CN210323345U - Industrial robot orbit precision detection device - Google Patents
Industrial robot orbit precision detection device Download PDFInfo
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- CN210323345U CN210323345U CN201920408093.XU CN201920408093U CN210323345U CN 210323345 U CN210323345 U CN 210323345U CN 201920408093 U CN201920408093 U CN 201920408093U CN 210323345 U CN210323345 U CN 210323345U
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Abstract
The application provides an industrial robot orbit precision detection device, includes: the device comprises a light source device, a dynamic capture device and a processor; the light source device is arranged at a set part of the robot and comprises a main light source and a circle of auxiliary light sources surrounding the main light source; the light source device is used for emitting infrared light; the dynamic capture device is fixed at a set position of the test space and comprises a plurality of lenses for receiving infrared light in the light source device; transmitting the received infrared light to a processor; the processor is used for fitting the actual motion track of the robot and calculating the track precision of the robot according to the set track and the actual track of the robot. The dynamic capturing device has the beneficial effects that the problem of dead angles existing in the traditional track precision detection is solved, in addition, the dynamic capturing device is more convenient and faster to erect and the light source device is more conveniently and rapidly arranged, an industrial robot does not need to be moved, the detection can be carried out on the working site, and the detection efficiency is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a track precision detection device for an industrial robot.
Background
With the continuous progress of science and technology, industrial robots gradually replace human beings to complete monotonous and dangerous work. Compared with manual operation, the efficiency of the industrial robot is higher, so that the automatic robot is widely applied to an automatic production line. If the reliability of the industrial robot cannot be guaranteed, the quality of the product is seriously influenced, and the production efficiency of a production line is reduced. Therefore, reliability testing for industrial robots is essential.
At present, the industrial robot is calibrated and detected mainly through laser measurement at home and abroad, although the method has high measurement precision, the precision of any track of the industrial robot in space is difficult to measure due to the fact that a laser sensor has a dead angle.
Disclosure of Invention
The invention aims to solve the problems and provides an industrial robot track precision detection device.
In a first aspect, the present application provides an industrial robot trajectory precision detection device, including: the device comprises a light source device, a dynamic capture device and a processor;
the light source device is arranged at a set position of the robot and comprises a main light source and a circle of secondary light sources which are uniformly surrounded on the periphery of the main light source and have a first set number; the light source device is configured to: emitting infrared light at a set frequency in a set order;
the dynamic capture device is fixed at the set position of the robot test space and comprises: the plurality of lenses are arranged according to a set angle; the motion capture device is configured to: receiving infrared light in the light source device; transmitting the received time information of the infrared light to the processor;
the processor is configured to: and fitting the actual motion track of the robot according to the time information of the infrared light of the dynamic capturing device, and calculating the track precision of the robot according to the set track and the actual track of the robot.
According to the technical scheme provided by the embodiment of the application, the first set number is eight, and the eight secondary light sources are uniformly distributed on the set part of the robot by taking the main light source as the center.
According to the technical scheme provided by the embodiment of the application, the dynamic capture device comprises a central lens and outer lenses positioned on two sides of the central lens.
According to the technical scheme provided by the embodiment of the application, the central lens and the two outer lenses are arranged on the same horizontal plane, and the two outer lenses and the central lens are both in any value within the range of 150-170 degrees.
According to the technical scheme provided by the embodiment of the application, the effect of the dynamic capturing device for capturing the motion of the robot is the best when the two outer lenses and the central lens are 165 degrees.
According to the technical scheme provided by the embodiment of the application, the central lens and the outer lens are both CCD lenses.
The invention has the beneficial effects that: the novel light source device is designed, has a main light source positioned at the center and a plurality of auxiliary light sources positioned at the periphery of the main light source, can be installed on an industrial robot at any time by assembling the main light source and the auxiliary light sources together, and has the advantages of convenience, rapidness, no need of reinstallation and debugging and the like. In addition, a plurality of secondary light sources are used as supplements of the main light source, when the dynamic capturing device cannot capture infrared light emitted by the main light source, the position of the secondary light source can be calculated by using the captured infrared light of the secondary light source, and the position of the main light source is indirectly calculated according to the positions of the plurality of secondary light sources and is used as the instantaneous position of the robot. By the method, the detection range of the robot track can be enlarged when only one light source is provided, and the detection performance of the robot track is improved.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present application;
FIG. 2 is a schematic cross-sectional view of a light source device according to a first embodiment of the present disclosure;
the text labels in the figures are represented as: 200. a light source device; 210. a primary light source; 220. a secondary light source; 300. a dynamic capture device; 310. a central lens; 320. and an outer lens.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
As shown in fig. 1, a schematic structural diagram of a first embodiment of the present application includes: a light source device 200, a motion capture device 300, and a processor.
In this embodiment, the robot is moved in the test space by a program in the processor according to a set trajectory.
