CN208269868U - The measuring device of high-precision industrial robot repetitive positioning accuracy - Google Patents
The measuring device of high-precision industrial robot repetitive positioning accuracy Download PDFInfo
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- CN208269868U CN208269868U CN201820665806.6U CN201820665806U CN208269868U CN 208269868 U CN208269868 U CN 208269868U CN 201820665806 U CN201820665806 U CN 201820665806U CN 208269868 U CN208269868 U CN 208269868U
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- measurement
- industrial robot
- positioning accuracy
- measuring
- repetitive positioning
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Abstract
The utility model discloses a kind of measuring devices of industrial robot repetitive positioning accuracy, belong to robotic technology field.The measuring device includes measurement fixed frame, displacement measurement sensor and measurement standard ball.The standard ball is mounted on industrial robot end.The measurement coordinate system of the measurement fixed frame has been pre-established by surveying and drawing calibration.Under the measurement point of industrial robot, make standard ball contact displacement sensor, by calculating coordinate value of the displacement sensor gauge head centre of sphere in the case where measuring coordinate system, and then coordinate value of the standard ball centre of sphere in the case where measuring coordinate system is calculated.The repetitive positioning accuracy of industrial robot is obtained by the way that measurement is repeated several times.This method precision is high, at low cost, structure is simple, can largely use in working site, workshop.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of high-precision industrial robot repetitive positioning accuracy
Measuring device.
Background technique
Repetitive positioning accuracy is one important performance indicator of industrial robot.Laser tracker measurement is currently mainly used
The repetitive positioning accuracy of industrial robot, laser tracker precision is higher and perfect in shape and function, but because of its high equipment cost and
Complicated operation and be not widely used in enterprise of robot.
In addition, 106584513 A of Chinese patent CN 104613872 A and CN propose respectively using three it is contactless or
Tangent displacement sensor measures the repetitive positioning accuracy of industrial robot, but the above method does not all consider robot end's appearance
State changes the influence to measurement result, and requires to guarantee that the measurement direction of three sensors is mutually perpendicular to when installation sensor, right
Installation accuracy is more demanding.
Utility model content
To solve the problems such as detection device is expensive in the prior art, complicated for operation and measurement error is big, this is practical new
The measuring device for being designed to provide a kind of high-precision industrial robot repetitive positioning accuracy of type, using the device of specific structure
Realize the measurement of industrial robot repetitive positioning accuracy, measurement cost is low, precision is high, easy to operate, meets factory of most of robot
The testing requirement of family, helps to improve its industrial robot product quality.
To achieve the above object, technical solution used by the utility model is as follows:
A kind of measuring device of industrial robot repetitive positioning accuracy, the measuring device include measurement fixed frame and measurement mark
Quasi- ball；There are four displacement measurement sensors for installation on the measurement fixed frame, and the gauge head of displacement measurement sensor is via fixed frame
Side protrude into fixed frame inner space；The standard ball is mounted on industrial robot end.
The fixed frame is the inverted round stage structure that upper surface has inner concave arc surface, and inner concave arc surface is concentric with inverted round stage, the knot
Structure design reserves the gauge head top of four displacement measurement sensors (2) and enters concave space in measurement fixed frame for standard ball (3)
Opening.
Institute's displacement measurement sensor is fixed on the side of the fixed frame, and displacement measurement sensor is equipped with measuring rod,
Gauge head is arranged in the end of measuring rod；The gauge head of displacement measurement sensor protrudes into fixed frame inner space via the side of fixed frame；
The gauge head of four displacement measurement sensors (2) does not contact with each other, and the centre of sphere of four gauge heads is non-coplanar.
Institute's displacement measurement sensor is such as amesdial, inductance probe, grating scale ruler pen-type sensor or laser displacement
Sensor.
Some characteristic parameters in measuring device are surveyed and drawn by using high precision measuring instrument, establish measurement dress
The measurement coordinate system set.Calibration is measured by probe location to displacement measurement sensor (2) and measuring rod, establishes four
Coordinate value of the gauge head centre of sphere of a displacement measurement sensor (2) in the case where measuring coordinate system, establishes four displacement measurement sensors
(2) direction vector of the measurement rod axis in the case where measuring coordinate system.
