CN208854638U - A kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism - Google Patents
A kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism Download PDFInfo
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- CN208854638U CN208854638U CN201821386334.7U CN201821386334U CN208854638U CN 208854638 U CN208854638 U CN 208854638U CN 201821386334 U CN201821386334 U CN 201821386334U CN 208854638 U CN208854638 U CN 208854638U
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Abstract
The utility model discloses a kind of teaching mechanical arm parameter calibration devices of six-degree-of-freedom parallel connection mechanism, are related to teaching mechanical arm technical field.The utility model includes supporting table, and one surface of supporting table slidably connects Mobile Slide；One surface of Mobile Slide is fixed with robot；The artificial common robot on the market of machine；Robot one end is fixed with six-degree-of-freedom parallel connection mechanism；Six-degree-of-freedom parallel connection mechanism includes supporting element；One surface of supporting element is fixed with fixed station；One surface of fixed station is fixed, and there are six the first ball-joints；Six one end faces of the first ball-joint are hinged with connecting shaft；One end of the connecting shaft face is fixed with linear bearing；One end face of linear bearing is fixed with moving lever.The utility model is moved by six-freedom degree to mobile station, and linear bearing is manually locked mode, without cumbersome electricity, liquid, gas control system, reduces use cost, and compact overall structure, light and handy, convenient for disassembly and assembly.
Description
Technical field
The utility model belongs to teaching mechanical arm technical field, more particularly to a kind of teaching of six-degree-of-freedom parallel connection mechanism
Mechanical arm parameter calibration device.
Background technique
In order to make robot generate the movement of particular track, teaching mechanical arm is generallyd use, by teaching personnel to teaching machine
Tool arm is operated manually teaching, makes the action movement of teaching mechanical arm desirably, while by the position row of teaching mechanical arm
The information such as journey, joint angles and height are recorded in controller, and the data information of all records is then converted into robot
Operation program.But robot and teaching mechanical arm are demarcated, especially the parameter calibration of teaching mechanical arm, and marked before teaching
Surely be modeling, measurement, parameter identification, the several steps of error compensation integrating process, for convenience identification calculate, in analytical error
Error model is established on the basis of source, preferentially identifies the biggish structural parameters of some pairs of error contributions and carries out error separate.
Laser surveying instrument, such as laser interferometer, laser tracker, these realities are mainly used for teaching calibration at present
It is expensive, cumbersome, high to operating environment requirement to test equipment prices, applies in general to development in laboratory research；And it dislikes at the scene
In the case that the operation level of bad operating environment, worker is irregular, the method that field technician uses is to utilize teaching
Mechanical arm draws histogram in cuboid carton, and then robot carries out teaching playback, checks reconstruction error, carries out to error simple
Artificially make up the difference.The shortcomings that this artificial teaching scaling method is that execute-in-place environment carton deformation, worker's subjectivity behaviour easily occurs
Make that factor is big, low efficiency, teaching calibration need to be re-started when especially reconstruction error is larger, in recent years, in order to improve teaching effect
Rate and teaching precision, have carried out many research and development to teaching system both at home and abroad.Has dragging teaching robot's application at present
In the production line, but its use cost valuableness, technical threshold are high；The existing teaching scaling method in scene is influenced by subjective factor simultaneously
Greatly, the disadvantages of stated accuracy is unstable, to influence the efficiency and precision of teaching calibration.
Utility model content
The purpose of this utility model is to provide a kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism,
By the six-freedom degree movement to mobile station, linear bearing is manually locked into mode, without cumbersome electricity, liquid, gas control system, solution
The problem that existing worker's subjectivity operation factors of having determined are big, low efficiency, stated accuracy are unstable.
In order to solve the above technical problems, the utility model is achieved through the following technical solutions:
The utility model is a kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism, including supporting table,
One surface of supporting table slidably connects Mobile Slide；One surface of Mobile Slide is fixed with robot；The robot
For robot common on the market；Described robot one end is fixed with six-degree-of-freedom parallel connection mechanism；The six-degree-of-freedom parallel
Structure one end is fixed with turntable；One surface of Mobile Slide is fixed with teaching mechanical arm；The joint of the teaching mechanical arm is set
Angled sensor；Teaching mechanical arm one end is fixedly connected with six-degree-of-freedom parallel connection mechanism；
The six-degree-of-freedom parallel connection mechanism includes supporting element；One surface of supporting element is fixed with fixed station；The fixation
One end face of platform is fixed with three support rods；One end face of support rod is fixedly connected with supporting element；One surface of fixed station is solid
It is fixed that there are six the first ball-joints；Six one end faces of the first ball-joint are hinged with connecting shaft；The one end of the connecting shaft
Face is fixed with linear bearing；One end face of linear bearing is fixed with moving lever；One end face of moving lever is fixed with the second ball
Articulation piece；Second ball-joint, one end face is fixed with mobile station；One surface of mobile station is fixed with support shaft；The branch
Support one end face of axis is fixed with calibration component；The one end face hinge of calibration component is connected with demarcate bar；One end face of demarcate bar
It is fixedly connected with robot.
Further, the calibration component includes calibration connecting column；One surface of calibration connector is fixed to the support shaft
Connection；Another surface of the calibration connecting column is fixed with calibration movable block；One surface of calibration movable block is fixed with calibration and connects
Extension bar；One surface of calibration connecting rod is fixedly connected with demarcate bar.
Further, the fixed station is Y-shaped structure；Six first ball-joints are fixed on fixed station two-by-two
Three end faces.
Further, linear bearing week side is rotatably connected to handle.
Further, the mobile station is cylindrical structure.
The utility model has the following beneficial effects:
The utility model is moved by the six-freedom degree to mobile station, linear bearing is manually locked mode, without numerous
Trivial electricity, liquid, gas control system, reduce use cost, and compact overall structure, light and handy, convenient for disassembly and assembly, while using least square
Method is to its parameter calibration, to effectively improve teaching calibration efficiency and precision.
Certainly, any product for implementing the utility model does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is a kind of structural representation of the teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism of the utility model
Figure；
Fig. 2 is the structural schematic diagram of six-degree-of-freedom parallel connection mechanism；
Fig. 3 is the structural schematic diagram for demarcating component；
In attached drawing, parts list represented by the reference numerals are as follows:
1- supporting table, 2- Mobile Slide, 3- robot, 4- six-degree-of-freedom parallel connection mechanism, 5- turntable, 6- teaching mechanical arm,
7- demarcates component, 401- supporting element, 402- fixed station, 403- support rod, the first ball-joint of 404-, 405- connecting shaft, 406-
Linear bearing, 407- moving lever, the second ball-joint of 408-, 409- mobile station, 4010- support shaft, 4011- demarcate bar, 4012-
Handle, 701- demarcate connecting column, and 702- demarcates movable block, and 703- demarcates connecting rod.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
All other embodiment obtained, fall within the protection scope of the utility model.
It please refers to shown in Fig. 1-3, the utility model is a kind of teaching mechanical arm parameter calibration of six-degree-of-freedom parallel connection mechanism
Device, including supporting table 1,1 one surface of supporting table slidably connect Mobile Slide 2；2 one surface of Mobile Slide is fixed with robot
3；3 one end of robot is fixed with six-degree-of-freedom parallel connection mechanism 4；4 one end of six-degree-of-freedom parallel connection mechanism is fixed with turntable 5；It is mobile to slide
2 one surface of platform is fixed with teaching mechanical arm 6；The joint of teaching mechanical arm 6 is equipped with angular transducer, in order to which real-time monitoring is shown
Teach the angle of joint of mechanical arm；6 one end of teaching mechanical arm is fixedly connected with six-degree-of-freedom parallel connection mechanism 4；Six-degree-of-freedom parallel
Structure 4 includes supporting element 401；401 1 surface of supporting element is fixed with fixed station 402；402 1 end face of fixed station is fixed with three supports
Bar 403；403 1 end face of support rod is fixedly connected with supporting element 401；402 1 surface of fixed station is fixed, and there are six the first ball-joints
Part 404；Six 404 1 end faces of the first ball-joint are hinged with connecting shaft 405；405 1 end face of connecting shaft is fixed with linear axis
Hold 406；406 1 end face of linear bearing is fixed with moving lever 407；407 1 end face of moving lever is fixed with the second ball-joint 408；
Second ball-joint, 408 1 end face is fixed with mobile station 409；409 1 surface of mobile station is fixed with support shaft 4010；Support shaft
4010 1 end faces are fixed with calibration component 7；Calibration 7 one end face hinge of component is connected with demarcate bar 4011；4011 one end of demarcate bar
Face is fixedly connected with robot 3.
Wherein, calibration component 7 includes calibration connecting column 701；Demarcate 701 1 surface of connector and the fixed company of support shaft 4010
It connects；Calibration 701 1 surface of connecting column is fixed with calibration movable block 702；Calibration 702 1 surface of movable block is fixed with calibration connecting rod
703；Calibration 703 1 surface of connecting rod is fixedly connected with demarcate bar 4011.
Wherein, fixed station 402 is Y-shaped structure；Six the first ball-joints 408 are fixed on the three of fixed station 402 two-by-two
End face.
Wherein, 406 weeks sides of linear bearing are rotatably connected to handle 4012, convenient for locking linear bearing 406.
Wherein, mobile station 409 is cylindrical structure.
One concrete application of the present embodiment are as follows: when to teaching mechanical arm parameter calibration, in six-degree-of-freedom parallel connection mechanism 4
In Work Space Range, robot 3 is driven, moves its end guidance six-degree-of-freedom parallel connection mechanism 4, in six-degree-of-freedom parallel
Structure 4 obtains certain spatial pose after moving, and at this time locks linear bearing 406, limits the movement of moving lever 407, thus solid
Surely the pose of six-degree-of-freedom parallel connection mechanism 4 is lived, angular transducer can recorde the angle-data of 3 joint of robot at this time, this
When teaching mechanical arm 6 cooperated with six-degree-of-freedom parallel connection mechanism 4, adjust the pose of mobile station 409, repeat aforesaid operations and obtain
Multiple groups robot 3 and 6 joint angles data of teaching mechanical arm, according to spatial pose data and joint angles data to teaching machinery
Arm 6 carries out parameter calibration using least square method, realizes the error compensation of end pose, generates movement instruction, and movement is referred to
Order is sent to robot 3, so that robot 3 completes work corresponding with teaching mechanical arm 6.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one of the utility model
In embodiment or example.In the present specification, schematic expression of the above terms be not necessarily referring to identical embodiment or
Example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more embodiment or examples
In can be combined in any suitable manner.
The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, also not limiting the utility model is only the specific embodiment.Obviously, according to this theory
The content of bright book can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably
The principles of the present invention and practical application are explained, so that skilled artisan be enable to better understand and utilize this
Utility model.The utility model is limited only by the claims and their full scope and equivalents.
Claims (5)
1. a kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism, including supporting table (1), it is characterised in that:
(1) one surface of supporting table slidably connects Mobile Slide (2)；(2) one surface of Mobile Slide is fixed with robot
(3)；Described robot (3) one end is fixed with six-degree-of-freedom parallel connection mechanism (4)；Described six-degree-of-freedom parallel connection mechanism (4) one end is solid
Surely there are turntable (5)；(2) one surface of Mobile Slide is fixed with teaching mechanical arm (6)；Described teaching mechanical arm (6) one end with
Six-degree-of-freedom parallel connection mechanism (4) is fixedly connected；
The six-degree-of-freedom parallel connection mechanism (4) includes supporting element (401)；(401) one surface of supporting element is fixed with fixed station
(402)；(402) one end face of fixed station is fixed with several support rods (403)；(403) one end face of support rod and support
Part (401) is fixedly connected；(402) one surface of fixed station is fixed with several first ball-joints (404)；Several described first
(404) one end face of ball-joint is hinged with connecting shaft (405)；(405) one end face of connecting shaft is fixed with linear bearing
(406)；(406) one end face of linear bearing is fixed with moving lever (407)；(407) one end face of moving lever is fixed with
Two ball-joints (408)；(408) one end face of second ball-joint is fixed with mobile station (409)；The mobile station (409)
One surface is fixed with support shaft (4010)；(4010) one end face of support shaft is fixed with calibration component (7)；The calibration component
(7) one end face hinges are connected with demarcate bar (4011)；(4011) one end face of demarcate bar is fixedly connected with robot (3).
2. a kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism according to claim 1, feature
It is, the calibration component (7) includes calibration connecting column (701)；(701) one surface of calibration connecting column and support shaft
(4010) it is fixedly connected；Another surface of the calibration connecting column (701) is fixed with calibration movable block (702)；The calibration movement
(702) one surface of block is fixed with calibration connecting rod (703)；(703) one surface of calibration connecting rod and demarcate bar (4011) are solid
Fixed connection.
3. a kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism according to claim 1, feature
It is, the fixed station (402) is Y-shaped structure.
4. a kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism according to claim 1, feature
It is, all sides of the linear bearing (406) are rotatably connected to handle (4012).
5. a kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism according to claim 1, feature
It is, the mobile station (409) is cylindrical structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821386334.7U CN208854638U (en) | 2018-08-27 | 2018-08-27 | A kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821386334.7U CN208854638U (en) | 2018-08-27 | 2018-08-27 | A kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208854638U true CN208854638U (en) | 2019-05-14 |
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ID=66415819
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821386334.7U Active CN208854638U (en) | 2018-08-27 | 2018-08-27 | A kind of teaching mechanical arm parameter calibration device of six-degree-of-freedom parallel connection mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208854638U (en) |
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2018
- 2018-08-27 CN CN201821386334.7U patent/CN208854638U/en active Active
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Address after: 528000 Foshan Institute of science and technology, Xianxi reservoir West Road, Shishan town, Nanhai District, Foshan City, Guangdong Province Patentee after: FOSHAN University Patentee after: Guangdong Huibo Robot Technology Co.,Ltd. Address before: 528000 Foshan Institute of science and technology, Xianxi reservoir West Road, Shishan town, Nanhai District, Foshan City, Guangdong Province Patentee before: FOSHAN University Patentee before: FOSHAN KINGPENG ROBOT TECHNOLOGY Co.,Ltd. |