CN218698994U - Mechanical arm calibration and motion precision detection assembly - Google Patents
Mechanical arm calibration and motion precision detection assembly Download PDFInfo
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- CN218698994U CN218698994U CN202222864559.1U CN202222864559U CN218698994U CN 218698994 U CN218698994 U CN 218698994U CN 202222864559 U CN202222864559 U CN 202222864559U CN 218698994 U CN218698994 U CN 218698994U
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Abstract
The utility model discloses a mechanical arm calibration and motion precision detection component, wherein a calibration measuring device is positioned on a base plate or positioned on the base plate through a linear motion platform; the calibration measuring device comprises a base, a connecting seat, a sensor fixing seat and a displacement sensor; the sensor fixing seat is provided with at least three displacement sensors which are arranged at a certain angle, the displacement measuring axis of each displacement sensor forms an alpha angle with the normal direction of a horizontal plane, and the alpha is more than or equal to 0 degree and less than or equal to 90 degrees; the calibrated measuring device is connected with the mechanical arm and is a 3D measuring ball rod or a 6D measuring head, the 3D measuring ball rod is positioned on the calibrated measuring device, and the position error quantity of the ball center of the 3D measuring ball rod is detected when the mechanical arm makes a point-winding motion through a displacement sensor; the 6D measuring head is positioned on the calibration measuring device and is matched with the displacement sensor through the linear motion platform to detect the pose error of the 6D measuring head when the mechanical arm does translational motion. The utility model discloses can accomplish the demarcation and the linear motion precision measurement of robot simultaneously.
Description
Technical Field
The utility model belongs to the measuring instrument field especially relates to a mechanical arm is markd and motion accuracy testing subassembly.
Background
The repeated positioning accuracy of the robot is generally high, but the absolute positioning accuracy is generally low under the influence of machining assembly errors, rod deformation and the like, and is gradually reduced along with the increase of the service time, the kinematic parameter calibration is generally required to improve the absolute positioning accuracy of the robot, and accurate parameters of a robot model are identified by using high-accuracy measuring equipment and a proper parameter identification method.
At present, the robot is calibrated and measured by adopting measuring equipment such as a laser tracker, the equipment usually has the measuring precision of the mum level, so the calibration precision is very high, but the equipment is usually very expensive, and meanwhile, in some production fields, because a guardrail is arranged outside the robot, an open calibration environment cannot be provided, the condition that the sight line is blocked easily occurs, the robot needs to be disassembled and carried to the open environment for calibration, and the application of the robot is greatly limited.
The utility model discloses a chinese utility model patent CN 202110278848.0 discloses a calibration device of robot based on multistation measurement, and the calibration device of this application can mark the robot fast at industrial site at any time. Chinese utility model patent CN202111142498.1 discloses a mechanical arm based on linear motion platform is markd and precision measurement device, provides the dynamic precision measurement device of robot that a cost is lower, promotes the efficiency and the quality of robot research and development work, but two above-mentioned utility model's function singleness, can't accomplish simultaneously and mark and the function of linear motion precision measurement. Above-mentioned two utility model's locating element is locating pin and locating hole, and positioning accuracy is lower, influences the overall measurement precision who marks measuring device. Measures are therefore required to remedy the deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a mechanical arm is markd and motion accuracy detecting element can accomplish the demarcation and the linear motion precision measurement of robot simultaneously.
The technical scheme of the utility model as follows:
the mechanical arm calibration and motion precision detection assembly comprises a substrate and further comprises
A calibration measuring device positioned on the substrate or positioned on the substrate by the linear motion stage; the calibration measuring device comprises a base, a sensor fixing seat and a displacement sensor which are sequentially connected from bottom to top; the displacement measuring axis of the displacement sensor forms an included angle of 0-90 degrees with the horizontal plane;
the calibrated measuring device is connected with the tail end of the mechanical arm, the calibrated measuring device is a 3D measuring ball rod, the 3D measuring ball rod is provided with a spherical surface, the spherical surface is simultaneously contacted with measuring heads of 3 displacement sensors of the calibrated measuring device, and the displacement sensors detect the position error quantity of the spherical center of the spherical surface when the mechanical arm moves around the spherical center of the spherical surface;
or the calibrated measuring device is a 6D measuring head, the 6D measuring head is provided with at least 6 measuring planes, 6 measuring planes are respectively and simultaneously contacted with measuring heads of 6 displacement sensors of the calibrated measuring device, and the position and attitude error quantity of the 6D measuring head is detected when the mechanical arm performs translational motion through the cooperation of the linear motion platform and the displacement sensors.
Furthermore, at least three displacement sensors are fixedly arranged on the sensor fixing seat in a certain angle,
the displacement sensor is a contact displacement sensor, and a head measuring head of the contact displacement sensor is a flat plate measuring head or a ball head measuring head;
or the displacement sensor is a laser type non-contact displacement sensor.
