CN212445234U - Multi-degree-of-freedom large mechanical arm calibration tool - Google Patents
Multi-degree-of-freedom large mechanical arm calibration tool Download PDFInfo
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- CN212445234U CN212445234U CN202021030162.7U CN202021030162U CN212445234U CN 212445234 U CN212445234 U CN 212445234U CN 202021030162 U CN202021030162 U CN 202021030162U CN 212445234 U CN212445234 U CN 212445234U
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Abstract
The utility model provides a frock is markd to large-scale arm of multi freedom. The device comprises a connecting rod, a steering seat, a pose measuring base, a pose measuring universal rod and a target ball mounting base; one end of the connecting rod is connected with the first end of the steering seat, and the other end of the connecting rod is fixed on the mechanical arm; the second end of the steering seat is connected with the pose measuring base; four groups of mounting holes are formed in the pose measuring base, the four groups of mounting holes are annularly arranged at intervals of 90 degrees, three pose measuring universal rods are arranged, and the first ends of the pose measuring universal rods are mounted on any three groups of mounting holes of the pose measuring base; and the second end of the pose measurement universal rod is provided with positioning mounting holes which are distributed in an isosceles triangle shape, and a pose coordinate system of the mechanical arm is established by combining external equipment. The utility model discloses a plurality of independent assortments that turn to seat and connecting rod have avoided three target ball to be sheltered from by the mechanical structure of platform truck, and unable acceptable laser signal has improved and has markd the precision, enlarges measuring range, can be applicable to multiple equipment and mark.
Description
Technical Field
The utility model relates to an inspection frock technical field is markd to industrial robot kinematics, concretely relates to frock is markd to multi freedom large-scale arm.
Background
The precision is an important index for measuring the industrial robot, the repeatability precision of the industrial robot is high at present, but the absolute positioning precision of the industrial robot is low. For an uncalibrated robot, the accuracy error can reach several centimeters, so the robot must be accurately calibrated in many applications. The robot kinematics calibration aims to acquire the relation between each connecting rod and each joint of the robot and zero position information of each joint shaft, and finally, the system monitors the position and the posture of the robot in real time. It is currently customary to verify the kinematic calibration results by comparing the end position calculated by the system with the actual end position.
Taking calibration and inspection of a rock drilling jumbo as an example, the calibration and measurement means of the rock drilling jumbo is to mount a measurement target at a calibration position on the jumbo and calibrate the measurement target by using a total station. The calibration method by mounting the target directly on the trolley has many disadvantages: during measurement, the target is easily shielded by a mechanical arm of the trolley; the total station needs to be leveled in advance, and the preparation time is long; the measuring range is small, and the measuring result has great relation with the environmental change and the user level. The measuring range and the positioning accuracy are reliable, which affects the tunnel blasting effect and the construction quality such as over-excavation amount and under-excavation amount. The calibration tool with wide measurement range and high positioning precision can undoubtedly improve the poor situation.
In conclusion, a multi-degree-of-freedom large-scale mechanical arm calibration tool is urgently needed to solve the problems in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a frock is markd to large-scale arm of multi freedom to solve the problem that the terminal position appearance coordinate system of arm established.
In order to achieve the purpose, the utility model provides a multi-degree-of-freedom large mechanical arm calibration tool, which comprises a connecting rod, a steering seat, a pose measuring base, a pose measuring universal rod and a target ball mounting base; one end of the connecting rod is connected with the first end of the steering seat, and the other end of the connecting rod is fixed on the mechanical arm; the second end of the steering seat is connected with the pose measuring base; four groups of mounting holes are formed in the pose measuring base, the four groups of mounting holes are annularly arranged at intervals of 90 degrees, three pose measuring universal rods are arranged, and the first ends of the pose measuring universal rods are mounted on any three groups of mounting holes of the pose measuring base; the second end of the pose measurement universal rod is provided with positioning mounting holes, the positioning mounting holes in the three pose measurement universal rods are distributed in an isosceles triangle shape, and a pose coordinate system of the mechanical arm is constructed by combining external equipment based on the three positioning mounting holes. The target ball mounting base is mounted on a positioning mounting hole at the second end of the pose measurement universal rod; the target ball mounting base is internally provided with a target ball.
