CN210704828U - Multi-axis robot based on high-precision three-dimensional space positioning system - Google Patents
Multi-axis robot based on high-precision three-dimensional space positioning system Download PDFInfo
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- CN210704828U CN210704828U CN201921598099.4U CN201921598099U CN210704828U CN 210704828 U CN210704828 U CN 210704828U CN 201921598099 U CN201921598099 U CN 201921598099U CN 210704828 U CN210704828 U CN 210704828U
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Abstract
The utility model discloses a multi-axis robot based on a high-precision three-dimensional space positioning system, which comprises the high-precision three-dimensional space positioning system, a multi-axis robot and a terminal control system; the three-dimensional space positioning system comprises a high-precision positioning probe, a laser positioning base station and a positioning auxiliary module; the multi-axis robot comprises a terminal shaft and a robot body; and the terminal control system processes the coordinate information and controls the processing track of the robot. According to the invention, a low-cost millimeter-scale positioning system is used for carrying out millimeter-scale accurate positioning on the central point of the robot tool from the outside, so that closed-loop control can be formed, and the precision of the robot is more accurate and reliable.
Description
Technical Field
The utility model relates to a multiaxis robot space location field.
Background
With the increasing demand of flexible production in the field of intelligent manufacturing, the application based on the multi-axis robot gradually begins to be popularized. At present, teaching programming is mostly adopted for such multi-axis robots, although the precision can be guaranteed in a certain range, the operation is complex, professional operators need to spend a lot of time on programming and detecting, and complex motion tracks are difficult to program. A few large companies can calibrate the multi-axis robot by using the laser tracker, and realize high-precision track tracking by adopting an off-line programming scheme, but the scheme has extremely high cost and is difficult to popularize on a large scale. In addition, as time goes on, various factors such as joint wear, temperature difference change, stress change influence, and the parameter that originally markd changes, and the precision of robot can worsen, influences work quality.
SUMMERY OF THE UTILITY MODEL
A multi-axis robot based on a high-precision three-dimensional space positioning system comprises the high-precision three-dimensional space positioning system, a multi-axis robot and a terminal control system;
the high-precision three-dimensional space positioning system comprises a high-precision positioning probe, a laser positioning base station and a positioning auxiliary module, wherein the laser positioning base station is placed around the multi-axis robot and sends out laser signals; the positioning assistance module is located on the end shaft.
The laser positioning base station comprises a laser emitting component and a coding controller, wherein the laser emitting component can emit surface laser, and the coding controller can code the laser emitting component and can code an angle and a serial number of the laser emitting component.
The multi-axis robot comprises a tail end shaft and a robot body, wherein different models can be replaced by the tail end shaft according to actual production requirements.
And the terminal control system processes the coordinate information of the tool and the robot and controls the processing track of the robot.
And the positioning auxiliary device is provided with a plurality of sensors for receiving the laser emitted by the laser emitting device, and the central endpoint of the tool can be obtained according to the laser signal coordinate and the three-dimensional data of the tool.
According to the multi-axis robot based on the high-precision three-dimensional space positioning system, the plurality of sensors are mounted on the high-precision positioning probe and can receive laser signals, and the coordinates of the center point of a tool can be calibrated.
Drawings
Fig. 1 is a structural view of the present invention.
Detailed Description
A multi-axis robot based on a high-precision three-dimensional space positioning system comprises the high-precision three-dimensional space positioning system, a multi-axis robot and a terminal control system.
The multi-axis robot comprises a tail end shaft and a robot body, wherein the tail end shaft is connected with a using tool which can be switched according to different production requirements.
The three-dimensional space positioning system comprises a high-precision positioning probe, a laser positioning base station and a positioning auxiliary module.
The multi-axis robot control system comprises a laser positioning base station, a positioning auxiliary module, a sensor, a terminal control system and a terminal control system, wherein the laser positioning base station is placed in the area around the robot, the positioning auxiliary module is fixed on a tail end shaft, the sensor on the positioning auxiliary module receives laser emitted by the laser positioning base station, so that the accurate position of a tool using center point of the multi-axis robot is calculated, the posture of the tool using the multi-axis robot is obtained, and the terminal control system obtains the accurate position of the tool center point of the multi-axis robot and the posture information of.
The high-precision positioning probe obtains the precise position coordinates of a plurality of characteristic points of the workpiece to be processed under the high-precision positioning system, the terminal control system obtains position information, and the precise position and the posture of the workpiece to be processed under the working coordinate system can be displayed in the virtual environment of the multi-axis robot by combining the position information of the plurality of characteristic points and the three-dimensional model of the workpiece to be processed.
After the terminal control system obtains the accurate position and the attitude information of the workpiece to be machined under the working coordinate system, the terminal control system can automatically pick points on the three-dimensional graph on the track to be machined so as to obtain the attitude of the machining track corresponding to the tool to be used, and the track is optimized to generate the optimal machining track, so that the working efficiency is improved. And (4) performing simulation in a virtual environment, observing the motion track and the posture of a tool used by the multi-axis robot, and performing fine adjustment and modification when a problem exists.
Claims (4)
1. A multi-axis robot based on a high-precision three-dimensional space positioning system comprises the high-precision three-dimensional space positioning system, a multi-axis robot and a terminal control system;
the multi-axis robot comprises a tail end shaft and a robot body, wherein the front end of the tail end shaft is connected with a using tool, so that different models can be replaced according to actual production requirements;
the high-precision three-dimensional space positioning system comprises a high-precision positioning probe, a laser positioning base station and a positioning auxiliary module, wherein the laser positioning base station is placed around the multi-axis robot and sends out laser signals; the positioning auxiliary module is positioned on the tail end shaft;
and the terminal control system processes the coordinate information of the tool and the robot and controls the processing track of the robot.
2. The multi-axis robot based on the high-precision three-dimensional space positioning system as claimed in claim 1, wherein: the laser positioning base station comprises a laser emitting component and a coding controller, wherein the laser emitting component can emit surface laser, and the coding controller can code the laser emitting component and can code an angle and a serial number of the laser emitting component.
3. The multi-axis robot based on the high-precision three-dimensional space positioning system as claimed in claim 1, wherein: the positioning auxiliary module is provided with a plurality of sensors for receiving and reading the laser and the coding information transmitted by the laser transmitting device, and the central endpoint of the tool can be obtained according to the laser signal coordinates and the three-dimensional data of the tool.
4. The multi-axis robot based on the high-precision three-dimensional space positioning system as claimed in claim 1, wherein: a plurality of sensors are arranged on the high-precision positioning probe and can receive laser signals, when the positioning probe moves to any position, the position can be subjected to coordinate positioning, and the center point of a tool and the coordinates of a workpiece to be machined can be calibrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921598099.4U CN210704828U (en) | 2019-09-25 | 2019-09-25 | Multi-axis robot based on high-precision three-dimensional space positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921598099.4U CN210704828U (en) | 2019-09-25 | 2019-09-25 | Multi-axis robot based on high-precision three-dimensional space positioning system |
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| CN210704828U true CN210704828U (en) | 2020-06-09 |
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| CN201921598099.4U Active CN210704828U (en) | 2019-09-25 | 2019-09-25 | Multi-axis robot based on high-precision three-dimensional space positioning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497417A (en) * | 2019-09-25 | 2019-11-26 | 李宏达 | A kind of multi-axis robot based on high-precision three-dimensional space positioning system |
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2019
- 2019-09-25 CN CN201921598099.4U patent/CN210704828U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497417A (en) * | 2019-09-25 | 2019-11-26 | 李宏达 | A kind of multi-axis robot based on high-precision three-dimensional space positioning system |
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