Further, the 3D measuring ball rod comprises a measuring ball and an extension rod, the ball diameter of the measuring ball is 10-100mm, and the roundness error of the measuring ball is less than 20 microns; when 3D measurement is carried out, a head measuring head of the contact type displacement sensor is a flat measuring head or a ball head measuring head, and a measuring ball is always tangent to the flat measuring head or the ball head measuring head, so that 3D displacement of the center of the ball is measured;
the 6D measuring head is provided with a plurality of measuring planes and an extension rod, the flatness error of each measuring plane is less than 0.1mm, the measuring planes are distributed at a certain angle, and the angle ranges from 0 degree to 150 degrees; when 6D measurement is carried out, the head measuring head of the contact type displacement sensor is a ball measuring head, each ball measuring head is tangent to one of the measuring planes, and point measurement of the measuring planes is achieved.
Furthermore, the number of the sensor fixing seats is multiple, and the included angle formed between the axis of the displacement sensor and the horizontal plane is adjusted by replacing different sensor fixing seats; or the bottom of the sensor fixing seat is provided with an angle adjusting part, and the included angle between the whole sensor fixing seat and the horizontal plane is adjusted by replacing different angle adjusting parts or adjusting mechanisms of the angle adjusting parts.
Furthermore, the sensor fixing seat is provided with expansion interfaces, expansion plates are installed through the expansion interfaces, each expansion plate is provided with a displacement sensor, the number of the displacement sensors is expanded to be at least six through the expansion interfaces, and positioning elements are arranged on the expansion interfaces and used for ensuring the relative position relation among different displacement sensors, so that the 6D pose measurement of the 6D measuring head is realized; or six displacement sensors are installed on the sensor fixing seat.
Furthermore, the six displacement sensors can be divided into three groups, the measurement axis directions of different displacement sensors in the same group are mutually parallel, the distance between the axes is 30-300mm, and the measurement axis directions of the displacement sensors in different groups form a certain angle; each group comprising two displacement sensors; or three sets of one, two and three displacement sensors, respectively.
Furthermore, a positioning assembly is used for positioning between the base and the substrate, the positioning assembly is positioned in a positioning mode that three groups of positioning points form a positioning surface, and the calibration measuring device is fastened through a fastening assembly, wherein the fastening assembly is one or a combination of a clamp, a threaded fastener and a buckle.
Furthermore, a group of first positioning elements is arranged on the base, and a positioning mode of forming a positioning surface by using three groups of positioning points is adopted;
the first positioning element is a positioning pin or a positioning ball, or a double positioning pin, or a double positioning ball, or a V-shaped block which is arranged in a triangular manner;
the double locating pins are two locating pins which are arranged at intervals, the cylindrical surfaces or the conical surfaces of the locating pins protrude out of the bottom surface of the base, and the axes of the double locating pins face to the centers of the triangular arrangement;
the double positioning balls are two positioning balls arranged at a certain distance, the spherical surface of each positioning ball protrudes out of the bottom surface of the base, and the perpendicular bisector of the connecting line of the spherical centers of the two positioning balls faces to the center of the triangular arrangement;
the V-shaped groove direction of the V-shaped block faces to the center of the triangular arrangement.
Furthermore, a plurality of mounting positions are arranged on the substrate, each mounting position is correspondingly provided with a group of second positioning elements, and each group of second positioning elements corresponds to one group of first positioning elements;
the second positioning element is a positioning pin or a positioning ball, or a double positioning pin or a double positioning ball which are arranged in a triangular mode;
the double positioning pins are two positioning pins which are arranged at intervals, the cylindrical surfaces or the conical surfaces of the positioning pins protrude out of the upper surface of the substrate, and the axes of the double positioning pins face to the centers of the triangular arrangement;
the double positioning balls are two positioning balls arranged at a certain distance, the spherical surfaces of the positioning balls protrude out of the upper surface of the substrate, and the perpendicular bisector of the connecting line of the spherical centers of the two positioning balls faces to the center of the triangular arrangement;
the V-shaped groove direction of the V-shaped block faces to the center of the triangular arrangement.
Furthermore, the linear motion table comprises a table body, a slide rail arranged on the table body, a sliding table arranged on the slide rail, a third positioning element arranged at the bottom of the table body, a fourth positioning element arranged on the sliding table and a position measuring element arranged on the table body,
the sliding table can slide linearly under the guidance of the sliding rail, and the position measuring element measures the sliding displacement and is a grating ruler, a stay wire encoder or a capacitive grating sensor; the third positioning element corresponds to the second positioning element on the substrate, and a positioning mode of forming a positioning surface by adopting three groups of positioning points is adopted; the platform body and the base plate are fastened through a second fastening component, and the second fastening component is one or a combination of a clamp, a threaded fastener and a buckle;
the fourth positioning element corresponds to the first positioning element on the base, and a positioning mode of forming a positioning surface by three groups of positioning points is adopted; the sliding table and the base are fastened through a third fastening assembly, and the third fastening assembly is one or a combination of a clamp, a threaded fastener and a buckle;
the third positioning element is a positioning pin or a positioning ball, or a double positioning pin, or a double positioning ball, or a V-shaped block which is arranged in a triangular manner;
the fourth positioning element is a positioning pin or a positioning ball, or a double positioning pin, or a double positioning ball, or a V-shaped block which is arranged in a triangular mode.