Preferably, the connecting rod comprises a section of cylindrical hollow tube and two rectangular plates, the two rectangular plates are respectively connected to two ends of the hollow steel tube, and the rectangular steel plate is provided with a plurality of threaded mounting holes.
Preferably, the steering seat is of a hollow triangular prism structure and is formed by connecting two rectangular plates and two triangular plates; the rectangular plate is provided with one threaded hole or a plurality of threaded holes so as to adapt to the installation of the connecting rod or the pose measurement base.
Preferably, the pose measurement base is of a plate-shaped structure, and a plurality of threaded holes are formed in the pose measurement base.
Preferably, the pose measurement universal rod is of a strip-shaped plate-shaped structure, and is provided with a plurality of threaded holes for connecting the pose measurement base or the target ball mounting base.
Preferably, one end of the connecting rod is fixed on the mechanical arm through a steering seat so as to adapt to different installation directions.
Preferably, one end of the steering seat is connected with the pose measurement base through a connecting rod so as to adapt to different installation lengths.
Preferably, the steering seat is provided with a plurality of rectangular plates, and the rectangular plates of two adjacent steering seats are connected together in different installation directions.
Preferably, the connecting rods are arranged in a plurality, and the connecting rods are connected end to increase the installation length of the connecting rods.
Use the technical scheme of the utility model, following beneficial effect has:
(1) demarcate frock, provide the mounted position of target ball, obtain 3 points on the plane through the three target ball of demarcating on the frock, construct space coordinate system based on 3 points to obtain terminal positional information and the gesture information of platform truck arm, can provide directly perceived, quick, accurate reliable judgement foundation according to inspection precision demand and accurate position appearance measurement demand through the combination of total powerstation and target ball.
(2) The utility model discloses in, through a plurality of independent assortments that turn to seat and connecting rod, avoided three target ball to be sheltered from by the mechanical structure of platform truck, unable acceptable laser signal has improved and has markd the precision, enlarges measuring range, can be applicable to multiple equipment and mark.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic structural view of a calibration fixture;
FIG. 2 is a schematic view of a linkage arrangement;
FIG. 3 is a schematic view of a steering seat structure;
fig. 4 is a schematic view of a posture measurement base structure;
FIG. 5 is a schematic view of a pose measurement universal bar;
the device comprises a connecting rod 1, a connecting rod 2, a steering seat 3, a pose measuring base 4, a pose measuring universal rod 5 and a target ball mounting base.
Detailed Description
The embodiments of the invention will be described in detail hereinafter with reference to the accompanying drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example 1:
referring to fig. 1 to 5, the embodiment of the calibration tool for the multi-degree-of-freedom large-scale mechanical arm is applied to a mechanical arm of a trolley.
A multi-degree-of-freedom large mechanical arm calibration tool comprises a connecting rod 1, a steering seat 2, a pose measurement base 3, a pose measurement universal rod 4 and a target ball mounting base 5; one end of a connecting rod 1 is connected with the first end of a steering seat 2, and the other end of the connecting rod 1 is fixed on a mechanical arm; the second end of the steering seat 2 is connected with the pose measuring base 3; four groups of mounting holes are formed in the pose measuring base 3, the four groups of mounting holes are annularly arranged at intervals of 90 degrees, three pose measuring universal rods 4 are arranged, and the first ends of the pose measuring universal rods 4 are mounted on any three groups of mounting holes of the pose measuring base 3; the second end of the universal position and pose measuring rod 4 is provided with positioning and mounting holes, the positioning and mounting holes on the three universal position and pose measuring rods 4 are distributed in an isosceles triangle shape, and a position and pose coordinate system of the mechanical arm is constructed by combining external equipment based on the three positioning and mounting holes (the establishment of the coordinate system refers to the prior art). The target ball mounting base 5 is mounted on a positioning mounting hole at the second end of the pose measurement universal rod 4; the target ball mounting base 5 is internally provided with a target ball.
