CN206347986U - Robot temperature compensation device for body-in-white online measurement - Google Patents
Robot temperature compensation device for body-in-white online measurement Download PDFInfo
- Publication number
- CN206347986U CN206347986U CN201621357967.6U CN201621357967U CN206347986U CN 206347986 U CN206347986 U CN 206347986U CN 201621357967 U CN201621357967 U CN 201621357967U CN 206347986 U CN206347986 U CN 206347986U
- Authority
- CN
- China
- Prior art keywords
- calibrator
- robot
- carbon fiber
- calibrators
- temperature compensation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 28
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 20
- 239000004917 carbon fiber Substances 0.000 claims abstract description 20
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000001681 protective effect Effects 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- UONOETXJSWQNOL-UHFFFAOYSA-N tungsten carbide Chemical compound [W+]#[C-] UONOETXJSWQNOL-UHFFFAOYSA-N 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a robot temperature compensation device for body-in-white on-line measurement, which is characterized by comprising three groups of calibrators, wherein the three groups of calibrators are respectively a first calibrator (2), a second calibrator (3) and a third calibrator (4), and the three groups of calibrators are distributed near the base of an industrial robot (1) in different heights and different distances; every calibrator includes three benchmark ball (9), tray (8), carbon fiber pole (5), protective sheath (6) and base (7), tray (8) are circular, the edge of tray (8) is fixed with three benchmark ball (9), the one end vertical fixation of carbon fiber pole (5) is at the center of tray (8), the other end vertical fixation of carbon fiber pole (5) is on base (7), protective sheath (6) of carbon fiber pole (5) outside suit, base (7) and industrial robot fixed mounting are on same ground, the height of carbon fiber pole (5) is different in the different calibrators.
Description
Technical field
The utility model belongs to Industrial Robot Technology field, more particularly to a kind of machine towards white body on-line measurement
People's temperature compensation means.
Background technology
Automobile body-in-white is the underlying carrier of all parts of automobile, is that automobile has dynamic property, comfortableness, ride comfort etc.
The guarantee of performance, while being also automobile appearance image, the carrier of presentation quality.The manufacture dimensional accuracy of white body directly affects vapour
Manufacturing cost of car body contour, air pertormance and automobile etc., therefore control Auto-body manufacturing dimensional accuracy is to improve vehicle body
One of quality, the necessary condition for keeping product competitiveness in the market.
Industrial robot is the important component in white body on-line measurement system, while being also system accuracy transfer chain
In an important ring.Industrial robot can produce obviously temperature error, i.e. robot in continuous high speed motion process
After continuous high-speed motion after a while, robot end TCP (Tool Center Point, tool tip center
Point) obviously position excursion can be produced.By taking the industrial robot that arm opens up 3m as an example, continuously moved 1 hour with 100% speed
Afterwards, for same target point, the change in location that robot end TCP reaches is maximum up to 0.5mm.If still according to theory fortune
Dynamic model of learning carries out Coordinate Conversion, and measurement result of the system under vehicle body coordinate system there will be very big error, it is impossible to accurate anti-
Mirror body dimensions change.
Robot temperature error is due to that mechanical arm temperature change causes rod member and joint dilatancy, changes model parameter
Become to cause position error to increase, it was not only relevant but also relevant with temperature change with posture residing for robot.Temperature change is main
Including two aspects：On the one hand, the reciprocating motion of robot itself can actively generate heat, such as motor radiating, gear and drive belt
Mechanical component relative motion frictional heat；On the other hand, the change of environment temperature also influences whether the thermal balance of robot itself
The weather temperature difference that state, such as four seasons alternating strips are come.Robot temperature error is the error that a kind of dynamic is produced, with robot certainly
The fuel factor of body is relevant, is continually changing before thermal equilibrium state is not reached.