The utility model discloses following beneficial effect has:
the utility model discloses a mark measuring device and be located the base plate or be located the base plate through the linear motion platform, adopt three positioning points of group to form the locate mode realization location of locating surface. Three sets of positioning points can form a positioning surface. Three group locating points are the triangle-shaped structure, three group locating pins or three group locating balls are embedded respectively in three group locating points, every group locating pin forms the locating point with two locating balls tangent respectively promptly, or every group locating ball forms the locating point with two locating pins tangent respectively, place respectively when three group locating pins or locating balls and fix a position the back to corresponding position, accomplish the location promptly, this location principle can make the setting element place fast on preset different positions, the installation is dismantled convenient and fast, time saving and labor saving, positioning accuracy is high.
The calibration measuring device of the utility model has a plurality of sensor fixing seats, and the alpha angles of different displacement sensors can be adjusted by replacing different sensor fixing seats; or the bottom of the sensor fixing seat is provided with an angle adjusting and locking mechanism which can adjust the included angle between the whole sensor fixing seat and the horizontal plane and is locked and fixed; therefore, the space pose of the calibration measuring device or the calibrated measuring device can be adapted to the motion range of the mechanical arm, the distribution range of the measurement pose of the mechanical arm in the real space is as large as possible, the calibration precision is high, the mechanical arm drives the extension rod to move without limitation, and the calibration and the detection are facilitated.
The utility model discloses an extension interface is from three extension to six at least with displacement sensor's quantity, makes detecting element can enough detect the position error volume when the arm is done around some motion, can detect the position appearance error volume when the arm is done translational motion again, and its application scope is wide, the commercial popularization of being convenient for.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is a second schematic structural diagram according to a first embodiment of the present invention.
Fig. 3 is a schematic view of a local structure of the calibration measuring device provided by the present invention.
Fig. 4 is the structure diagram of the calibration measuring device and the substrate after positioning.
Fig. 5 is a schematic structural diagram of a second embodiment of the present invention.
Fig. 6 is a second schematic structural diagram according to a second embodiment of the present invention.
Fig. 7 is a schematic structural diagram of another alternative of the calibration measuring device provided by the present invention.
Fig. 8 is a schematic structural diagram of an elastic locking assembly in the second embodiment.
In FIGS. 1 to 8: 2-a substrate; 4-positioning pin; 5-positioning ball; 6-fastening component; 7-base; 8-a connecting seat; 9-sensor holder; 10-displacement sensor; 11-electric control box; 12-measuring ball; 13-an extension rod; 14-flat probe; 15-calibration points; 16-adapter; 18-stage body; 19-slide rail; 20-a slide table; 22-position measuring element; 23-elastic block; 24-locking screw; 25-rubber pad; 26-center connection block; 27-first direction measurement Board; 28-second direction measurement Board; 29-third direction measurement plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In order to complete the calibration of the robot, a plurality of measurement poses of the robot in a real space are often required to be measured, then the measurement poses are compared with a virtual pose determined by a robot controller, and the difference between the two poses is utilized to optimize and solve kinematic parameters so as to realize the calibration of robot model parameters. In the process, the larger the measurement pose distribution range of the robot in the real space is, the higher the calibration precision is, and how to measure the pose of the robot in a large range, high precision and low cost is a difficult problem. The difficulty also appears in the precision inspection link of the robot, because the precision inspection also requires that the robot moves a longer distance as much as possible, and then the difference between the actual motion track and the virtual motion track of the robot is measured by external equipment, and the larger the difference is, the lower the motion precision of the robot is.
In the first embodiment, as shown in fig. 1 to 4, a robot calibration and motion accuracy detection assembly includes a substrate 2, the substrate 2 is a square plate,
the device also comprises a calibration measuring device; the calibration measuring device is positioned on the substrate 2; the calibration measuring device comprises a base 7, a connecting seat 8, a sensor fixing seat 9 and a displacement sensor 10 which are sequentially connected from bottom to top; the sensor fixing seat is provided with at least three displacement sensors which mutually form a certain angle, the displacement measuring axis of each displacement sensor forms an alpha angle with the normal direction of a horizontal plane, and the alpha is more than or equal to 0 degree and less than or equal to 90 degrees; the base 7 is arranged on the substrate 2 by adopting a fastening component 6; the base 7 and the substrate 2 are positioned by adopting a positioning mode that three groups of positioning points form a positioning surface, and the calibration measuring device is fastened through the fastening assembly 6.
