CN206357276U - A kind of test device for robot localization precision - Google Patents
A kind of test device for robot localization precision Download PDFInfo
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- CN206357276U CN206357276U CN201720033934.4U CN201720033934U CN206357276U CN 206357276 U CN206357276 U CN 206357276U CN 201720033934 U CN201720033934 U CN 201720033934U CN 206357276 U CN206357276 U CN 206357276U
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Abstract
The utility model is related to a kind of test device for robot localization precision, including test subject and standard cube, test subject includes six laser range sensors for measuring, six laser range sensors are arranged in three orthogonal planes, set one, two, three laser range sensors in three planes respectively；Six laser range sensors are connected by sensing data processing module with communication module, and communication module is connected with computer；Standard cube is engaged the test for completing robot localization precision with test subject.The utility model test device reasonable in design, the attitudes vibration situation of tested cubical heart point coordinates and each plane of cube is calculated using laser distance measuring principle and using 6: 321 positioning modes, the pose accuracy and Pose repeatability of tested robot are calculated by the coordinate position change repeatedly measured, the degree of accuracy of robot pose can be improved with this.
Description
Technical field
The utility model is related to a kind of test device for robot localization precision, belongs to robotic technology field.
Background technology
At present, domestic and international robot is quickly grown, and all kinds of robot products are just widely used in industrial production, wherein machine
The most key several technical indicators of device people include pose, distance and the degree of accuracy of track and repeatability, and this several performances refer to
Mark is attached most importance to the degree of accuracy and repeatability of pose again, and the quality of robot pose accuracy performance will directly influence distance and position
The degree of accuracy of appearance and repeatability.
The quality of the pose accuracy performance of a robot is evaluated, is tested usually using special tester, is led to
The comparative analysis to test data is crossed, the fine or not degree of performance of robot is judged.Producer of overwhelming majority robot uses at present
Tester is laser tracker, and not only purchasing price is expensive, and requires that operative employee has certain professional technique basis, operates journey
Sequence is also more complicated, and the maintenance of subsequent parts, replacement cost are also higher.
For example, Chinese patent literature CN104613872A discloses a kind of for measuring industrial robot repetitive positioning accuracy
Test system, the test system be detection means data processing terminal is connected to by data acquisition unit；Detection means is
Bracket slide bar is provided with three laser displacement sensors provided with three axial supports, on axial support, and spatially inequality hangs down
Straight；When industrial robot reaches test center's scope of sensor, the end that three road light are projected into robot is measured
Industrial robot is in the position of space three axes.Although the test system measurement accuracy is higher, to the technology of operating personnel
It is required that higher, general staff can not complete operation.
Thus, the present invention is intended to provide a kind of carrying, easy to use, operation and the easy robot localization essence of later maintenance
Test device is spent, disclosure satisfy that popular producer of robot uses, and those skilled in the art can effectively be operated, and be easy to big face
Product is promoted.
Utility model content
For the presence drawback for the laser tracker promoted on the market at present, the utility model provides a kind of for robot
The test device of positioning precision.
Term is explained：
Point position teaching：Teaching playback is a kind of repeatable machine for reproducing the operation procedure got up by teaching program storage
People." teaching programming " refers to the establishment that program is completed by following manner:By manually operating teaching box (to be connected with control system
A kind of hand-held device, is moved to be programmed or be allowed to robot) robot is completed expected act；Robot
Each action is that have the consecutive variations of multiple point position in space to complete, and it is to have teaching and teaching to get each to put position, because
Teaching work of these points is referred to as point position teaching by us for this.
Test point：Industrial robot has multiple taught points during the position teaching of the application point, but only one of which is shown
Religion point can be in contact with test sensor and sensor is had test data output, therefore the point is called test point by we.
The technical solution of the utility model is as follows：
A kind of test device for robot localization precision, it is characterised in that including：
Test subject, including six laser range sensors for measurement, six laser range sensors are arranged in three
In individual orthogonal plane, one, two, three laser range sensors, six Laser Measurings are set respectively in three planes
It is connected away from sensor by sensing data processing module with communication module, communication module is connected with computer；
Standard cube, the test for completing robot localization precision is engaged with test subject.
It is preferred that, the test subject also includes housing and fixed block, and six laser range sensors are arranged on fixed block
On, fixed block is placed in housing, and housing tip is provided with test mouth.
It is preferred that, the test device also includes support frame, support frame and housing bottom detachable connection.