Utility model content
The utility model aims to solve the problem that white body on-line measurement system is real-time measurement system in the prior art, it is impossible to realize
The technical problem of real-time online compensation, it is proposed that one kind is filled towards robot temperature error compensation in white body on-line measurement system
Put, robot temperature error compensation in white body on-line measurement system can be solved the problems, such as, it is ensured that white body on-line measurement system
Measurement data it is reliable and stable.
In order to solve the above technical problems, the technical solution adopted in the utility model is：It is a kind of towards white body on-line measurement
Robot temperature error compensation device in system, including three groups of calibrators, three groups of calibrators are the first calibrator, the second school respectively
Quasi- device and the 3rd calibrator, the pedestal that three groups of calibrators are distributed in industrial robot in the way of different height, different distances are attached
Closely；Each calibrator includes three reference spheres, pallet, carbon fiber bar, protective case and base, and pallet is circle, the edge of pallet
Place is fixed with three reference spheres, and one end of carbon fiber bar is vertically fixed on the center of pallet, and the other end of carbon fiber bar is vertically solid
It is scheduled on base, is set with a protective case outside carbon fiber bar, the pedestal of base and industrial robot is fixedly mounted on same
On individual ground.
Preferably, the installation site of three calibrators constitutes obtuse angle isosceles triangle.
Preferably, height is higher than the height of the pedestal of industrial robot where the center of circle of the reference sphere of the second calibrator
1000mm。
Preferably, the center of circle of the reference sphere of the first calibrator and the 3rd calibrator is highly identical with robot base.
Preferably, the 3rd calibrator, the second calibrator and the first calibrator increase successively apart from the distance of robot base
Greatly.
Preferably, reference sphere use a diameter of 1.5inch tungsten carbide steel ball, sphere roughness control 20 μm with
Interior, sphericity is controlled within 30 μm.
Compared with prior art, the beneficial effects of the utility model are：The utility model passes through in industrial robot pedestal
Nearby install and fix 3 groups of different height, the calibrator of different far and near distributions, robot is after white body measurement circulation is completed to 3
Reference sphere on group calibrator is measured, can be with caused by compensating thermal errors with reference to robot temperature error compensation model
Robot kinematics' parameter error, and then realize robot temperature error compensation.
Brief description of the drawings
Fig. 1 is the arrangement schematic diagram of three calibrators of the present utility model；
Fig. 2 is the top view of the arrangement of three calibrators of the present utility model；
Fig. 3 is the structural representation of calibrator；
Fig. 4 is the workflow diagram of this temperature compensation means.
1- industrial robots；The calibrators of 2- first；The calibrators of 3- second；The calibrators of 4- the 3rd；5- carbon fiber bars；6- is protected
Set；7- bases；8- pallets；9- reference spheres.
Embodiment
To make those skilled in the art be better understood from the technical solution of the utility model, below in conjunction with the accompanying drawings with specific reality
Example is applied to elaborate to the utility model.
The present embodiment discloses a kind of robot temperature compensation means towards white body on-line measurement, such as Fig. 1 and Fig. 2 institutes
Show, it includes three groups of calibrators, three groups of calibrators are the first calibrator 2, the second calibrator 3 and the 3rd calibrator 4, three groups respectively
Calibrator is in the way of different height, different distances respectively near the pedestal of industrial robot 1；Each calibrator includes three
Reference sphere 9, pallet 8, carbon fiber bar 5, protective cradle and base 7, pallet 8 are circle, and the edge of pallet 8 is fixed with three bases
Quasi- ball 9, one end of carbon fiber bar 5 is vertically fixed on the center of pallet 8, and the other end of carbon fiber bar 5 is vertically fixed on base 7
On, in the outside of carbon fiber bar 5 one protective case 6 of suit, base 7 and industrial robot 1 are fixedly mounted on same ground, no
The height of carbon fiber bar 5 is different in same calibrator.