A calibrated measurement device; the calibrated measuring device is a 3D measuring ball rod, the 3D measuring ball rod is provided with a spherical surface, the 3D measuring ball rod is placed on the calibrated measuring device, and the position error quantity of the center of the 3D measuring ball rod is detected when the mechanical arm makes a point-winding motion through the displacement sensor 10. In this embodiment, the 3D measuring ball rod includes a top measuring ball 12 and an extension rod 13, a head measuring head of the contact type displacement sensor is a flat measuring head 14, and the measuring ball 12 and the flat measuring head 14 are always tangent to each other, so as to measure the 3D displacement of the center of the ball; the measuring ball 12 is connected to a robot arm (not shown in this embodiment) via an extension rod 13.
The displacement sensor 10 comprises at least three displacement sensors arranged at a certain angle, the displacement sensors are contact type displacement sensors, and head measuring heads of the contact type displacement sensors are flat measuring heads or ball head measuring heads; or the displacement sensor is a laser type non-contact displacement sensor. The displacement sensor of the present embodiment employs three displacement sensors arranged orthogonally.
The included angles between the axes of two of the three displacement sensors which are orthogonally arranged and the horizontal plane are the same, the included angles between the plane formed by the two axes and the horizontal plane are recorded as measuring angles, a plurality of sensor fixing seats 9 are provided, and the measuring angles can be adjusted by replacing different sensor fixing seats 9; or the bottom of the sensor fixing seat 9 is provided with an angle adjusting and locking mechanism which can adjust the measuring angle and lock and fix.
A group of first positioning elements is arranged on the base 7, and a positioning mode of forming a positioning surface by three groups of positioning points is adopted; the first positioning element is a positioning pin or a positioning ball, or a double positioning pin or a double positioning ball which are arranged in a triangular manner; the double locating pins are two locating pins which are arranged in parallel, the cylindrical surfaces or the conical surfaces of the locating pins protrude out of the bottom surface of the base 7, and the axes of the double locating pins face to the center of the triangular arrangement; the double positioning balls are two positioning balls arranged at a distance, the spherical surfaces of the two positioning balls protrude out of the bottom surface of the base 7, and the perpendicular bisector of the connecting line of the spherical centers of the two positioning balls faces to the center of the triangular arrangement.
A plurality of mounting positions are arranged on the substrate 2, each mounting position is correspondingly provided with a group of second positioning elements, and each group of second positioning elements corresponds to one group of first positioning elements; the second positioning element is a positioning pin or a positioning ball, or a double positioning pin or a double positioning ball which are arranged in a triangular mode; the double positioning pins are two positioning pins which are arranged in parallel, the cylindrical surfaces or the conical surfaces of the positioning pins protrude out of the upper surface of the substrate 2, and the axes of the double positioning pins face to the centers of the triangular arrangement; the double positioning balls are two positioning balls arranged at a distance, the spherical surfaces of the two positioning balls protrude out of the upper surface of the substrate 2, and the midperpendicular of the connecting line of the centers of the two positioning balls faces the center of the triangular arrangement.
In this embodiment, the first positioning element on the base 7 is the positioning pin 4 arranged in a triangular manner, the second positioning element on the substrate 2 is the double positioning balls 5 arranged in a triangular manner, that is, a positioning hole capable of clamping the positioning pin 4 is formed between the two positioning balls 5, each group of positioning balls 5 is embedded on the substrate 2, the three groups of positioning pins 4 are in a triangular structure, and each group of positioning pins 4 can be embedded in the corresponding positioning hole and forms a positioning point with each positioning ball 5 in a tangent manner.
In this embodiment, the electric cabinet 11 is installed on the side of the connecting base 8.
In this embodiment, the base 7 is a triangular structure, the positioning balls 5 are installed in the positioning holes of the substrate 2, a positioning point is formed between every 2 adjacent positioning balls 5, and 3 positioning points can form a positioning surface. The 3 locating points are of triangular structures, the three groups of locating pins 4 are embedded into the 3 locating points respectively, namely the locating pins 4 at the bottom of the triangular base 7 are tangent to the locating balls 5 on the substrate 2 to form locating points, and when the three locating pins 4 are respectively positioned at the corresponding locating points on the substrate 2, the base 7 is positioned. The base 7 can thus be quickly placed in different predetermined positions by this positioning principle and can be positioned precisely.
The base plate 2 is provided with a plurality of calibration measuring positions for expanding the calibration measuring range, each calibration measuring position is positioned on the corresponding calibration measuring position by moving the calibration measuring device, and the base 7 is fastened with the base plate 2 by a group of fastening components 6 at each calibration measuring position, so that each calibration measuring position can be positioned and fastened.
The displacement sensor 10 is an electronic ruler, a group of electronic rulers are respectively arranged on three mutually perpendicular planes, the front end of a probe of each group of electronic rulers is connected with a flat measuring head 14, and the three groups of flat measuring heads 14 are respectively in tangential contact with the measuring ball 12; when the measuring ball 12 is driven by the mechanical arm to move around the center of a circle, the numerical value of the micro-displacement can be recorded by the probes of the electronic ruler in three directions in tangential contact with the measuring ball. Calibration points 15 have been installed to the both sides that just are located dull and stereotyped gauge head 14 on every plane symmetry respectively, and dull and stereotyped gauge head 14 can touch calibration point 15 earlier when the probe of electronic ruler resets and calibrate, guarantees that the angle error and the depth of parallelism error of electronic ruler installation are in the allowed range, avoids electronic ruler live time can appear the installation pine for a long time and take off the scheduling problem, guarantees the degree of accuracy and the linearity of electronic ruler through calibration points 15.
The working process of the first embodiment is as follows: the measuring ball 12 has a standard spherical surface, the measuring ball 12 is located in a calibration measuring device, three groups of electronic rulers are arranged on the calibration measuring device, a probe of each group of electronic rulers pushes the flat measuring head 14 to contact with the measuring ball 12, and the flat measuring head 14 is always in tangential contact with the measuring ball 12 in the measuring process. When the measuring ball 12 rotates under the action of the mechanical arm, the center of the ball pushes the flat panel measuring head 14 in the X, Y, Z direction to generate displacement, the electronic ruler collects the displacement, and the position error of the center of the ball during the motion around the point is calculated through a mathematical geometric model.
In the second embodiment, as shown in fig. 1 to 8, a robot arm calibration and motion precision detection assembly includes a substrate 2, the substrate 2 is a square plate, and a calibration measurement device is further included; the calibration measuring device is positioned on the substrate 2 through the linear motion platform; the calibration measuring device comprises a base 7, a connecting seat 8, a sensor fixing seat 9 and a displacement sensor 10 which are sequentially connected from bottom to top; the sensor fixing seat 9 at least comprises three mutually vertical planes, the displacement sensor 10 is arranged on the three mutually vertical planes on the sensor fixing seat 9, the axial line of the displacement sensor 10 forms an alpha angle with the normal direction of the horizontal plane, and alpha is more than 0 degree and less than 90 degrees. The base 7 is positioned on the linear motion platform in a positioning mode that three groups of positioning points form a positioning surface. The slide table 20 is positioned on the substrate 2 in a positioning manner that three sets of positioning points form a positioning surface. The positioning method is the same as the first embodiment, and is not described herein again.
In order to obtain a better and more convenient measurement angle, the calibration measurement device of the present embodiment may adopt another alternative, the schematic structural diagram of which is shown in fig. 7, the number of the sensor fixing seats 9 is multiple, and the measurement angle can be adjusted by replacing different sensor fixing seats 9; or the bottom of the sensor fixing seat 9 is provided with an angle adjusting and locking mechanism which can adjust the measuring angle and lock and fix. This embodiment adopts adapter 16, connects through adapter 16 and can change different sensor fixing base 9 and adjust the measuring angle, and the angle of three mutually perpendicular plane on the sensor fixing base 9 and horizontal plane is adjustable like this, and the arm drives and is markd measuring device removal in-process like this to the motion angle that more is favorable detects, lays a good foundation for accurate measurement.
Every mutually perpendicular's plane on the sensor fixing base 9 extends through the expansion interface respectively and connects into the expansion board, and displacement sensor 10 includes six displacement sensor, and contact displacement sensor's head gauge head is the bulb gauge head, and the bulb gauge head can be tangent with three measuring plates, through the measurement to six points, realizes the 6D position appearance measurement to the 6D measuring head.
The six displacement sensors are arranged on the three expansion plates, and two displacement sensors are averagely arranged on each group of expansion plates; or one expansion board is arranged on the first expansion board, two expansion boards are arranged on the second expansion board, and three expansion boards are arranged on the third expansion board; and the distance between the shafts of any 2 displacement sensors with parallel axes on the same expansion board is 30-300mm.
A calibrated measuring device; the calibrated measuring device is a 6D measuring head, and the 6D measuring head is positioned on the calibrated measuring device and is matched with the displacement sensor 10 through the linear motion platform to detect the pose error amount of the calibrated object during the translational motion.
The 6D measuring head comprises three measuring plates and an extension rod, the top of the measuring plate is orthogonally arranged, the head measuring head of the contact type displacement sensor is a ball head measuring head, and the ball head measuring head can be tangent to the three measuring plates to realize point measurement of the measuring plates. In this embodiment, three measuring plates are mounted on the central connecting block 26, the three measuring plates are a first direction measuring plate 27, a second direction measuring plate 28 and a third direction measuring plate 29 which are vertically connected to the central connecting block 26, and the central connecting block 26 is connected to the mechanical arm through the extension rod 13. In other embodiments, the 6D measuring head may be constructed as a single piece with 6 corresponding flat surfaces.
The included angles between the axes of two of the three displacement sensors which are orthogonally arranged and the horizontal plane are the same, the included angles between the plane formed by the two axes and the horizontal plane are recorded as measuring angles, a plurality of sensor fixing seats 9 are provided, and the measuring angles can be adjusted by replacing different sensor fixing seats 9; or the bottom of the sensor fixing seat 9 is provided with an angle adjusting and locking mechanism which can adjust the measuring angle and lock and fix.
A group of first positioning elements is arranged on the base 7, and a positioning mode of forming a positioning surface by three groups of positioning points is adopted; the first positioning element is a positioning pin or a positioning ball, or a double positioning pin or a double positioning ball which are arranged in a triangular manner; the double locating pins are two locating pins which are arranged in parallel, the cylindrical surfaces or the conical surfaces of the locating pins protrude out of the bottom surface of the base 7, and the axes of the double locating pins face to the center of the triangular arrangement; the double positioning balls are two positioning balls arranged at a distance, the spherical surfaces of the two positioning balls protrude out of the bottom surface of the base 7, and the perpendicular bisector of the connecting line of the spherical centers of the two positioning balls faces to the center of the triangular arrangement.
A plurality of mounting positions are arranged on the substrate 2, each mounting position is correspondingly provided with a group of second positioning elements, and each group of second positioning elements corresponds to one group of first positioning elements; the second positioning element is a positioning pin or a positioning ball, or a double positioning pin or a double positioning ball which are arranged in a triangular mode; the double positioning pins are two positioning pins which are arranged in parallel, the cylindrical surfaces or the conical surfaces of the positioning pins protrude out of the upper surface of the substrate 2, and the axes of the double positioning pins face to the centers of the triangular arrangement; the double positioning balls are two positioning balls arranged at a distance, the spherical surfaces of the two positioning balls protrude out of the upper surface of the substrate 2, and the perpendicular bisector of the connecting line of the spherical centers of the two positioning balls faces to the center of the triangular arrangement.
The linear motion table comprises a table body 18, a sliding rail 19 arranged on the table body 18, a sliding table 20 arranged on the sliding rail 19, a third positioning element arranged at the bottom of the table body 18, a fourth positioning element arranged on the sliding table 20 and a position measuring element 22 arranged on the table body 18, wherein the sliding table 20 can slide linearly under the guidance of the sliding rail 19, the position measuring element 22 measures the sliding displacement, and the position measuring element 22 is a grating ruler, a bracing wire encoder or a capacitive grating sensor. The grating ruler is adopted in the embodiment. A set of position measuring element 22 is arranged on the table body 18 and between the two sets of slide rails 19, the base 7 and the sliding table 20 are positioned by adopting a positioning mode that three sets of positioning points form a positioning surface, and the sliding table 20 is provided with a set of fastening assembly 6 capable of fastening the base 7 and the sliding table 20.
The third positioning element corresponds to the second positioning element on the substrate 2, and a positioning mode of forming a positioning surface by three groups of positioning points is adopted; the fourth positioning element corresponds to the first positioning element on the base 7. A positioning mode of forming a positioning surface by adopting three groups of positioning points;
the third positioning element is a positioning pin or a positioning ball, or a double positioning pin or a double positioning ball which are arranged in a triangular manner; the fourth positioning element is a positioning pin or a positioning ball, or a double positioning pin or a double positioning ball which are arranged in a triangular mode;
the positioning between the substrate 2 and the stage 18 is also completed by adopting a positioning mode that three groups of positioning points form a positioning surface, the substrate 2 is connected with the stage 18 through an elastic locking assembly, the elastic locking assembly comprises a plurality of groups of elastic blocks 23 and a plurality of groups of locking screws 24 which are fixed between the stage 18 and the substrate 2, the locking screws 24 pass through the stage 18, the middle parts of the locking screws 24 and the parts between the stage 18 and the substrate 2 are not provided with threads, the parts with threads at the lower parts of the locking screws 24 are connected on the substrate 2, and a rubber pad 25 is arranged between the shaft shoulder of the locking screws 24 and the stage 18. In this embodiment, the table 18 is made of marble, and has a heavy weight, so that a plurality of sets of elastic blocks 23 are installed between the substrate 2 and the table 18, the elastic blocks 23 counteract most of the gravity of the table, and prevent the weight of the table from being applied to the positioning member, and the relative position between the substrate 2 and the table 18 is not completely locked and fixed, and due to the action of the elastic blocks 23 and the rubber pads 25, the micro-floating variation value of the table 18 relative to the substrate 2 is adjusted by the elastic buffering of the elastic blocks 23 and the rubber pads 25.