It is preferred that, support frame as described above selects expansion link tripod.This design is advantageous in that tripod is adapted to a variety of
Ground, can keep testing the stability of test subject, it is ensured that the accuracy of follow-up test result.
It is preferred that, support frame as described above and housing bottom bolt connection or snap connection.
The beneficial effects of the utility model are：
The utility model test device is ingenious in design, rational in infrastructure, is positioned using laser distance measuring principle and using 6: 321
Method calculates the attitudes vibration situation of tested cubical heart point coordinates and each plane of cube, passes through the coordinate repeatedly measured
Change in location calculates the pose accuracy and Pose repeatability of tested robot, and the accurate of robot pose can be improved with this
Degree.This test device is easy to use, and measurement process is easily operated, while accuracy of measurement is high, it has remarkable result and good
Effect.
Brief description of the drawings
Fig. 1 is the structural representation of test subject in the utility model；
The structural representation that Fig. 2 loads after housing for test subject in the utility model；
Fig. 3 is the structural representation of support frame in the utility model；
Fig. 4 is the operating principle figure of the utility model test device；
Fig. 5 is the working state figure of the utility model test device；
Wherein：1st, laser range sensor；2nd, standard cube；3rd, fixed block；4th, housing；5th, support frame；6th, industrial machine
Device people；7th, robot base；8th, computer；9th, sensing data processing module；10th, communication module.
Embodiment
The utility model is described further below by embodiment and with reference to accompanying drawing, but not limited to this.
Embodiment 1：
As shown in Figures 1 to 5, the present embodiment provides a kind of test device for robot localization precision, including test
Main body and the two parts of standard cube 2, wherein：
Test subject, including six laser range sensors 1 for measurement, six laser range sensors 1 are arranged in
In three orthogonal planes, one, two, three laser range sensors, six laser are set respectively in three planes
Ranging senses 1 device and is connected by sensing data processing module 9 with communication module 10, and communication module 10 is connected with computer 8；Six
Individual laser range sensor 1 is installed by fixed block 3 and fixed, and fixed block 3 is placed in a housing 4, and the top of housing 4 is provided with test
Mouthful.Laser range sensor 1 selects Keyemce LK-H055, and sensing data processing module 9 selects Keyemce LK-G5001PV,
Communication module 10 selects HEXIN industrial control data converters.The laser range sensor 1 in threading hole, housing 4 is provided with housing 4
It is connected with outside sensing data processing module 9, communication module 10 and computer 8 by the bus of serial ports 485, finally by calculating
Software program built in machine 8 carries out processing, calculating of data etc..
Standard cube 2, the test for completing robot localization precision is engaged with test subject.
The bottom of housing 4 connects a support frame 5, and support frame 5 is expansion link tripod, and support frame 5 and the bottom of housing 4 are removable
Unload support frame and housing bottom bolt connection in formula connection, the present embodiment.Expansion link tripod is adapted to multiple types of floors, can
Keep the stability of test test subject, it is ensured that the accuracy of follow-up test result.
The operation principle of the present embodiment test device：
The testing algorithm of this test device is used 6: 321 and positioned based on rectangular coordinate system, and 3 points allocate face
(such as X/Y plane), 2 alignments (such as X-axis), 1 point of fixed point (such as origin).Determine X/Y plane, then determined X-axis, then can determine that Y-axis, Z axis
Automatically determine, finally determine origin () at 0 point of XYZ axles, you can determine rectangular coordinate system.Pass through phase of each rangefinder in coordinate system
The plane measured to position and rangefinder is being sat at the distance of distance ranging instrument coordinate plane, the center for calculating standard cube
Mark system in change and each plane of standard cube in coordinate system pose change, with this can robot Pose repeatability and
Pose accuracy.
The specifically used process of the present embodiment test device is as follows：
(1) standard cube is installed to robot end and carries out a point position teaching, test point is fallen to six in tester
In the test zone of laser range sensor；
(2) it is any to set robot non-test point to be used as motor point during robot testing；
(3) first by standard cube feeding test mouth, laser range sensor measures Current standards cube respectively
Corresponding each point data is simultaneously transferred to computer, and computer software automatically calculates the data parameters according to each point with 321 methods
Fit pose of the cube in test device coordinate system and calculate cubical center；
(4) robot motion takes standard cube out of test mouth, and runs to the motor point set in step (2), so
Robot reruns the test point returned in step (1) afterwards, second by standard cube feeding test mouth, laser ranging is passed
Sensor measures each point data corresponding to Current standards cube and is transferred to computer respectively, and computer software is automatically by basis
321 method digital simulations of the data parameters of each point go out pose of the cube in test device coordinate system and calculated cubical
Center, and the data that second is obtained are compared with the data obtained first, draw the heart point change of second of standard cube
Amount and the change of cubical pose；
(5) method according to step (4), robot is repeatedly acted between motor point and test point, repeatedly founds standard
In cube feeding test mouth, the data obtained every time compared with the data obtained first, draw each standard cube respectively
Heart point variable quantity and the change of cubical pose.
Embodiment 2：
A kind of test device for robot localization precision, as described in Example 1, its difference is structure：Branch
Support 5 is with the bottom of housing 4 by snapping connection.Snap connection more convenient, achievable fast quick-detach.
Claims (5)
1. a kind of test device for robot localization precision, it is characterised in that including：
Test subject, including six laser range sensors for measurement, six laser range sensors are arranged in three phases
In vertical planes, one, two, three laser range sensors are set respectively, six laser rangings are passed in three planes
Sensor is connected by sensing data processing module with communication module, and communication module is connected with computer；
Standard cube, the test for completing robot localization precision is engaged with test subject.
2. it is used for the test device of robot localization precision as claimed in claim 1, it is characterised in that the test subject is also
Including housing and fixed block, six laser range sensors are arranged on fixed block, and fixed block is placed in housing, and housing tip is opened
There is test mouth.
3. it is used for the test device of robot localization precision as claimed in claim 2, it is characterised in that the test device is also
Including support frame, support frame and housing bottom detachable connection.
4. it is used for the test device of robot localization precision as claimed in claim 3, it is characterised in that support frame as described above is selected
Expansion link tripod.
5. it is used for the test device of robot localization precision as claimed in claim 3, it is characterised in that support frame as described above and shell
Body bottom bolts are connected or snapped connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720033934.4U CN206357276U (en) | 2017-01-11 | 2017-01-11 | A kind of test device for robot localization precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720033934.4U CN206357276U (en) | 2017-01-11 | 2017-01-11 | A kind of test device for robot localization precision |
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| Publication Number | Publication Date |
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| CN206357276U true CN206357276U (en) | 2017-07-28 |
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| CN201720033934.4U Expired - Fee Related CN206357276U (en) | 2017-01-11 | 2017-01-11 | A kind of test device for robot localization precision |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110398746A (en) * | 2019-06-13 | 2019-11-01 | 邵阳学院 | A kind of test device of articulated robot positioning accuracy |
| CN113134848A (en) * | 2021-03-18 | 2021-07-20 | 无锡信捷电气股份有限公司 | Measurement mode based on six-axis robot repeated positioning precision |
| CN113639672A (en) * | 2021-08-12 | 2021-11-12 | 宝武集团马钢轨交材料科技有限公司 | Automatic measuring system and method for angular deviation of steel billet saw cutting surface |
| CN113771093A (en) * | 2021-09-28 | 2021-12-10 | 浙江大学湖州研究院 | Mechanical arm calibration and precision measurement device based on linear motion platform |
| CN113771093B (en) * | 2021-09-28 | 2024-06-11 | 浙江大学湖州研究院 | Mechanical arm calibration and precision measurement device based on linear motion platform |
-
2017
- 2017-01-11 CN CN201720033934.4U patent/CN206357276U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110398746A (en) * | 2019-06-13 | 2019-11-01 | 邵阳学院 | A kind of test device of articulated robot positioning accuracy |
| CN113134848A (en) * | 2021-03-18 | 2021-07-20 | 无锡信捷电气股份有限公司 | Measurement mode based on six-axis robot repeated positioning precision |
| CN113639672A (en) * | 2021-08-12 | 2021-11-12 | 宝武集团马钢轨交材料科技有限公司 | Automatic measuring system and method for angular deviation of steel billet saw cutting surface |
| CN113639672B (en) * | 2021-08-12 | 2023-11-14 | 宝武集团马钢轨交材料科技有限公司 | Automatic measuring system and measuring method for angle deviation of saw cut surface of billet |
| CN113771093A (en) * | 2021-09-28 | 2021-12-10 | 浙江大学湖州研究院 | Mechanical arm calibration and precision measurement device based on linear motion platform |
| CN113771093B (en) * | 2021-09-28 | 2024-06-11 | 浙江大学湖州研究院 | Mechanical arm calibration and precision measurement device based on linear motion platform |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170728 Termination date: 20180111 |