The installation site of three calibrators constitutes obtuse angle isosceles triangle, but needs to consider industrial robot motion model simultaneously
The limitation enclosed, and avoid calibrator and robot working trajectory interference.The reference sphere 9 of first calibrator 2 and the 3rd calibrator 4
The center of circle it is highly identical with robot base, pedestal of the center of circle than industrial robot 1 of the reference sphere 9 on the second machine calibrator 3
Highly high 1000mm.In order that robot being capable of sufficient movement and abundant Exposure Temperature error, the when measuring three groups of calibrators
Two machine calibrators 3 and the 3rd calibrator 4 are arranged close proximity to robot base central point, robot is being measured this
The armshaft of robot can shrink to greatest extent during two calibrators；The first calibrator 2 is as far as possible away from robot base simultaneously
Central point is arranged, so can be that robot armshaft of robot when measuring the first calibrator 2 can stretch to greatest extent.
As shown in fig. 1, using the central point at the top of the pedestal of industrial robot 1 as origin, three-dimensional system of coordinate is set up, at this
In embodiment, the coordinate of the tray top central point of the first calibrator 2, the second calibrator 3 and the 3rd calibrator 4 be respectively (-
2200,500,0), (1135, -900,1000), (980,600,0).
In the present embodiment, reference sphere 9 uses a diameter of 1.5inch tungsten carbide steel ball, to ensure centre of sphere measurement accuracy, together
When reach the effect of robot temperature-compensating, it is desirable to the roughness of sphere is controlled within 20 μm, and sphericity is controlled within 30 μm.
The workflow of robot temperature-compensating is as shown in figure 4, first in machine in described white body on-line measurement system
Arranged in device people's working space and three reference spheres 9 are arranged on three calibrators, each calibrator.One reference sphere measurement rail of teaching
Industrial robot can drive vision sensor to enter from multiple different postures to the reference sphere on three calibrators in mark, track
Row measurement.Under robot cold conditions (continuous 2 hours non-high-speed motions), robot drives vision sensor to the base on calibrator
Quasi- ball is measured, and records reference sphere measurement result, is denoted as cold conditions coordinate.In practical work process, robot is every one section
Time, or often complete after a working cycles, drive vision sensor to be measured from multiple different postures to reference sphere.
According to the calibrated spherical coordinates and cold conditions coordinate measured in real time, with reference to robot model of temperature compensation, temperature can be calculated in real time
The change of the caused robot architecture's parameter of change., can be with by these parameter variation compensations into robot kinematics' model
Robot kinematics model error is corrected, while the temperature error of final measurement in on-line measurement system can be corrected.
Above example is only exemplary embodiment of the present utility model, is not used in limitation the utility model, and this practicality is new
The protection domain of type is defined by the claims.Those skilled in the art can be in essence of the present utility model and protection domain
It is interior, various modifications or equivalent substitution are made to the utility model, this modification or equivalent substitution also should be regarded as new in this practicality
In the protection domain of type.
Claims (6)
1. a kind of robot temperature compensation means towards white body on-line measurement, it is characterised in that including three groups of calibrators, three
The group calibrator is the first calibrator (2), the second calibrator (3) and the 3rd calibrator (4) respectively, calibrator described in three groups with
Different height, different far and near modes are distributed near the pedestal of industrial robot (1)；
Each calibrator includes three reference spheres (9), pallet (8), carbon fiber bar (5), protective case (6) and base (7), institute
It is circle to state pallet (8), and the edge of the pallet (8) is fixed with three reference spheres (9), the carbon fiber bar (5)
One end is vertically fixed on the center of the pallet (8), and the other end of the carbon fiber bar (5) is vertically fixed on the base (7)
On, a protective case (6) is set with the outside of the carbon fiber bar (5), the base (7) and the industrial robot (1) are solid
Dingan County is on same ground, and the height of carbon fiber bar (5) described in the different calibrators is different.
2. a kind of robot temperature compensation means towards white body on-line measurement as claimed in claim 1, it is characterised in that
The installation site of three calibrators constitutes obtuse angle isosceles triangle.