In this embodiment, six displacement sensors are arranged on three expansion boards, and each expansion board is averagely provided with two electronic rulers; and the first direction measuring plate 27, the second direction measuring plate 28 and the third direction measuring plate 29 are respectively arranged in parallel with three mutually perpendicular planes, the probes of each group of electronic rulers are respectively contacted with the corresponding first direction measuring plate 27, the second direction measuring plate 28 or the third direction measuring plate 29 in real time, and when the mechanical arm drives the calibrated measuring device to do translational motion, the probes of each group of electronic rulers measure and calculate the pose error amount during the translational motion in real time.
The working process of the second embodiment is as follows: in this embodiment, six sets of displacement sensors form a six-dimensional measurement space, the grating scale is disposed between the two slide rails 19, and the detection head of the electronic scale slides on the grating scale along with the movement of the sliding table 20, so as to measure the movement length of the sliding table 20 relative to the substrate 2, and meanwhile, in the moving process, under the combined action of the calibration measuring device and the linear motion table, the six-dimensional measurement space can accurately measure the pose variation in the actual movement trajectory, and can calculate the difference between the actual movement trajectory and the virtual movement trajectory, that is, can detect the pose error when the mechanical arm performs the translational motion.
The above embodiments are specific descriptions of the present invention, and are only further descriptions of the present invention, which should not be construed as limitations of the protection scope of the present invention, and some non-essential modifications and adjustments made by those skilled in the art according to the above embodiments are all within the protection scope of the present invention.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.
Claims (10)
1. The mechanical arm calibration and motion precision detection assembly comprises a substrate and is characterized by further comprising
A calibration measuring device positioned on the substrate or positioned on the substrate by the linear motion stage; the calibration measuring device comprises a base, a sensor fixing seat and a displacement sensor which are sequentially connected from bottom to top; the displacement measuring axis of the displacement sensor forms an included angle of 0-90 degrees with the horizontal plane;
the calibrated measuring device is connected with the tail end of the mechanical arm, the calibrated measuring device is a 3D measuring ball rod, the 3D measuring ball rod is provided with a spherical surface, the spherical surface is simultaneously contacted with measuring heads of 3 displacement sensors of the calibrated measuring device, and the displacement sensors detect the position error quantity of the spherical center of the spherical surface when the mechanical arm moves around the spherical center of the spherical surface;
or the calibrated measuring device is a 6D measuring head, the 6D measuring head is provided with at least 6 measuring planes, 6 measuring planes are respectively and simultaneously contacted with measuring heads of 6 displacement sensors of the calibrated measuring device, and the position and attitude error quantity of the 6D measuring head is detected when the mechanical arm performs translational motion through the cooperation of the linear motion platform and the displacement sensors.
2. The mechanical arm calibration and motion precision detection assembly according to claim 1, wherein at least three displacement sensors are fixedly mounted on the sensor fixing base at a certain angle,
the displacement sensor is a contact type displacement sensor, and a head measuring head of the contact type displacement sensor is a flat plate measuring head or a ball head measuring head;
or the displacement sensor is a laser type non-contact displacement sensor.
3. The mechanical arm calibration and motion precision detection assembly according to claim 2, wherein the 3D measuring ball rod comprises a measuring ball and an extension rod, the diameter of the measuring ball is 10-100mm, and the roundness error of the measuring ball is less than 20 microns; when 3D measurement is carried out, a head measuring head of the contact type displacement sensor is a flat measuring head or a ball head measuring head, and a measuring ball is always tangent to the flat measuring head or the ball head measuring head, so that 3D displacement of the center of the ball is measured;
the 6D measuring head is provided with a plurality of measuring planes and an extension rod, the flatness error of each measuring plane is less than 0.1mm, the measuring planes are distributed at a certain angle, and the angle ranges from 0 degree to 150 degrees; when 6D measurement is carried out, the head measuring head of the contact type displacement sensor is a ball head measuring head, and each ball head measuring head is tangent to one of the measurement planes, so that point measurement of the measurement planes is realized.
4. The mechanical arm calibration and motion precision detection assembly according to claim 3, wherein the number of the sensor fixing seats is multiple, and an included angle formed between an axis of the displacement sensor and a horizontal plane is adjusted by replacing different sensor fixing seats; or the bottom of the sensor fixing seat is provided with an angle adjusting part, and the included angle between the whole sensor fixing seat and the horizontal plane is adjusted by replacing different angle adjusting parts or adjusting mechanisms of the angle adjusting parts.
