CN208968469U - Industrial robot repetitive positioning accuracy analysis system - Google Patents
Industrial robot repetitive positioning accuracy analysis system Download PDFInfo
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- CN208968469U CN208968469U CN201821107200.7U CN201821107200U CN208968469U CN 208968469 U CN208968469 U CN 208968469U CN 201821107200 U CN201821107200 U CN 201821107200U CN 208968469 U CN208968469 U CN 208968469U
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- laser range
- industrial robot
- positioning accuracy
- analysis system
- repetitive positioning
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Abstract
The utility model discloses a kind of industrial robot repetitive positioning accuracy analysis systems, it is characterized in that, including three laser range finders, three laser range finders are separately fixed in three branches, three branches are set on bracket, for three laser range finders at the direction of pairwise orthogonal, three laser range finders are directed at spherical reflector, and spherical reflector is fixed in robot.The utility model realizes the three-dimensional point detection of industrial robot space coordinate, takes the method for evading rotation error component that test macro is made to have higher measuring accuracy by laser range finder and spherical reflector.
Description
Technical field
The utility model relates to a kind of industrial robot repetitive positioning accuracy analysis systems, belong to the survey of industrial robot performance
Examination field.
Background technique
Industrial robot is to integrate the advanced manufacturing technologies such as precise treatment, flexibility, intelligence, software application development,
The important automation equipment of industrial automation.Industrial robot is widely applied simultaneously as manufacture rigging error, control
The reasons such as error, movement thermal deformation, gyration aperture and fatigue wear lead to industrial robot physical location and command position deviation
It is larger, or even there is the phenomenon of the failure of robot end's shake, limit the application of industrial robot.Therefore to industrial robot
The test analysis of repetitive positioning accuracy, performance fault diagnosis, become indispensable in the industrial robot manufacturing one
Point.
Currently, the test about industrial robot repetitive positioning accuracy is mainly measured using laser tracker, laser
Tracker is cumbersome, at high cost, and its full accuracy is difficult to meet user demand sometimes.A kind of existing patent " machine
People's three-dimensional repetitive positioning accuracy test macro " (201710095556) uses three mutually orthogonal laser displacement sensors, right
The cube for following robot end to translate rotation measures to obtain the displacement in three directions, although three same pacings of sensor
Amount ensure that the rapidity of test, if but there are rotational components in robot localization error, and it just not can guarantee and intersect at for the first time
The light beam of space same point after the error of direction of rotation is added, may continue to intersect at same point.This will lead to measurement error increasing
Greatly, precision is unable to satisfy customer demand.A kind of existing patent " robot three-dimensional repetitive positioning accuracy measuring device "
(CN201420123934.X) the problem of can not evading there is also rotation error.
Summary of the invention
Technical problem to be solved by the utility model is: solving existing industrial robot repetitive positioning accuracy test system
System has that rotation error can not evade.
In order to solve the above-mentioned technical problem, the technical solution of the utility model repeats to determine there is provided a kind of industrial robot
Position precision analysis system, which is characterized in that including three laser range finders, three laser range finders are separately fixed at three branches
On, three branches are set on bracket, and for three laser range finders at the direction of pairwise orthogonal, three laser range finders are directed at spherical shape
Reflector, spherical reflector are fixed in robot.
Preferably, the bracket is fixed on tripod；Tripod and support assorted form to have and move up and down, control
Rotate the mounting rack of two freedom degrees.
Preferably, the making material of the spherical reflector is light metal material；The making material of bracket is aluminium conjunction
Golden material；The making material of tripod is carbon fibre material.
Preferably, the position pairwise orthogonal of three laser range finders, be mutually 90 degree of right angles；Three laser range finders
The laser beam of sending intersects at a point.
Preferably, by the laser cross-over and ball of three laser range finders there are three being set on the spherical reflector surface
The witness marker that the centre of sphere of shape reflector is aligned；One of witness marker is conllinear with robot end's coordinate system Z axis,
Other two witness marker and the witness marker pairwise orthogonal.
Preferably, the witness marker is irreflexive reflective marker point；The shape of witness marker is circle；Positioning mark
The size of laser beam shape of size and laser range finder of will is identical.
Preferably, the section of the branch is square；Three branches are vertical on bracket two-by-two.
Preferably, high-precision positioner is respectively equipped in three branches, high-precision positioner, which is equipped with, to swash
Optar.
The utility model realizes the three-dimensional point inspection of industrial robot space coordinate by laser range finder and spherical reflector
It surveys, the method for evading rotation error component is taken to make test macro that there is higher measuring accuracy.
Since the utility model uses spherical reflector, the rotation error introduced due to end deflection can effectively eliminate.
By using the calibrating method of witness marker can effectively adjust spherical reflector posture and high-precision laser range finder
Equipment, it is ensured that the accuracy of test macro.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of industrial robot repetitive positioning accuracy analysis system；
Fig. 2 is the schematic diagram of spherical reflector；
Fig. 3 is the schematic illustration of three sensor calibrating methods.
Specific embodiment
To be clearer and more comprehensible the utility model, hereby with preferred embodiment, and attached drawing is cooperated to be described in detail below.
The utility model is a kind of industrial robot repetitive positioning accuracy analysis system, as shown in Figure 1, comprising: spherical
Reflector 2, laser range finder, bracket 4, tripod 5, wherein there are three (i.e. first laser rangings altogether for the quantity of laser range finder
Instrument 3a, second laser rangefinder 3b, third laser range finder 3c), three laser range finders are individually fixed in three branches (i.e.
One branch 4a, the second branch 4b, third branch 4c) on, three branches are set on bracket 4；Three laser range finders are at two-by-two just
The direction of friendship, laser beam that three laser range finders respectively issue while investing spherical reflector 2.
Spherical reflector 2 is made of light metal material；One side surface of spherical reflector 2 is fixedly installed with connector,
It is fixedly linked by connector and 1 end of industrial robot, 1 end of robot is followed to carry out translational rotation movement.Spherical shape reflection
There are three the positioning marks for being aligned the laser cross-over of three laser range finders with the spherical reflector centre of sphere for the surface patch of body 2
Will (i.e. the first witness marker 6a, the second witness marker 6b, third witness marker 6c), as shown in Fig. 2, one of witness marker
(i.e. the second witness marker 6b) is conllinear with 1 ending coordinates system Z axis of robot, other two witness marker (i.e. first witness marker
6a, third witness marker 6c) with witness marker (i.e. the second witness marker 6b) pairwise orthogonal, three witness markers are Laser Measuring
The reference point that the laser beam of distance meter is aligned with spherical reflector 2 provides reflecting surface for laser range finder, as shown in Figure 3.Positioning mark
Will is irreflexive reflective marker point, and the shape of witness marker is circle, the size of witness marker and the laser of laser range finder
The size of harness shape is identical or close.
The position pairwise orthogonal of three laser range finders is mutually 90 degree of right angles, and three laser beams intersect at a point.Laser Measuring
Distance meter 3 has the function of external trigger, by trigger data acquisition signal, is acquired to the range information of target.
Bracket 4 is made of aluminum alloy materials, is reliably fixed on tripod 5.It is set on bracket 4 there are three branch, point
Branch section is square, and three branches are vertical two-by-two, is respectively equipped with high-precision positioner, is swashed for accurately installing positioning three
Optar guarantees the laser beam pairwise orthogonal of laser range finder and intersects at a point.
Tripod 5 is made of carbon fibre material, cooperatively forms with bracket 4 with moving up and down, rotates left and right two freedom
The mounting rack of degree, and it is equipped with the device for being reliably fixed bracket, tripod 5 is steadily contacted using spur mode and ground, avoids propping up
The positional shift during the test of frame 4 introduces error.
The industrial robot repetitive positioning accuracy test macro of the utility model, operating procedure are as follows:
Step 1: spherical reflector 2 being installed in the end of industrial robot 1, it is ensured that installation is fixed reliable.Adjust robot
Arm is located at the position that intended application is most in a working space.
Step 2: fixing bracket 4 on tripod 5, adjust height and angle, make it with spherical reflector 2 substantially same
Highly, and three laser range finders it is mounted on the high-precision positioner of three branches of bracket 4.
Step 3: by witness marker by the centre of sphere pair of the laser cross-over of three laser range finders and spherical reflector 2
Together, method is as follows: (1) adjusting robot, be generally in the direction of three witness markers with three laser range finders same
Orientation；(2) 1 end of mobile robot, the second witness marker 6b in the same direction with robot 1 end Z axis for enabling spherical reflector 2 with
The light beam of the second laser rangefinder 3b of corresponding direction is overlapped；(3) adjustment robot 1 is first rotated around end Z axis, enables other two
Corresponding laser range finder (the i.e. first laser ranging of witness marker (i.e. the first witness marker 6a, third witness marker 6c)
Instrument 3a, third laser range finder 3c) light beam be in same plane, then adjust robot and rotated around other directions, make two it is fixed
The light beam in bit flag corresponding direction respectively substantially overlaps；(4) the corresponding laser range finder of one of indicator is observed
Light beam and witness marker, adjustment robot 1 to not pipe end are all past along the micro- translation in which direction or micro- rotation, indicator numerical value
Same size direction variation, then prove that the center of the laser beam is aligned with the center of the witness marker；Other indicators are replaced,
It repeats the above process, until the light beam of three laser range finders distinguishes corresponding witness marker alignment.