3. a kind of robot temperature compensation means towards white body on-line measurement as claimed in claim 1, it is characterised in that
Height where the center of circle of the reference sphere (9) of second calibrator (3) is higher than the height of the pedestal of the industrial robot (1)
1000mm。
4. a kind of robot temperature compensation means towards white body on-line measurement as claimed in claim 1, it is characterised in that
The center of circle of the reference sphere (9) of first calibrator (2) and the 3rd calibrator (4) and the height of the robot base (7)
Degree is identical.
5. a kind of robot temperature compensation means towards white body on-line measurement as claimed in claim 1, it is characterised in that
3rd calibrator (4), the second calibrator (3) and the first calibrator (2) apart from the pedestal of the industrial robot (1) away from
From increasing successively.
6. a kind of robot temperature compensation means towards white body on-line measurement as claimed in claim 1, it is characterised in that
The reference sphere (9) is using a diameter of 1.5inch tungsten carbide steel ball, and the roughness of the sphere of the reference sphere (9) is less than 20 μ
M, sphericity is less than 30 μm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621357967.6U CN206347986U (en) | 2016-12-12 | 2016-12-12 | Robot temperature compensation device for body-in-white online measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621357967.6U CN206347986U (en) | 2016-12-12 | 2016-12-12 | Robot temperature compensation device for body-in-white online measurement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206347986U true CN206347986U (en) | 2017-07-21 |
Family
ID=59322681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621357967.6U Active CN206347986U (en) | 2016-12-12 | 2016-12-12 | Robot temperature compensation device for body-in-white online measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206347986U (en) |
-
2016
- 2016-12-12 CN CN201621357967.6U patent/CN206347986U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107340788B (en) | Industrial robot field real-time temperature compensation method based on visual sensor | |
| CN105157567B (en) | The tool coordinates system scaling method and system of a kind of robot measurement | |
| CA2807204C (en) | Device for error correction for cnc machines | |
| CN104596418B (en) | A kind of Multi-arm robots coordinate system is demarcated and precision compensation method | |
| KR101477481B1 (en) | Determining positions | |
| CN113739717B (en) | Line laser sensor pose calibration method in on-machine measurement system | |
| CN102706277B (en) | Industrial robot online zero position calibration device based on all-dimensional point constraint and method | |
| US9797700B2 (en) | Variable modelling of a measuring device | |
| EP3074722A1 (en) | Calibration of a coordinate measuring machine using a calibration laser head at the tool centre point | |
| CN109732600A (en) | A kind of Full-automatic sequential multi-drop measuring system and measurement method | |
| CN111426270B (en) | Industrial robot pose measurement target device and joint position sensitive error calibration method | |
| Tian et al. | Kinematic calibration of a 3-DOF spindle head using a double ball bar | |
| CN110108208A (en) | The error compensating method of five axis non-contact measurement machines | |
| CN109773686B (en) | Point laser line calibration method and system for robot assembly | |
| CN105404239A (en) | Random attitude measurement method for kinematic calibration of five-shaft hybrid machine tool | |
| CN109062139B (en) | Robot linear axis positioning error compensation method based on data driving | |
| CN206347986U (en) | Robot temperature compensation device for body-in-white online measurement | |
| CN114812386B (en) | Five-coordinate laser measuring instrument device and calibration method | |
| TWI708667B (en) | Method and device and system for calibrating position and orientation of a motion manipulator | |
| CN106949908A (en) | A kind of high-precision spatial movement locus attitude follows the trail of measurement modification method | |
| CN115062482B (en) | Kinematic modeling method of serial robots considering positioning errors of rotary joints | |
| CN108890640A (en) | A kind of robot device's calibration method based on synchronous superposition technology | |
| CN112747672A (en) | Spatial pose detection and adjustment method for engine case assembly | |
| CN104897093B (en) | The accuracy measurement method of Hooke's hinge | |
| CN112050711A (en) | Rotary probe for a measuring device and measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant |