CN206287167U - Robot calibration system and its distance-measuring device - Google Patents
Robot calibration system and its distance-measuring device Download PDFInfo
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- CN206287167U CN206287167U CN201621224131.9U CN201621224131U CN206287167U CN 206287167 U CN206287167 U CN 206287167U CN 201621224131 U CN201621224131 U CN 201621224131U CN 206287167 U CN206287167 U CN 206287167U
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Abstract
The utility model is related to a kind of Robot calibration system and its distance-measuring device.In above-mentioned distance-measuring device, the end band follower link of the mechanical arm of robot is only needed to move, the relative central angle in part that the length and drawstring of directive wheel is around on directive wheel is stretched out to change drawstring, and be acquired by the relative center of circle angular data in part that length and drawstring that measurement assembly stretches out directive wheel to drawstring are around on directive wheel, the position of robot arm end can be obtained, measurement process simple and fast, and measurement do not influenceed by measuring environment, certainty of measurement is higher.Above-mentioned Robot calibration system architecture is simple, is easy to carry, and can carry out Fast Calibration to robot at any time in industry spot, simple and convenient.And, it is difficult affected by environment, and stated accuracy is higher.Meanwhile, the price of above-mentioned Robot calibration system is more cheap, with strong applicability.
Description
Technical field
The utility model is related to robotics, more particularly to a kind of Robot calibration system and its range measurement
Device.
Background technology
With the development of science and technology, robot is widely used, and is increasingly becoming the productivity of core.In machine
In the popularization and application of device people, to the absolute accuracy requirement of robot also more and more higher, before dispatching from the factory, manufacturer can be to machine for user
People carries out demarcation calibration, to improve its absolute precision.
At present, using calibration techniques such as camera, laser trackers more than being demarcated to robot.Using camera calibration
When, stated accuracy is easily influenceed by the light at scene, and stated accuracy is relatively low.In some production scenes, when appearance is grasped
When causing collision as error, the model parameter of robot can change, when being demarcated using camera and laser tracker,
Operating process is complex, it is impossible to realize the Fast Calibration to robot.
Utility model content
Based on this, it is necessary to which providing a kind of can realize Fast Calibration and stated accuracy Robot calibration system higher
And its distance-measuring device.
A kind of distance-measuring device, the position for the mechanical arm tail end to robot measures, including：
The fixation kit being fixed on measuring table, the fixation kit includes housing and rolling wheel, and the rolling wheel is located at institute
State in housing, and be connected with the housing into rotation；
Drawstring, one end of the drawstring is wound on the rolling wheel；
Guidance set, including rotating shaft and directive wheel, one end of the rotating shaft are connected with the housing, and the other end is led with described
It is fixedly connected to wheel, the axis of the rotating shaft is tangent with the periphery of the directive wheel, the rotating shaft rotates relative to the housing, with
The directive wheel is driven to move；
Connector, can be installed on the mechanical arm tail end of the robot, and the drawstring wears along the axis of the rotating shaft
It is connected with the connector in the rotating shaft, and after bypassing the directive wheel, the robot drives the connector motion, institute
State connector and drive drawstring motion, with change the drawstring stretch out the directive wheel length and the drawstring be around in it is described
The relative central angle in part on directive wheel；And
Measurement assembly, the measurement assembly can measure the drawstring stretch out the length and the drawstring of the directive wheel around
In the relative central angle in the part on the directive wheel.
Wherein in one embodiment, the measurement assembly includes length decoder and angular encoder, and the length is compiled
Code device is set near the rolling wheel, and the angular encoder is set near the directive wheel, and the length decoder can be measured
The drawstring stretches out the length of the directive wheel, and the angular encoder can measure the drawstring and be around on the directive wheel
The relative central angle in part.
Wherein in one embodiment, the measurement assembly also includes signal-processing board, and the signal-processing board is located at institute
State in housing, and be electrically connected with the length decoder and the angular encoder.