Step 4: teaching current point, when robot 1 moves to the position, triggering collection signal.Three laser range finders
Recording distance respectively stops acquisition after continuously recording 30 groups of data.Data are exported from controller eventually by computer, to data
Carry out repetitive positioning accuracy calculating.
Claims (8)
1. a kind of industrial robot repetitive positioning accuracy analysis system, which is characterized in that including three laser range finders, three are swashed
Optar is separately fixed in three branches, and three branches are set on bracket (4), and three laser range finders are at pairwise orthogonal
Direction, three laser range finders are aligned spherical reflector (2), and spherical reflector (2) is fixed on robot (1).
2. a kind of industrial robot repetitive positioning accuracy analysis system as described in claim 1, which is characterized in that the branch
Frame (4) is fixed on tripod (5)；Tripod (5) and bracket (4) cooperatively form to have and move up and down, rotate left and right two certainly
By the mounting rack spent.
3. a kind of industrial robot repetitive positioning accuracy analysis system as described in claim 1, which is characterized in that the ball
The making material of shape reflector (2) is light metal material；The making material of bracket (4) is aluminum alloy materials；Tripod (5)
Making material is carbon fibre material.
4. a kind of industrial robot repetitive positioning accuracy analysis system as described in claim 1, which is characterized in that described three
The position pairwise orthogonal of a laser range finder is mutually 90 degree of right angles；The laser beam that three laser range finders issue intersects at a point.
5. a kind of industrial robot repetitive positioning accuracy analysis system as claimed in claim 4, which is characterized in that the ball
Set on shape reflector (2) surface there are three by the centre of sphere of the laser cross-over of three laser range finders and spherical reflector (2) into
The witness marker of row alignment；One of witness marker is conllinear with robot (1) ending coordinates system Z axis, other two positioning
Mark and the witness marker pairwise orthogonal.
6. a kind of industrial robot repetitive positioning accuracy analysis system as claimed in claim 5, which is characterized in that described determines
Bit flag is irreflexive reflective marker point；The shape of witness marker is circle；The size of witness marker and laser range finder
The size of laser beam shape is identical.
7. a kind of industrial robot repetitive positioning accuracy analysis system as described in claim 1, which is characterized in that point
The section of branch is square；Three branches are vertical at two-by-two on bracket (4).
8. a kind of industrial robot repetitive positioning accuracy analysis system as described in claim 1, which is characterized in that described three
High-precision positioner is respectively equipped in a branch, high-precision positioner is equipped with laser range finder.
Priority Applications (1)
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| CN201821107200.7U CN208968469U (en) | 2018-07-12 | 2018-07-12 | Industrial robot repetitive positioning accuracy analysis system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821107200.7U CN208968469U (en) | 2018-07-12 | 2018-07-12 | Industrial robot repetitive positioning accuracy analysis system |
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ID=66748591
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110174074A (en) * | 2019-06-27 | 2019-08-27 | 南京工程学院 | A kind of measuring device and method for industrial robot thermal deformation error compensation |
| CN111288905A (en) * | 2020-03-11 | 2020-06-16 | 江苏理工学院 | Radiator copper pipe detection device |
| CN111958603A (en) * | 2020-08-20 | 2020-11-20 | 成都卡诺普自动化控制技术有限公司 | Mechanical arm kinematic parameter separation measuring device and identification method |
| CN111981985A (en) * | 2020-08-31 | 2020-11-24 | 华中科技大学 | Industrial robot tail end three-dimensional position measuring instrument and method |
| CN114378814A (en) * | 2021-12-23 | 2022-04-22 | 唐山松下产业机器有限公司 | Robot repeated positioning precision real-time monitoring system |
-
2018
- 2018-07-12 CN CN201821107200.7U patent/CN208968469U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110174074A (en) * | 2019-06-27 | 2019-08-27 | 南京工程学院 | A kind of measuring device and method for industrial robot thermal deformation error compensation |
| CN110174074B (en) * | 2019-06-27 | 2024-02-02 | 南京工程学院 | Measuring device and method for thermal deformation error compensation of industrial robot |
| CN111288905A (en) * | 2020-03-11 | 2020-06-16 | 江苏理工学院 | Radiator copper pipe detection device |
| CN111958603A (en) * | 2020-08-20 | 2020-11-20 | 成都卡诺普自动化控制技术有限公司 | Mechanical arm kinematic parameter separation measuring device and identification method |
| CN111958603B (en) * | 2020-08-20 | 2021-06-01 | 成都卡诺普自动化控制技术有限公司 | Mechanical arm kinematic parameter separation measuring device and identification method |
| CN111981985A (en) * | 2020-08-31 | 2020-11-24 | 华中科技大学 | Industrial robot tail end three-dimensional position measuring instrument and method |
| CN114378814A (en) * | 2021-12-23 | 2022-04-22 | 唐山松下产业机器有限公司 | Robot repeated positioning precision real-time monitoring system |
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