The light source device 200 is installed at a predetermined position of the robot, and includes a main light source 210 and a first predetermined number of sub-light sources 220 uniformly surrounding the main light source. In a preferred embodiment, the first set number is eight, and eight secondary light sources are uniformly distributed on the set part of the robot by taking the main light source as a center.
The light source device 200 is configured to: the infrared light is emitted at a set frequency in a set sequence.
In a preferred embodiment, the setting portion is an end portion of the robot, and the end portion is a cylindrical structure. The light source device 200 is a cylindrical structure matched with the cylindrical end part and is clamped at the outer side of the tail end of the robot. The main light source 210 is located in the center of the bottom surface of the cylinder, i.e. away from the center of the outer surface of the robot. The secondary light sources 220 are uniformly distributed on the side wall of the cylinder and are disposed near the side edge of the primary light source 210, that is, the center of the primary light source 210 and the center of the secondary light source 220 are on the same horizontal plane, as shown in fig. 2. The number of the sub light sources 220 in the above preferred embodiment is eight, that is, one sub light source 220 is provided every 45 degrees on the side of the cylinder. The primary light source 210 and the secondary light source 220 are electrically connected to a processor, since the processor is required for control.
In a preferred embodiment, the main light source 210 and each secondary light source 220 are connected by wire and powered by 12V ac.
In the present embodiment, the light source device 200 is turned on in the following setting sequence: the primary light source 210 is illuminated first and then all of the secondary light sources 220 are illuminated simultaneously. The main light source 210 and the sub-light source 220 are activated at a set time interval, so that the main light source 210 and the sub-light source 220 are not lighted at the same time.
The motion capture device 300 is fixed at a set position in a robot test space, and includes: the lens system comprises a plurality of lenses, wherein the lenses are arranged according to a set angle. In a preferred embodiment, the motion capture device 300 is mounted on a horizontally stable stand or platform.
The motion capture device 300 is configured to: receiving infrared light in the light source device 200; transmitting the received time information of the infrared light to the processor.
In a preferred embodiment, the motion capture device 300 includes a central lens 310 and outer lenses 320 positioned on either side of the central lens.
In the above preferred embodiment, the central lens 310 and the two outer lenses 320 are disposed on the same horizontal plane, and both of the two outer lenses 320 have any value in the range of 150 ° -170 ° from the central lens 310. Therefore, the three-dimensional space position of the light source emitting the infrared light can be calculated through different time of receiving the infrared light emitted by the same light source through the three lenses.
Preferably, the dynamic capture device 300 captures the robot motion most effectively when both of the outer lenses 320 are at 165 ° to the central lens 310.
In order to transmit the information of the central lens 310 and the two outer lenses 320 back to the processor for processing, the central lens 310 and the two outer lenses 320 are electrically connected to the processor.
Preferably, the central lens 310 and the outer lens 320 are both CCD lenses.
The processor is configured to: and fitting the actual motion track of the robot according to the time information of the infrared light of the dynamic capturing device 300, and calculating the track precision of the robot according to the set track and the actual track of the robot.
In the present embodiment, the information transmitted by the motion capture apparatus 300 includes the reception time of the received infrared light.
In a preferred embodiment, the lighting interval between the main light source 210 and the sub-light source 220 is t ═ 1ms, and it is ensured that the main light source 210 and the sub-light source 220 are not lighted simultaneously at the same time, for example: the main light source 210 is turned on at 1ms, the respective sub light sources 220 are simultaneously turned on at 2ms, and the main light source 210 is in an off state when the sub light sources 220 are simultaneously turned on at 2 ms. The time length of each lighting of each light source is set according to specific conditions.
In the present preferred embodiment, the set frequency is set to be f equal to 100Hz, that is, the lighting period T of the same light source is 10ms, and the main light source 210 and the sub-light source 220 are both in the off state in the 3ms-10ms period. The primary light source will continue to light at the 11 th ms and the various secondary light sources will continue to light simultaneously at the 12 th ms, with each 10ms set of cycle periods.
In the present preferred embodiment, the above times are the times when the light source device 200 at the robot emits the infrared light, and since the trajectory test space is generally in the range of several meters to several tens of meters, the time from the infrared light emitting point to the motion capture device 300 should be 10 depending on the transmission speed of the infrared light-3In the ms range, for example: the motion capture device 300 captures infrared light at 1.003ms and can determine that the infrared light was emitted by the primary light source 210 at 1 ms. If the motion capture device 300 does not receive infrared light information within the 1ms-2ms time period, it is assumed that no infrared light is received from the primary light source 210 in the 1ms-10ms loop of the present set.