In this embodiment, the external device adopts a total station, coordinates of 3 points at which the end of the mechanical arm of the trolley forms an isosceles triangle in space can be obtained by measuring through the total station, and based on a plane formed by the 3 points and a plane normal vector fitted out, a mechanical arm end pose coordinate system can be constructed, so that a function of obtaining mechanical arm end pose information through measurement of the total station is realized.
As shown in fig. 2, the connecting rod 1 includes a section of cylindrical hollow steel pipe and two rectangular steel plates, the two rectangular steel plates are respectively connected to two ends of the hollow steel pipe, and the rectangular steel plates are provided with four threaded mounting holes.
As shown in fig. 3, the steering seat 2 is a hollow triangular prism structure and is formed by connecting two rectangular steel plates and two triangular steel plates; the rectangular steel plate is provided with one threaded hole or four threaded holes so as to adapt to the installation of the connecting rod 1 or the pose measurement base 3.
As shown in fig. 4, the posture measuring base 3 is made of a rectangular steel plate, 12 threaded holes are designed on the posture measuring base, four square threaded holes are distributed in the middle of the steel plate, the shape of the threaded holes is consistent with that of four threaded holes on a steering seat, the threaded holes can be fixed with the steering seat through bolts, the other 8 threaded holes are evenly distributed on each side of the vertical rectangle, 3 groups of threaded holes are selected to install a posture measuring universal rod when the posture measuring base is used, and 3 points of the tail end of the mechanical arm in space can be measured to construct a tail end posture coordinate system of the mechanical arm.
As shown in fig. 5, the posture measuring universal rod 4 is a long strip-shaped plate-shaped structure, and the posture measuring universal rod 4 is provided with four threaded holes for connecting the posture measuring base 3 or the target ball mounting base 5.
The steering seats 2 are provided with a plurality of rectangular steel plates, and the rectangular steel plates of two adjacent steering seats are connected together in different installation directions. The connecting rods 1 are arranged in a plurality of numbers and are connected end to end between the connecting rods so as to increase the installation length of the connecting rods.
In this embodiment, one end of the connecting rod 1 is fixed on the mechanical arm through the steering seat 2 to adapt to different installation directions. One end of the steering seat 2 is connected with the pose measuring base 3 through the connecting rod 1 so as to adapt to different installation lengths.
The base with different shapes is arranged at different positions on different trolleys, regardless of the base, the base is provided with four threaded holes which can be matched with the connecting rod, the connecting rod is fixed on the base through bolts, the length of the connecting rod is of any size, the length of the connecting rod is determined by a calibration measuring range, the steering seat can be freely combined according to a calibration requirement and then fixed on the connecting rod through bolts, and after the position and pose measuring base and the position and pose measuring universal rod are combined as required, the position and pose measuring base is fixed on the steering seat through bolts, so that a set of multi-degree-of-freedom large mechanical arm calibration tool is formed.
According to the multi-degree-of-freedom large-scale mechanical arm calibration tool, 3 points on a plane in space are obtained through the three target balls on the tool, a space coordinate system is constructed based on the 3 points, so that the position information and the posture information of the tail end of the mechanical arm of the trolley are obtained, and visual, quick, accurate and reliable judgment basis can be provided according to the inspection precision requirement and the accurate pose measurement requirement through the combination of the total station and the target balls. Through the free combination of a plurality of steering seats and connecting rods, the three target balls are prevented from being shielded by the mechanical structure of the trolley, the laser signals cannot be received, the calibration precision is improved, the measurement range is expanded, and the device can be suitable for calibrating various devices.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A multi-degree-of-freedom large mechanical arm calibration tool is characterized by comprising a connecting rod (1), a steering seat (2), a pose measurement base (3) and a pose measurement universal rod (4); one end of the connecting rod (1) is connected with the first end of the steering seat (2), and the other end of the connecting rod (1) is fixed on the mechanical arm; the second end of the steering seat (2) is connected with the pose measuring base (3); four groups of mounting holes are formed in the pose measuring base (3), the four groups of mounting holes are annularly arranged at intervals of 90 degrees, one end of the pose measuring universal rod is mounted on the mounting holes of the pose measuring base, and the other end of the pose measuring universal rod is connected with the target ball.