Wherein in one embodiment, the connector includes first connecting rod, second connecting rod, third connecting rod, the first rotation
Joint and the second rotary joint, one end of the first connecting rod are connected with the mechanical arm tail end of the robot, and the other end passes through
First rotary joint and the second connecting rod are rotated and be connecteds, the third connecting rod pass through second rotary joint with it is described
Second connecting rod rotates connection, is mutually perpendicular between the axis of first rotary joint and the axis of second rotary joint,
The third connecting rod is provided with connecting pole, and the drawstring is connected by the connecting pole with the third connecting rod.
Wherein in one embodiment, the cross section of the drawstring is in plum blossom-shaped structure, and the drawstring includes center rope strand
And outer layer strands, the outer layer strands are multiple, and multiple outer layer strands are enclosed around the center rope strand, the center
The cross section of rope strand and the outer layer strands is in plum blossom-shaped structure, and the center rope strand includes the first center rope yarn and multiple the
One outer layer rope yarn, multiple first outer layer rope yarns are enclosed around the rope yarn of first center, and the outer layer strands include the
Two center rope yarns and multiple second outer layer rope yarns, multiple second outer layer rope yarns are enclosed around the rope yarn of second center.
A kind of Robot calibration system, including：
Above-mentioned distance-measuring device；
Controller, is connected with the robot, and the controller can control the robot to drive the connector to transport
It is dynamic；And
Work station, communicates be connected respectively with the controller and the measurement assembly.
Wherein in one embodiment, also including interchanger, the controller passes through the interchanger and the work station
Communication connection, the distance-measuring device is communicated with the work station by the interchanger and is connected.
Above-mentioned Robot calibration system architecture is simple, is easy to carry, and robot can be carried out quickly at any time in industry spot
Demarcate, it is simple and convenient.And, it is difficult affected by environment, and stated accuracy is higher.Meanwhile, above-mentioned Robot calibration system
Price it is more cheap, it is with strong applicability.
Brief description of the drawings
Fig. 1 is the structural representation of the Robot calibration system of the embodiment of the utility model one；
Fig. 2 is the connection diagram of distance-measuring device and robot in Robot calibration system shown in Fig. 1；
Fig. 3 is the internal structure schematic diagram of distance-measuring device shown in Fig. 2；
Fig. 4 is the structural representation of connector and commutation component in distance-measuring device shown in Fig. 2；
Fig. 5 is the cross-sectional view of distance-measuring device medium pulling rope shown in Fig. 2；
Fig. 6 is the flow chart demarcated to robot using Robot calibration system shown in Fig. 1；And
Fig. 7 is the flow chart of S400 shown in Fig. 6.
Specific embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
State.Better embodiment of the present utility model is given in accompanying drawing.But, the utility model can come in many different forms
Realize, however it is not limited to embodiments described herein.On the contrary, the purpose for providing these implementation methods is to make to this practicality newly
It is more thorough comprehensive that the disclosure of type understands.
It should be noted that when element is referred to as " being fixed on " another element, it can directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left side ",
For illustrative purposes only, it is unique implementation method to be not offered as " right side " and similar statement.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with technology of the present utility model is belonged to
The implication that the technical staff in domain is generally understood that is identical.It is herein to be in term used in the description of the present utility model
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " bag
Include the arbitrary and all of combination of one or more related Listed Items.
As shown in figure 1, the Robot calibration system 10 of the embodiment of the utility model one includes distance-measuring device 100, control
Device processed 200, work station 300 and interchanger 400.Specifically, controller 200 is connected with robot 20, to driven machine people 20
Manipulator motion.Distance-measuring device 100 is connected with the mechanical arm tail end of robot 20, with the mechanical arm end to robot 20
The positional information at end is measured.Controller 200, distance-measuring device 100 and work station 300 are electrically connected with interchanger 400 respectively
Connect, controller 200 carries out information sharing with distance-measuring device 100 by interchanger 400 and work station 300.Work station 300
Calculation process can be carried out to the data message obtained from controller 200 and distance-measuring device 100.
It is pointed out that in other embodiments, controller 200, distance-measuring device 100 and work station 300 may be used also
, by wireless communication connection, information sharing can be similarly realized with interchanger 400.And, in other embodiments, exchange
Machine 400 can also be omitted.Now, controller 200 is directly connected with work station 300, and distance-measuring device 100 is directly and work station
300 connections.