If the cycle of lighting the group of light sources includes the infrared light emitted by the main light source 210, the time difference from the start to the reception of the infrared light is calculated only according to the time when the main light source 210 is started and the time when the dynamic capture device 300 receives the infrared light emitted by the main light source 210, and then the position of the main light source 210 is calculated according to the transmission speed of the infrared light and is used as the instantaneous position of the robot. In the preferred embodiment, the primary light source 210 is activated at 1ms and received by the dynamic capture device 300 at 1.003ms, with a time difference of 0.003 ms. In addition, since the dynamic capture device 300 in this embodiment employs three lenses, and the same infrared light is transmitted to the three lenses at different times due to different lens positions, the above-mentioned time for receiving the infrared light in 1.003ms is assumed as the time for receiving the infrared light by the central lens 310 in this embodiment, and the time for receiving the infrared light by the outer lenses 320 on both sides may be the 1.001ms and the 1.005ms in sequence. The relative distance of each lens with respect to the same light source emitting infrared light can be calculated, and the three-dimensional spatial position of the light source with respect to the motion capture device 300 can be calculated by calculating three different distances. The actual spatial position of the main light source in the test space can be calculated by combining the position information of the motion capture device 300.
According to the light source lighting rule, when the main light source 210 and the sub-light source 220 should be lighted is preset in the system and known, and the time of the infrared light received by the dynamic capture device 300 is far shorter than the time interval between the lighting of the two adjacent light sources, so that the time of the infrared light which is emitted by the light sources in which set of cycles can be known. According to the time difference between the lighting and the receiving of the infrared light and the transmission speed of the infrared light, the distance between the light source emitting the infrared light and the lens receiving the infrared light can be calculated. Since the dynamic capture device 300 in this embodiment employs three lenses, the dynamic capture device 300 can calculate three distance information of the three lenses for the same light source according to different time periods for collecting the infrared light emitted by the same light source, and can calculate the three-dimensional coordinate position of the light source in the space according to the three distances for the same light source.
If the cycle of illumination of a group of light sources does not include the infrared light emitted by the primary light source 210, the instantaneous position of the robot is determined by calculating the position of the secondary light sources 220 in the group. The calculation process is identical to that of the main light source 210 by calculating the spatial positions of the three sub-light sources 220 in a group, respectively, which receive the infrared light for the shortest time. And then, the principle that the circle centers are determined by three points is utilized, and the circle center is used as the instantaneous position of the robot.
And performing curve fitting on the space position information to determine the actual motion track of the robot. And integrating the point information of each spatial position of the robot calculated by the processor to form a fitting curve, namely determining the actual motion track of the robot.
And calculating the error between the actual motion track and the set track, and determining the track precision of the robot, thus finishing the detection of the track precision of the industrial robot.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.
Claims (6)
1. An industrial robot orbit accuracy testing device, its characterized in that includes: the device comprises a light source device, a dynamic capture device and a processor;
the light source device is arranged at a set position of the robot and comprises a main light source and a circle of secondary light sources which are uniformly surrounded on the periphery of the main light source and have a first set number; the light source device is configured to: emitting infrared light at a set frequency in a set order;
the dynamic capture device is fixed at the set position of the robot test space and comprises: the plurality of lenses are arranged according to a set angle; the motion capture device is configured to: receiving infrared light in the light source device; transmitting the received time information of the infrared light to the processor;
the processor is configured to: and fitting the actual motion track of the robot according to the time information of the infrared light of the dynamic capturing device, and calculating the track precision of the robot according to the set track and the actual track of the robot.
2. The apparatus according to claim 1, wherein the first set number is eight, and eight of the sub light sources are uniformly distributed on the set portion of the robot around the main light source.
3. The industrial robot trajectory precision detecting device according to claim 1, wherein the dynamic capturing means includes a center lens and outer lenses located on both sides of the center lens.
4. The industrial robot trajectory accuracy detecting device according to claim 3, wherein the center lens and the two outer lenses are disposed on the same horizontal plane, and both of the outer lenses are at an arbitrary value in a range of 150 ° to 170 ° from the center lens.
5. The apparatus according to claim 4, wherein the capturing of the robot motion by the motion capturing means is optimized when both of the outer lenses are at 165 ° to the central lens.
6. The industrial robot trajectory precision detecting device according to claim 3, wherein the center lens and the outer lens each employ a CCD lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920408093.XU CN210323345U (en) | 2019-03-28 | 2019-03-28 | Industrial robot orbit precision detection device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920408093.XU CN210323345U (en) | 2019-03-28 | 2019-03-28 | Industrial robot orbit precision detection device |
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| CN210323345U true CN210323345U (en) | 2020-04-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109884590A (en) * | 2019-03-28 | 2019-06-14 | 河北工业大学 | A kind of industrial robot path accuracy detection device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109884590A (en) * | 2019-03-28 | 2019-06-14 | 河北工业大学 | A kind of industrial robot path accuracy detection device and method |
| CN109884590B (en) * | 2019-03-28 | 2024-05-24 | 湖南第一师范学院 | Industrial robot track precision detection device and method |
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