 5 includes demarcating flange 51 and end flange 52；Described end flange 52 is fixedly connected between described robot 200 and load component 4, by coordinating between end flange 52 and the last gauge block 412 of load component 4, can be securely fastened to load component 4 in robot 200；Described demarcation flange 51 is fixed on the side away from end gauge block 412 for the first gauge block 411, and described reflecting target ball 2 is fixed on the centre position of described demarcation flange 51, thus demarcates the robot 200 when having load；Meanwhile, in order to meet unequally loaded requirement, can increase or dismantle middle gauge block 413, thus demarcate more accurately.
Being illustrated in figure 7 the third scaling method, described flange 5 includes demarcating flange 51 and end flange 52, connects described demarcation flange 51 and end flange 52 with bolt and removable alignment pin, and is fixed in robot 200.Described scaling board is the extension scaling board 31 in strip, and described extension scaling board 31 is provided with some target stands 310 in order to install reflecting target ball 2.Described extension scaling board 31 one end is fixed to demarcate on flange 51, the other end extends to demarcate outside flange 51, described reflecting target ball 2 is fixed to described extension scaling board 31 one end away from flange 5, and i.e. described reflecting target ball 2 is fixed on the side that described extension scaling board 31 deviates flange 5 center.Owing to robot 200 has several axles, coaxially when rotated, laser tracker 1 needs to keep track of the movement locus of reflecting target ball 2.Therefore the movement locus during axle rotation at reflecting target ball 2 place in Fig. 5 is if desired measured, owing to reflecting target ball 2 is on this axle, even if then this axle rotates and also cannot record movement locus, therefore it is accomplished by using scaling method as shown in Figure 7, use and extend scaling board 31, reflecting target ball 2 is deviateed this axle and arranges.
Being illustrated in figure 8 the 4th kind of scaling method, described scaling board is plate-shaped attitude scaling board 32, and the area of described attitude scaling board 32 is more than load component 4 and flange 5, and is completely included gauge block 41.Described load component 4 and flange 5 are both secured on described attitude scaling board 32 lean on paracentral position.Described attitude scaling board 32 is in four directions tabular, and is respectively formed with to install the target stand 310 of reflecting target ball 2 on four right angles, and described reflecting target ball 2 has three, and is individually fixed in any three target stands 310 of attitude scaling board 32.In this case, it is fixed on flange 5 in robot 200, and the last gauge block 412 on load component 4 is shed, and be connected and fixed on attitude scaling board 32 between described flange 5 and the middle gauge block 413 being positioned at end.Offering the second perforation (not shown) passing through for stud on described attitude scaling board 32, described second perforation aligns and in the same size with described first perforation 410, thus attitude scaling board 32 is fixed on the end of load component 4.Utilize the three-dimensional coordinate information of described three reflecting target balls 2 under the test of described laser tracker 1 recorder people 200 different positions and pose, thus attitude demarcation is carried out to robot 200.Meanwhile, in order to meet unequally loaded requirement, can increase or dismantle middle gauge block 413, thus demarcate more accurately.
Being illustrated in figure 9 the 4th kind of scaling method, described scaling board is plate-shaped biasing scaling board 33, and being rectangle of described biasing scaling board 33 keeps consistent with the width of described gauge block 41 in tabular, and width.Described flange 5 includes demarcating flange 51 and end flange 52, and described end flange 52 is fixed in robot 200.Described demarcation flange 51 is fixed on the side away from robot for the first gauge block 411 of described load component 4, is i.e. positioned at the front end of robot, and described reflecting target ball 2 is fixed on the center of described demarcation flange 51.Described biasing scaling board 33 one end is fixed on end flange 52, and the other end stretches out from end flange 52；Described load component 4 is fixed on described biasing scaling board 33 one end away from end flange 52.In the present embodiment, described load component 4 unloads end removing gauge block, and the middle gauge block 413 that will be located in end directly fixes with biasing scaling board 33.Thus when loading the axle of whole departure robot 200, robot 200 can be demarcated.Meanwhile, in order to meet unequally loaded requirement, can increase or dismantle middle gauge block, thus demarcate more accurately.