The measuring device further includes measuring the Survey Software of industrial robot repetitive positioning accuracy, for obtaining displacement measurement
The measurement data of sensor (2) calculates coordinate value of the standard ball centre of sphere in the case where measuring coordinate system, and finally obtains industrial robot
Repetitive positioning accuracy.
Utilize the measurement method for the industrial robot repetitive positioning accuracy that described device carries out, comprising the following steps:
(1) standard ball (3) is mounted on industrial robot end, teaching robot executes point motor program, and setting is surveyed
Amount point；
(2) measuring device is moved near measurement point, falls in standard ball (3) in measurement fixed frame (1) opening, and make
The gauge head of each displacement measurement sensor (2) is generated with standard ball (3) and is contacted；Then measuring device is fixed；
(3) control robot executes point motor program, after it reaches stably measured point, acquires each displacement measurement sensing
The measurement data of device (2)；And coordinate value of each transducer probe assembly centre of sphere in the case where measuring coordinate system under current state is calculated, according to empty
Between non-coplanar 4 points can uniquely determine a ball, further calculate position coordinates of the standard ball centre of sphere in the case where measuring coordinate system.
(4) step (3) are repeated several times, record coordinate of the standard ball centre of sphere being calculated each time in the case where measuring coordinate system
Value, and then the repetitive positioning accuracy according to the requirement calculating industrial robot of 7.2.2 in GB/T 12642-2013.
The utility model has the following advantages and beneficial effects:
1, the utility model in the past using laser tracker measurement industrial robot repetitive positioning accuracy method compared with,
The utility model greatly reduces measurement cost, simplifies measurement process, improves measurement accuracy, is more applicable for the reality of factory
Border applicable cases.
2, the utility model distinguishes robot measurement ends in three directions of x, y, z using three measurement sensors with previous
Offset so that composite calulation its integrate positioning accuracy conventional method compare, the utility model mainly has following advantage: 1)
By surveying and drawing the measurement coordinate system of calibration measuring device, three-dimensional seat of the direct robot measurement end in the case where measuring coordinate system in advance
Scale value, and then by its repetitive positioning accuracy of multiple survey calculation, measurement result is more intuitive accurate；2) conventional method requires peace
Guarantee that the measurement direction of three sensors is mutually perpendicular to when filling sensor, it is more demanding to installation accuracy, and the utility model pair
Sensor mounting location it is of less demanding；3) robot pose variation pair is avoided as measurand by using standard ball
The influence of measurement result.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the measuring device of the utility model industrial robot repetitive positioning accuracy.
Fig. 2 is the flow diagram of the measurement method of the utility model industrial robot repetitive positioning accuracy.
In figure: 1- fixed frame；2- displacement measurement sensor；3- measurement standard ball；4- industrial robot；5- robot repeats
The Survey Software of positioning accuracy.
Specific embodiment
The industrial robot repetitive positioning accuracy measuring device that the utility model is proposed includes measurement fixed frame 1 and measurement
Standard ball 3.There are four displacement measurement sensors 2 for installation on the measurement fixed frame 1.Four displacement measurement sensors 2
Gauge head does not contact with each other, but the centre of sphere of four gauge heads is non-coplanar.
Some characteristic parameters in measuring device are surveyed and drawn by using high precision measuring instrument, establish measuring device
Measurement coordinate system.Calibration is measured by probe location to displacement measurement sensor 2 and measuring rod, establishes four displacements
Coordinate value of the 2 gauge head centre of sphere of measurement sensor in the case where measuring coordinate system establishes four measurement rod axis of displacement measurement sensors 2 and exists
Measure the direction vector under coordinate system.
The standard ball 3 is mounted on 4 end of industrial robot.Teaching robot executes point motor program, and setting is surveyed
Amount point.
The industrial robot repetitive positioning accuracy measuring device is moved near measurement point, standard ball 3 is fallen in
In measurement fixed frame 1 is open, and generates the gauge head of each displacement measurement sensor 2 with standard ball 3 and centainly contact.Regular worker
Industry robot repetitive positioning accuracy measuring device.