In addition, in other embodiments, above-mentioned interchanger 400 may be replaced by router, same skill can be also realized
Art effect.
It is specific to be additionally provided with charger (not shown) in interchanger 400 in the present embodiment, such that it is able to by interchanger 400
Communication interface integrated with the power interface of charger, largely to reduce the plug connector connected between each element
With the number of cable, the stability of system is also improved.
With reference to shown in Fig. 2, Fig. 3 and Fig. 4, specifically in the present embodiment, distance-measuring device 100 includes drawstring 110, fixes
Component 120, guidance set 130, connector 140 and measurement assembly 150.Fixation kit 120 is fixed on measuring table.Guiding group
Part 130 is installed on fixation kit 120.Connector 140 can be installed on the mechanical arm tail end of robot 20.The one of drawstring 110
End is connected with fixation kit 120, is connected with connector 140 after being oriented to through guidance set 130.
Specifically, fixation kit 120 includes housing 121 and rolling wheel 122.Rolling wheel 122 is in housing 121, and and housing
121 rotate connection.Guidance set 130 includes rotating shaft 131 and directive wheel 132.One end of rotating shaft 131 is connected with housing 121, another
End is fixedly connected with directive wheel 132, and the axis of rotating shaft 131 is tangent with the periphery of directive wheel 132, and rotating shaft 131 is revolved with respect to housing 121
Turn, to drive directive wheel 132 to move.One end of drawstring 110 is wound on rolling wheel 122, and along rotating shaft 131 axis be arranged in turn
Axle 131, drawstring 110 is connected after bypassing directive wheel 132 with connector 140.The mechanical arm band follower link 140 of robot 20 is transported
Dynamic, connector 140 drives drawstring 110 to move, and directive wheel 132 and rotating shaft 131 rotate relative to housing 121 simultaneously, to keep and connect
Fitting 140 is relative.During the manipulator motion of robot 20, drawstring 110 stretches out the length and drawstring of directive wheel 132
The relative central angle in 110 parts being around on directive wheel 132 also changes respectively.
Specifically in the present embodiment, measurement assembly 150 includes length decoder (not shown), angular encoder (not shown)
And signal-processing board 151.Length decoder is installed on fixation kit 120, and is set near rolling wheel 122.Angular encoder is pacified
Loaded on guidance set 130, and set near directive wheel 132.Length decoder by measuring the anglec of rotation of rolling wheel 122, with
Obtain the length that drawstring 110 stretches out directive wheel 132.Angular encoder can measure the part that drawstring 110 is around on directive wheel 132
Relative central angle.Signal-processing board 151 is electrically connected respectively in housing 121 with length decoder and angular encoder
Connect.The information obtained measured by length decoder and angular encoder can be integrated by signal-processing board 151.
Connector 140 includes first connecting rod 141, second connecting rod 142, third connecting rod 143, the first rotary joint 144 and the
Two rotary joints 145.One end of first connecting rod 141 is connected with the mechanical arm tail end of robot 20, and the other end is by the first rotation
Joint 144 is rotated with second connecting rod 142 and is connected, and third connecting rod 143 is rotated by the second rotary joint 145 with second connecting rod 142
Connection, is mutually perpendicular between the axis of the first rotary joint 144 and the axis of the second rotary joint 145.Set on third connecting rod 143
There is connecting pole 143a, drawstring 110 is connected away from one end of wheel hub with connecting pole 143a.Third connecting rod 143 is with respect to second connecting rod 142
During rotation, any point is to the axis of the first rotary joint 144 and the axis of second rotary joint 145 on third connecting rod 143
The distance of intersection point is constant all the time.