Concretely comprising the following steps of method of testing is demarcated by described robot 200, and in the present embodiment, using six-joint robot 200 as demarcating object, the 6th axle is for such as the axis at reflecting target ball 2 place in Fig. 5:
S1: as shown in Figure 5, the end flange 52 of described heavy-load robot 200 is connected by bolt and removable alignment pin with described demarcation flange 51, then M4 bolt is utilized to connect described demarcation flange 51 and described extension scaling board 31, then first described reflecting target ball 2 is installed on the middle target stand 310 of described demarcation flange 51, driving the first axle and second axle of described heavy-load robot 200 in a manual mode successively, single-shaft-rotation scope is not less than 120 °.Described laser tracker 1 is utilized to keep track of the track of described reflecting target ball 2, respectively obtain the locus circle that robot 200 rotates according to each axle, fitting circle and circular shaft line, with the first track shaft circular shaft line as Z axis, second track shaft circular shaft line is Y-axis, set up robot 200 demarcation cartesian coordinate system, according to the D-H parameter in joint during design, unified robot 200 control world coordinate system and demarcation cartesian coordinate system.
S2: rotate the 3rd axle of described heavy-load robot 200, the 4th axle, the 5th axle, the 6th axle successively, the track of described reflecting target ball 2 when utilizing described laser tracker 1 to record the operating of each single shaft respectively.At record the 6th track shaft bowlder, as it is shown in fig. 7, need first described reflecting target ball 2 to be arranged on described extension scaling board 31 on the target stand 310 deviateing described end flange 52 center.So utilize described laser tracker 1 to measure the locus circle of each axle of special-purpose software matching and the axis of system, set up the actual D-H parameter of described heavy-load robot 200 and the coordinate system of each axle.
S3: as shown in Figure 6, load component 4 is directly fixed in described robot 200 by end flange 52, and it is fixed on the first gauge block front end of described load component 4 by demarcating flange 51, coordinate described laser tracker 1 can complete the measurement of robot 200 position under different load conditions and rail track feature.The track that robot 200 runs selects according to the regulation of related GB.
S4: as shown in Figure 8, described attitude scaling board 32 is used to connect described end flange 52 and described load component 4, shedding one piece of end gauge block 412 between described load component 4 and described attitude scaling board 32, the middle gauge block 413 being positioned at end directly fixes with attitude scaling board 32.Described attitude scaling board 32 selects three target stands 310, three described reflecting target balls 2 are installed.Described laser tracker 1 is utilized to distinguish the three-dimensional coordinate information of described three the reflecting target balls 2 under recorder people 200 different positions and pose.Two crossing vectors are set up between 3, the principle utilizing vertical vector apposition to be zero, use MATLAB programmed process data, obtain the data of attitude parameter, be used for carrying out robot 200 attitude and demarcate.Utilize described laser tracker 1 can directly obtain and record the exact position of described reflecting target ball 2, but can not directly obtain the attitude information of described heavy-load robot 200 end TCP.
S5: as it is shown in figure 9, utilize described biasing scaling board 33 to connect described end flange 52 and described load component 4, described load component 4 front end is connected with described demarcation flange 51, and described reflecting target ball 2 is arranged on the centre position of described demarcation flange 51.Adjust the quantity of middle gauge block 413 of described load component 4 with varying duty size, carry out loading test and the demarcation of robot 200 performance under bias conditions.
By said method, robot 200 comprehensively can be demarcated, and, due to the design for disassembly of load, can be continuously increased or reduce load, test is more fully demarcated to robot 200.
Should be understood, although this specification is been described by according to embodiment, but not each embodiment only comprises an independent technical scheme, this narrating mode of specification is only for clarity sake, those skilled in the art should be using specification as an entirety, technical scheme in each embodiment also can form, through appropriately combined, other embodiments that it will be appreciated by those skilled in the art that.
The a series of detailed description of those listed above is only for illustrating of feasibility embodiment of the present utility model; they are simultaneously not used to limit protection domain of the present utility model, all should be included within protection domain of the present utility model without departing from the utility model skill equivalent implementations of being made of spirit or change.
Claims (11)
1. a Robot calibration test combination unit, described Robot calibration test combination unit matches with laser system and merges to demarcate robot pose, it is characterized in that: described Robot calibration test combination unit includes the scaling board being fixed in robot and the load component being directly fixed on robot or scaling board, and described load component includes some gauge blocks that can dismantle connection and some gauge blocks are fixed to fixture together.
2. Robot calibration according to claim 1 test combination unit, it is characterised in that: described gauge block includes first gauge block, end gauge block and the some middle gauge block being located between first gauge block and end gauge block.