5. The mechanical arm calibration and motion precision detection assembly according to claim 3, wherein the sensor fixing seat is provided with an expansion interface, expansion plates are installed through the expansion interface, each expansion plate is provided with a displacement sensor, the number of the displacement sensors is expanded to at least six through the expansion interface, and a positioning element is arranged on the expansion interface to ensure the relative position relationship among different displacement sensors, so that 6D pose measurement of a 6D measuring head is realized; or six displacement sensors are installed on the sensor fixing seat.
6. The mechanical arm calibration and motion precision detection assembly according to claim 5, wherein the six displacement sensors can be divided into three groups, the measurement axis directions of different displacement sensors in the same group are parallel to each other, the distance between the axes is 30-300mm, and the measurement axis directions of the displacement sensors in different groups form a certain angle with each other; each group comprising two displacement sensors; or three sets of one, two and three displacement sensors, respectively.
7. The mechanical arm calibration and motion precision detection assembly according to claim 1, wherein a positioning assembly is used for positioning between the base and the substrate, the positioning assembly is positioned in a positioning manner that three groups of positioning points form a positioning surface, and the calibration measurement device is fastened through a fastening assembly, and the fastening assembly is one or a combination of a clamp, a threaded fastener and a buckle.
8. The assembly of claim 7, wherein the base has a first positioning element, and the positioning surface is formed by three positioning points;
the first positioning element is a positioning pin or a positioning ball, or a double positioning pin, or a double positioning ball, or a V-shaped block which is arranged in a triangular manner;
the double positioning pins are two positioning pins which are arranged at intervals, the cylindrical surfaces or the conical surfaces of the positioning pins protrude out of the bottom surface of the base, and the axes of the double positioning pins face to the center of the triangular arrangement;
the double positioning balls are two positioning balls arranged at a certain distance, the spherical surface of each positioning ball protrudes out of the bottom surface of the base, and the perpendicular bisector of the connecting line of the spherical centers of the two positioning balls faces to the center of the triangular arrangement;
the V-shaped groove direction of the V-shaped block faces to the center of the triangular arrangement.
9. The mechanical arm calibration and motion precision detection assembly as claimed in claim 8, wherein a plurality of mounting positions are provided on the base plate, each mounting position is provided with a set of second positioning elements, and each set of second positioning elements corresponds to a set of first positioning elements;
the second positioning element is a positioning pin or a positioning ball, or a double positioning pin or a double positioning ball which are arranged in a triangular manner;
the double positioning pins are two positioning pins which are arranged at intervals, the cylindrical surfaces or the conical surfaces of the positioning pins protrude out of the upper surface of the substrate, and the axes of the double positioning pins face to the center of the triangular arrangement;
the double positioning balls are two positioning balls arranged at a certain distance, the spherical surfaces of the positioning balls protrude out of the upper surface of the substrate, and the perpendicular bisector of the connecting line of the spherical centers of the two positioning balls faces to the center of the triangular arrangement;
the V-shaped groove direction of the V-shaped block faces to the center of the triangular arrangement.
10. The mechanical arm calibration and motion precision detection assembly according to claim 9, wherein the linear motion stage comprises a stage body, a slide rail mounted on the stage body, a slide table mounted on the slide rail, a third positioning element mounted at the bottom of the stage body, a fourth positioning element mounted on the slide table, and a position measurement element mounted on the stage body,
the sliding table can slide linearly under the guidance of the sliding rail, and the position measuring element measures the sliding displacement and is a grating ruler, a stay wire encoder or a capacitive grating sensor; the third positioning element corresponds to the second positioning element on the substrate, and a positioning mode of forming a positioning surface by adopting three groups of positioning points is adopted; the fastening of the table body and the base plate is realized through a second fastening component, and the second fastening component is one or a combination of a clamp, a threaded fastener and a buckle;
the fourth positioning element corresponds to the first positioning element on the base, and a positioning mode of forming a positioning surface by adopting three groups of positioning points is adopted; the sliding table and the base are fastened through a third fastening assembly, and the third fastening assembly is one or a combination of a clamp, a threaded fastener and a buckle;
the third positioning element is a positioning pin or a positioning ball, or a double positioning pin, or a double positioning ball, or a V-shaped block which is arranged in a triangular mode;
the fourth positioning element is a positioning pin or a positioning ball, or a double positioning pin, or a double positioning ball, or a V-shaped block which are arranged in a triangular mode.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117532624A (en) * | 2024-01-10 | 2024-02-09 | 南京东奇智能制造研究院有限公司 | Automatic positioning and aligning method and system for guardrail plate installation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117532624A (en) * | 2024-01-10 | 2024-02-09 | 南京东奇智能制造研究院有限公司 | Automatic positioning and aligning method and system for guardrail plate installation |
| CN117532624B (en) * | 2024-01-10 | 2024-03-26 | 南京东奇智能制造研究院有限公司 | Automatic positioning and aligning method and system for guardrail plate installation |
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