Specifically, the drawstring 110 that length decoder measurement is obtained stretches out the length of directive wheel 132, the as length of AQ, angle
Degree encoder can measure the size for obtaining ∠ OMA.Wherein, O is the intersection point of rotating shaft 131 and directive wheel 132, is also drawstring 110
With a point of contact of directive wheel 132, A is another point of contact of drawstring 110 and directive wheel 132, and M is the center of directive wheel 132, Q
Position, P where connecting pole 143a on third connecting rod 143 are the axis and the second rotary joint 145 of the first rotary joint 144
Axis intersection point, N is the junction of robot 20 and first connecting rod 141, the as mechanical arm tail end of robot.Because PQ is
Certain value, and P, Q, A be always positioned on same straight line, by the length sum of arc OA and AQ, PQ, the size of ∠ OMA and is connected
The dimension information of part 140, calculates, you can obtain the length of ON, the as reality of the mechanical arm tail end of robot 20 by geometry
Position.
Specifically in the present embodiment, drawstring 110 includes center rope strand 111 and outer layer strands 112.Outer layer strands 112 are many
Individual, multiple outer layer strands 112 are enclosed around center rope strand 111, so that the cross section of drawstring 110 is in plum blossom-shaped structure.Specifically
, outer layer strands 112 are six, and are uniformly distributed in around center rope strand 111.Six outer layer strands 112 are close to center rope strand
111 periphery, and be wound on center rope strand 111.
As shown in figure 5, center rope strand 111 includes the first center rope yarn 111a and multiple first outer layer rope yarn 111b, it is multiple
First outer layer rope yarn 111b is enclosed around the first center rope yarn 111a, so that the cross section of center rope strand 111 is in plum blossom-shaped
Structure.Specifically, the first outer layer rope yarn 111b is six, six the first outer layer rope yarn 111b are close to the first center rope yarn 111a's
Periphery is set.
Outer layer strands 112 include the second center rope yarn 112a and multiple second outer layer rope yarn 112b, multiple second outer layer ropes
Line 112b is enclosed around the second center rope yarn 112a.It is in plum blossom-shaped structure with the cross section of outer layer strands 112, specifically,
Second outer layer rope yarn 112b is six, and the periphery that six the second outer layer rope yarn 112b are close to the second center rope yarn 112a is set.
Specifically, the first center rope yarn 111a, the first outer layer rope yarn 111b, the second center rope yarn 112a and the second outer layer rope
Line 112b is the steel wire of equal diameters.In other embodiments, the first outer layer rope yarn 111b, the second outer layer rope yarn 112b and outer
Layer rope strand 112 can also be other arbitrary numbers that can divide equally circumference.
Above-mentioned drawstring 110 has preferable rigidity and pliability, both can guarantee that the deflection under different pulling force, can also protect
Demonstrate,prove a softer and smoother touch of drawstring 110.
In above-mentioned distance-measuring device 100, it is only necessary to which the end band follower link 140 of the mechanical arm of robot 20 is moved,
The relative central angle in part that the length and drawstring 110 of directive wheel 132 is around on directive wheel 132 is stretched out to change drawstring 110,
And the part institute on directive wheel 132 is around in by length and drawstring 110 that measurement assembly 150 stretches out directive wheel 132 to drawstring 110
Relative center of circle angular data is acquired, you can to obtain the position of the mechanical arm tail end of robot 20, measurement process simple and fast,
And measurement is not influenceed by measuring environment, certainty of measurement is higher.
As shown in fig. 6, when being demarcated to robot 20 using above-mentioned Robot calibration system 10, calibration process is specific
Comprise the following steps.
S100, controller 200 is connected respectively with robot 20, work station 300, by distance-measuring device 100 and machine
People 20, work station 300 are connected respectively.
Specifically, controller 200 is connected with robot 20, controller 200 is connected with work station 300, so as in control
When device processed 200 controls the manipulator motion of robot 20, the kinematic parameter of mechanical arm can be transmitted to work station 300.
Distance-measuring device 100 is connected with robot 20.Fixing device is fixed on measuring table, by connector
140 mechanical arm tail ends for being installed on robot 20, measurement assembly 150 is connected with work station 300, and measurement assembly 150 is measured
To data message can transmit to work station 300.
Specifically, be also associated with interchanger 400 between controller 200 and work station 300, distance-measuring device 100 and work
Make to be connected also by interchanger 400 between station 300, controller 200 passes through interchanger 400 and work with distance-measuring device 100
Making station 300 carries out information sharing, and controller 200 can be transmitted with the data message in distance-measuring device 100 through interchanger 400
To work station 300.
S200, the setting kinematic parameter in controller 200, kinematic parameter driven machine people of the controller 200 according to setting
20 move to multiple positions successively.
The kinematic parameter of the mechanical arm tail end of setting robot 20 in controller 200, fortune of the controller 200 according to setting
Dynamic driving parameter robot 20 is moved.After the mechanical arm tail end of robot 20 moves to a certain setting position, kept in this position
After the predetermined time, next setting position is moved to, until completing the motion path of all settings.
Specifically, in the present embodiment, robot 20 of the write-in with 50 groups of setting positions is moved in controller 200
Program, so that the mechanical arm tail end of robot 20 reaches setting position successively.
S300, when distance-measuring device 100 is successively to robot 20 at multiple positions, drawstring 110 stretches out directive wheel 132
The relative central angle of length and the part that is around on directive wheel 132 of drawstring 110 measure, obtain multigroup drawstring 110 and stretch
Go out the relative center of circle angular data in part that the length and drawstring 110 of directive wheel 132 is around on directive wheel 132.
When the manipulator motion of robot 20, mechanical arm band follower link 140 and drawstring 110 are moved.When mechanical arm end
After a certain position keeps stabilization, length decoder is surveyed to the length that current position drawstring 110 stretches out directive wheel 132 at end
Amount, the angular encoder central angle relative to part that current position drawstring 110 is around on directive wheel 132 is measured,
The part that the length and drawstring 110 of directive wheel 132 is around on directive wheel 132 is stretched out so as to obtain one group of drawstring 110 relative
Center of circle angular data.By measuring multiple positions, so as to obtain multigroup drawstring 110 stretch out the length and drawstring 110 of directive wheel 132 around
In the relative center of circle angular data in the part on directive wheel 132.
In the present embodiment, 50 positions for being reached to the mechanical arm tail end of robot 20, distance-measuring device 100
Can measure and obtain 50 groups of drawstrings 110 and stretch out the part institute that the length and drawstring 110 of directive wheel 132 are around on directive wheel 132
Relative center of circle angular data.
S400, the length and drawstring 110 for stretching out directive wheel 132 according to multigroup drawstring 110 is around in the part on directive wheel 132
Relative center of circle angular data, and combine the inner machine people 20 of controller 200 pure mathematics model and setting kinematic parameter, meter
Calculation obtains the actual mathematical model of robot 20.
Multigroup drawstring 110 that work station 300 can be obtained from the acquisition measurement of location measurement unit 150 stretches out directive wheel 132
The relative center of circle angular data of length and the part that is around on directive wheel 132 of drawstring 110, and can be obtained from controller 200
The pure mathematics model of the inner machine people 20 of controller 200 and the kinematic parameter of setting, are processed, by correlation data calculation to obtain
The actual mathematical model of robot 20.
It is pointed out that for the robot 20 of respective model, can be stored with its pure mathematics mould in controller 200
Type, and the pure mathematics model of robot 20 includes theoretical DH parameters, theoretical null positions, theoretical speed reducing ratio, the reason of robot
By model informations such as coupling ratios.
S500, the actual mathematical model according to robot 20, the pure mathematics model to the inner machine people 20 of controller 200 enters
Row amendment.
According to the actual mathematical model of the robot 20 obtained in S400, you can by itself and the inner machine people 20 of controller 200
Pure mathematics model be compared, be modified with to pure mathematics model.
With reference to shown in Fig. 6 and Fig. 7, specifically in the present embodiment, step S400 is specifically further comprising the steps of.
S410, the part that the length of directive wheel 132, drawstring 110 are around on directive wheel 132 is stretched out according to multigroup drawstring 110
Relative center of circle angular data, and combined connecting component 140 length information, be calculated the mechanical arm tail end of multigroup robot 20
Physical location parameter.
The length and drawstring 110 that directive wheel 132 is stretched out to multigroup drawstring 110 that step S300 measurements are obtained are around in directive wheel
The relative center of circle angular data in part on 132, measurement assembly 150 can be transmitted to work station 300 it through interchanger 400.
Work station 300 stretches out the part institute phase that the length and drawstring 110 of directive wheel 132 are around on directive wheel 132 to each group of drawstring 110
To center of circle angular data carry out calculating treatment, you can obtain one group of length data of OP.Guiding is stretched out by multigroup drawstring 110
The relative center of circle angular data of length and the part that is around on directive wheel 132 of drawstring 110 of wheel 132 carries out calculating treatment, so that
Obtain the length data of multigroup OP.
To any one group of length data of OP, the length of first connecting rod 141 and second connecting rod 142 in combined connecting component 140
Information, you can calculating treatment obtains one group of physical location parameter of mechanical arm tail end.Carried out by the length data to multigroup OP
Calculating is processed, so as to obtain the physical location parameter of multigroup mechanical arm tail end.
S420, the kinematic parameter of pure mathematics model and setting according to the inner machine people 20 of controller 200, is calculated many
The theoretical position parameter of the mechanical arm tail end of group robot 20.
Work station 300 can obtain the moving parameter information of the interior setting of controller 200 in S200, meanwhile, work station 300
The pure mathematics model of the inner machine people 20 of controller 200 can be obtained, is processed by calculating, to obtain the mechanical arm of robot 20
During end movement to setting position, the theoretical position parameter of mechanical arm tail end.
Processed by the multigroup moving parameter information to setting in controller 200, to obtain multigroup robot 20
The theoretical position parameter of mechanical arm tail end.
S430, the theoretical position parameter and physical location parameter of the mechanical arm tail end according to multigroup robot 20, calculates
To the actual mathematical model of robot 20.
Work station 300 is carried out by the physical location parameter to mechanical arm tail end at a certain position and theoretical position parameter
Compare calculating, you can obtain movement warp of the robot 20 at this position.By to the physical location parameter at multiple positions
Calculating is compared with theoretical position parameter, movement warp of the robot 20 at multiple positions is obtained.
According to movement warp at multiple positions and each joint parameter of robot 20, you can set up the reality for obtaining robot 20
Border Mathematical Modeling.The actual DH parameters of the actual mathematical model of robot 20 including robot 20, actual null positions, actually subtract
The model informations such as fast ratio, actual coupling ratio.
Specifically in the present embodiment, robot is demarcated using above-mentioned Robot calibration system also includes step
S600, the kinematic accuracy to robot 20 is verified.
After the pure mathematics model to the inner machine people 20 of controller 200 is modified, in addition it is also necessary to added by positioning examination
The mode of work, verifies, with to whether foregoing pure mathematics Modifying model is wrong so as to realize the motion to robot 20
The checking of precision.
It is pointed out that in other embodiments, kinematic accuracy that can also be by other means to robot 20 is entered
Row checking.
The above-mentioned simple structure of Robot calibration system 10, is easy to carry, and robot 20 can be carried out at any time in industry spot
Fast Calibration, it is simple and convenient.And, it is difficult affected by environment, and stated accuracy is higher.Meanwhile, compared to laser tracker
Deng expensive calibration facility, the price of above-mentioned Robot calibration system 10 is more cheap, with strong applicability.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore can not be interpreted as the limitation to utility model patent scope.It should be pointed out that for the common skill of this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
Protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (7)
1. a kind of distance-measuring device, the position for the mechanical arm tail end to robot measures, it is characterised in that bag
Include：
The fixation kit being fixed on measuring table, the fixation kit includes housing and rolling wheel, and the rolling wheel is located at the shell
In vivo, and with the housing into rotation it is connected；
Drawstring, one end of the drawstring is wound on the rolling wheel；
Guidance set, including rotating shaft and directive wheel, one end of the rotating shaft are connected with the housing, the other end and the directive wheel
It is fixedly connected, the axis of the rotating shaft is tangent with the periphery of the directive wheel, the rotating shaft rotates relative to the housing, to drive
The directive wheel motion；
Connector, can be installed on the mechanical arm tail end of the robot, and the drawstring is arranged in institute along the axis of the rotating shaft
State rotating shaft, and be connected with the connector after bypassing the directive wheel, the robot drives the connector motion, the company
Fitting drives drawstring motion, and stretching out the length and the drawstring of the directive wheel changing the drawstring is around in the guiding
The relative central angle in part on wheel；And
Measurement assembly, the measurement assembly can measure the drawstring stretches out the length and the drawstring of the directive wheel and is around in institute
State the relative central angle in part on directive wheel.