2. The multi-degree-of-freedom large-scale mechanical arm calibration tool according to claim 1, wherein the pose measurement universal rods (4) are three, and first ends of the three pose measurement universal rods (4) are installed on any three groups of installation holes of the pose measurement base (3); the second end of the pose measurement universal rod (4) is provided with positioning mounting holes, the positioning mounting holes in the three pose measurement universal rods (4) are distributed in an isosceles triangle shape, and a pose coordinate system of the mechanical arm is constructed by combining external equipment based on the three positioning mounting holes.
3. The multi-degree-of-freedom large-scale mechanical arm calibration tool according to claim 1 or 2, further comprising a target ball mounting base (5), wherein the target ball mounting base (5) is mounted on a positioning mounting hole at the second end of the pose measurement universal rod (4); the target ball mounting base (5) is internally provided with a target ball.
4. The calibration tool for the multi-degree-of-freedom large mechanical arm according to claim 3, wherein the connecting rod (1) comprises a section of cylindrical hollow tube and two rectangular plates, the two rectangular plates are respectively connected to two ends of the hollow steel tube, and a plurality of threaded mounting holes are designed in the rectangular plates.
5. The multi-degree-of-freedom large-scale mechanical arm calibration tool according to claim 4, wherein the steering base (2) is of a hollow triangular prism structure and is formed by connecting two rectangular plates and two triangular plates; the rectangular plate is provided with one threaded hole or a plurality of threaded holes so as to adapt to the installation of the connecting rod (1) or the pose measurement base (3).
6. The multi-degree-of-freedom large-scale mechanical arm calibration tool according to claim 5, wherein the pose measurement base (3) is of a plate-shaped structure, and a plurality of threaded holes are formed in the pose measurement base (3).
7. The multi-degree-of-freedom large-scale mechanical arm calibration tool according to claim 6, wherein the pose measurement universal rod (4) is of a long strip-shaped plate-shaped structure, and the pose measurement universal rod (4) is provided with a plurality of threaded holes and used for being connected with the pose measurement base (3) or the target ball mounting base (5).
8. The calibration tool of the multi-degree-of-freedom large-scale mechanical arm according to any one of claims 4 to 7, wherein one end of the connecting rod (1) is fixed on the mechanical arm through a steering seat (2) so as to adapt to different installation directions.
9. The multi-degree-of-freedom large-scale mechanical arm calibration tool according to claim 8, wherein one end of the steering seat (2) is connected with the pose measurement base (3) through a connecting rod (1) so as to adapt to different installation lengths.
10. The multi-degree-of-freedom large-scale mechanical arm calibration tool according to claim 9, wherein the steering seats (2) are provided with a plurality of rectangular plates, and the rectangular plates of two adjacent steering seats are connected together to adapt to different installation directions; the connecting rods (1) are arranged in a plurality of numbers and are connected end to end between the connecting rods so as to increase the installation length of the connecting rods.
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| CN202021030162.7U CN212445234U (en) | 2020-06-05 | 2020-06-05 | Multi-degree-of-freedom large mechanical arm calibration tool |
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| CN202021030162.7U CN212445234U (en) | 2020-06-05 | 2020-06-05 | Multi-degree-of-freedom large mechanical arm calibration tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061447A (en) * | 2021-10-22 | 2022-02-18 | 南京航空航天大学 | Measuring adapter for six-degree-of-freedom target and calibration method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061447A (en) * | 2021-10-22 | 2022-02-18 | 南京航空航天大学 | Measuring adapter for six-degree-of-freedom target and calibration method |
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