It controls robot and executes point motor program, after it reaches stably measured point, pass through robot resetting essence
The Survey Software 5 of degree acquires the measurement data of each displacement measurement sensor 2, and calculates each transducer probe assembly centre of sphere under current state
Coordinate value in the case where measuring coordinate system further calculates position coordinates of the standard ball centre of sphere in the case where measuring coordinate system.
Robot measurement is repeated several times and reaches standard ball sphere centre coordinate value after measurement point, according in GB/T12642-2013
7.2.2 requirement calculates the repetitive positioning accuracy of industrial robot.
The utility model is exemplarily described above in conjunction with attached drawing, it is clear that the utility model specific implementation not by
The limitation of aforesaid way, as long as using the various improvement that technical solutions of the utility model carry out, or not improved direct application
In other occasions, it both is within the protection scope of the present invention.
Claims (6)
1. a kind of measuring device of industrial robot repetitive positioning accuracy, it is characterised in that: the measuring device includes that measurement is fixed
Frame (1) and measurement standard ball (3)；There are four displacement measurement sensor (2), displacement measurements for installation on the measurement fixed frame (1)
The gauge head of sensor protrudes into fixed frame inner space via the side of fixed frame；The standard ball (3) is mounted on industrial robot
(4) end.
2. the measuring device of industrial robot repetitive positioning accuracy according to claim 1, it is characterised in that: the fixation
Frame is the inverted round stage structure that upper surface has inner concave arc surface, and inner concave arc surface is concentric with inverted round stage.
3. the measuring device of industrial robot repetitive positioning accuracy according to claim 2, it is characterised in that: the displacement
Measurement sensor is fixed on the side of the fixed frame, and displacement measurement sensor is equipped with measuring rod, and the end of measuring rod is arranged
Gauge head；The gauge head of displacement measurement sensor protrudes into fixed frame inner space via the side of fixed frame；Four displacement measurement sensings
The gauge head of device (2) does not contact with each other, and the centre of sphere of four gauge heads is non-coplanar.
4. the measuring device of industrial robot repetitive positioning accuracy according to claim 1, it is characterised in that: the displacement
Measurement sensor is amesdial, inductance probe, grating scale ruler pen-type sensor or laser displacement sensor.
5. the measuring device of industrial robot repetitive positioning accuracy according to claim 3, it is characterised in that: by using
High precision measuring instrument establishes the measurement coordinate system of measuring device；Pass through the probe location and survey to displacement measurement sensor (2)
Gauge rod measures calibration, establishes coordinate value of the gauge head centre of sphere of four displacement measurement sensors (2) in the case where measuring coordinate system, builds
Direction vector of the measurement rod axis of vertical four displacement measurement sensors (2) in the case where measuring coordinate system.
6. the measuring device of industrial robot repetitive positioning accuracy according to claim 5, it is characterised in that: measurement dress
Setting further includes the Survey Software for measuring industrial robot repetitive positioning accuracy, for obtaining the measurement of displacement measurement sensor (2)
Data calculate coordinate value of the standard ball centre of sphere in the case where measuring coordinate system, and finally obtain the repetitive positioning accuracy of industrial robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820665806.6U CN208269868U (en) | 2018-05-07 | 2018-05-07 | The measuring device of high-precision industrial robot repetitive positioning accuracy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820665806.6U CN208269868U (en) | 2018-05-07 | 2018-05-07 | The measuring device of high-precision industrial robot repetitive positioning accuracy |
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| Publication Number | Publication Date |
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| CN208269868U true CN208269868U (en) | 2018-12-21 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317985A (en) * | 2018-05-07 | 2018-07-24 | 中国科学院沈阳自动化研究所 | The measuring device and measurement method of high-precision industrial robot repetitive positioning accuracy |
| CN110733060A (en) * | 2019-11-04 | 2020-01-31 | 清华大学 | mechanical arm tail end space repeated positioning precision measuring device and method |
-
2018
- 2018-05-07 CN CN201820665806.6U patent/CN208269868U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108317985A (en) * | 2018-05-07 | 2018-07-24 | 中国科学院沈阳自动化研究所 | The measuring device and measurement method of high-precision industrial robot repetitive positioning accuracy |
| CN110733060A (en) * | 2019-11-04 | 2020-01-31 | 清华大学 | mechanical arm tail end space repeated positioning precision measuring device and method |
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