2. distance-measuring device according to claim 1, it is characterised in that the measurement assembly include length decoder and
Angular encoder, the length decoder is set near the rolling wheel, and the angular encoder is set near the directive wheel, institute
Stating length decoder can measure the length that the drawstring stretches out the directive wheel, and the angular encoder can measure the drawing
The relative central angle in the part that is around on the directive wheel of rope.
3. distance-measuring device according to claim 2, it is characterised in that the measurement assembly also includes signal transacting
Plate, the signal-processing board is electrically connected in the housing with the length decoder and the angular encoder.
4. distance-measuring device according to claim 1, it is characterised in that the connector includes first connecting rod, second
Connecting rod, third connecting rod, the first rotary joint and the second rotary joint, the machinery of one end of the first connecting rod and the robot
Arm end is connected, and the other end is rotated with the second connecting rod by first rotary joint and is connected, and the third connecting rod passes through
Second rotary joint is rotated with the second connecting rod and is connected, and the axis of first rotary joint is closed with the described second rotation
It is mutually perpendicular between the axis of section, the third connecting rod is provided with connecting pole, the drawstring is by the connecting pole and described the
Three connecting rods are connected.
5. the distance-measuring device according to claim any one of 1-4, it is characterised in that the cross section of the drawstring is in plum
Flower-like structure, the drawstring includes center rope strand and outer layer strands, and the outer layer strands are multiple, and multiple outer layer strands are enclosed
Around the center rope strand, the cross section of the center rope strand and the outer layer strands is in plum blossom-shaped structure, it is described in
Heart rope strand includes the first center rope yarn and multiple first outer layer rope yarns, and multiple first outer layer rope yarns are enclosed in described first
Around heart rope yarn, the outer layer strands include the second center rope yarn and multiple second outer layer rope yarns, multiple second outer layer ropes
Line is enclosed around the rope yarn of second center.
6. a kind of Robot calibration system, it is characterised in that including：
Distance-measuring device in claim 1 to 5 described in any one claim；
Controller, is connected with the robot, and the controller can control the robot to drive the connector to move；And
Work station, communicates be connected respectively with the controller and the distance-measuring device.
7. Robot calibration system according to claim 6, it is characterised in that also including interchanger, the controller leads to
Cross the interchanger to be connected with work station communication, the distance-measuring device is logical with the work station by the interchanger
News connection.
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| CN201621224131.9U CN206287167U (en) | 2016-11-14 | 2016-11-14 | Robot calibration system and its distance-measuring device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514716A (en) * | 2016-11-14 | 2017-03-22 | 固高科技(深圳)有限公司 | Robot calibration system, distance measurement device and calibration method |
| CN114700987A (en) * | 2022-04-24 | 2022-07-05 | 浙江欣奕华智能科技有限公司 | AGV steering wheel installation position calibration method and device and storage medium |
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2016
- 2016-11-14 CN CN201621224131.9U patent/CN206287167U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514716A (en) * | 2016-11-14 | 2017-03-22 | 固高科技(深圳)有限公司 | Robot calibration system, distance measurement device and calibration method |
| CN106514716B (en) * | 2016-11-14 | 2018-12-21 | 固高科技(深圳)有限公司 | Robot calibration system, distance-measuring device and scaling method |
| CN114700987A (en) * | 2022-04-24 | 2022-07-05 | 浙江欣奕华智能科技有限公司 | AGV steering wheel installation position calibration method and device and storage medium |
| CN114700987B (en) * | 2022-04-24 | 2024-02-09 | 浙江欣奕华智能科技有限公司 | AGV steering wheel installation position calibration method, AGV steering wheel installation position calibration device and storage medium |
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