3. Robot calibration according to claim 2 test combination unit, it is characterised in that: described first gauge block, middle gauge block, end gauge block weight all equal.
4. Robot calibration according to claim 2 test combination unit, it is characterized in that: described middle gauge block has relative first surface and second surface, described first surface forms groove to second surface direction depression, described second surface protrudes out to the direction away from first surface and is formed with boss, and when in the middle of adjacent two, gauge block is fixed to together, boss and groove are respectively cooperating with fixing.
5. Robot calibration according to claim 2 test combination unit, it is characterised in that: described fixture includes stud and bolt, and described first gauge block, middle gauge block and end gauge block are locked with bolt mutually by stud；Described first gauge block, middle gauge block, end gauge block are all formed through the first perforation, described stud from described first perforation through and being locked with described bolt phase.
6. Robot calibration according to claim 5 test combination unit, it is characterised in that: described gauge block is square, and described first perforation is provided with four and is arranged on four angles of gauge block.
7. Robot calibration according to claim 1 test combination unit, it is characterised in that: described laser system includes receiving the laser tracker of laser, in order to reflect the reflecting target ball of laser；Described Robot calibration test combination unit also includes the flange in order to fixation reflex target ball and/or load component and/or scaling board.
8. Robot calibration according to claim 7 test combination unit, it is characterised in that: described flange is directly fixed on robot or load component, and described flange center position is provided with the target stand in order to fixation reflex target ball.
9. Robot calibration according to claim 7 test combination unit, it is characterised in that: described flange is fixed in robot, and described scaling board is the extension scaling board in strip；Described extension scaling board one end is fixed on flange, and the other end extends to outside flange and in order to fix described reflecting target ball.
10. Robot calibration according to claim 7 test combination unit, it is characterised in that: described flange is fixed in robot, and described scaling board is plate-shaped and area is more than the attitude scaling board of described flange and load component；Described attitude scaling board is arranged between described flange and load component, and described load component and flange are both secured on described attitude scaling board lean on paracentral position；Described attitude scaling board is away from being provided with target stand and in order to fix three described reflecting target balls on the position of load component.
11. Robot calibration according to claim 7 test combination units, it is characterised in that: described flange includes end flange and demarcates flange, and described end flange is fixed between robot and scaling board, and described scaling board is plate-shaped biasing scaling board；Described biasing scaling board one end is fixed on end flange, and the other end stretches out from end flange and in order to fix described load component；Described demarcation flange is fixed on the side away from robot on described load component, and the center position of described demarcation flange is provided with the target stand in order to fixation reflex target ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620312053.1U CN205619907U (en) | 2016-04-14 | 2016-04-14 | Test composite set marks in robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620312053.1U CN205619907U (en) | 2016-04-14 | 2016-04-14 | Test composite set marks in robot |
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| CN205619907U true CN205619907U (en) | 2016-10-05 |
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| CN201620312053.1U Active CN205619907U (en) | 2016-04-14 | 2016-04-14 | Test composite set marks in robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783809A (en) * | 2016-04-14 | 2016-07-20 | 昆山工研院工业机器人研究所有限公司 | Robot calibration testing combined device |
| CN109062138A (en) * | 2018-09-11 | 2018-12-21 | 苏州伟信奥图智能科技有限公司 | A kind of five shaft platform system calibrating schemes based on stereo calibration block |
-
2016
- 2016-04-14 CN CN201620312053.1U patent/CN205619907U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783809A (en) * | 2016-04-14 | 2016-07-20 | 昆山工研院工业机器人研究所有限公司 | Robot calibration testing combined device |
| CN109062138A (en) * | 2018-09-11 | 2018-12-21 | 苏州伟信奥图智能科技有限公司 | A kind of five shaft platform system calibrating schemes based on stereo calibration block |
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Address after: 215300, No. 15, 1504-4 floor, 1699 South Gate Road, Yushan Town, Kunshan City, Jiangsu, Suzhou Patentee after: Kunshan Hua Heng robot Co., Ltd. Patentee after: Kunshan Huaheng Welding Co., Ltd. Address before: 215300, No. 15, 1504-4 floor, 1699 South Gate Road, Yushan Town, Kunshan City, Jiangsu, Suzhou Patentee before: Industrial Robot Research Co., Ltd. Of Kunshan Industrial Technology Research Institute Patentee before: Kunshan Huaheng Welding Co., Ltd. |