CN2573172Y

CN2573172Y - Measuring robot

Info

Publication number: CN2573172Y
Application number: CN 02280462
Authority: CN
Inventors: 刘宏; 高晓辉; 金明河; 杜立彬; 蔡鹤皋
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2002-10-09
Filing date: 2002-10-09
Publication date: 2003-09-17
Anticipated expiration: 2012-10-09

Abstract

The utility model relates to a measuring robot which relates to a measuring device for measuring and marking motion characteristics, particularly to a follow-up measuring robot. The follow-up measuring robot comprises a first joint A, a second join B, arms C, a third joint D, a fourth joint E and code wheels G, wherein a supporting body (3) is fixedly connected with the end part of a rotating shaft (1) of the first joint. Both ends of a rotating shaft (4) of the second joint are rotatablely connected with the supporting body (3). A joint body (5) of the second joint B is fixedly connected with one arm C and the rotating shaft (4). A rotating shaft (6) of the third joint, which is connected with the other end of the arm C, is rotatablely connected with a joint body (7) of the third joint. A rotating shaft (8) of the fourth joint, which is fixedly connected with the joint body (7), is rotatablely connected with a joint body (9) of the fourth joint. The joint body (9) is connected with the other arm C or an interface flange F at the tail end of the arm C. One code wheel is installed at the end part of the rotating shaft of each of the joints. The robot solves the problems of big measuring error, narrow measuring range, complicated structure, etc. existing in the existing measuring device.

Description

Robot measurement

Technical field: the utility model relates to a kind of robot measurement of carrying out mobile portable the locus tester, particularly a kind of trailing type of kinetic characteristic test or terminal position measurement.

Background technology: the application of mechanical trailing type robot measurement more and more widely, it can be used for other industrial robot and Mechatronic Systems are carried out the kinetic characteristic test or demarcated, its end load onto probe or gauge head also can be used for the 3D solid surface measurement, the aircraft automobile three-dimensional modeling detects and reverse Engineering Technology in.Begin just to have carried out research work from the eighties in the world to this robotlike, China has also begun this research work in recent years, robot motion's accuracy test instrument of being developed of Harbin Institute of Technology's robot research wherein, adopt mechanical trailing type measuring method exactly, remove driving mechanism and keep the kinematic accuracy that the passive robot of part of detecting goes to test another robot with one.Specific practice is that the end of tested robot and robot measurement end are connected together, the resulting test data of robot measurement is handled, thereby obtained the actual motion state of tested robot in the coordinate system that detection system is set up and each instantaneous pose.The research of the method also only rests on the relative measurement stage of pose parameter at present, and measure error is also bigger, is a kind of perfect measuring method that still needs.The measuring technology of robot pose and rail track feature and the research of evaluation theory are of great significance, and this research has caused domestic and international expert, scholar's great attention.The method of research roughly can reduce " laser tracking system " and " mechanical servo " measuring method.The former positional precision is 0.01～0.1mm, and measurement category is big, technical difficulty is high, and can realize on-line measurement, but complex structure, manufacturing expense is very expensive.The latter is along with sensor element is constantly perfect, especially the appearance of high-resolution, high precision angle-measuring sensor, and the updating of control system, to increase substantially its certainty of measurement, in addition, its measurement category is medium, and has simple in structure, reliable, low cost and other advantages, can carry out on-line measurement simultaneously.By contrast, " mechanical servo " has more feasibility under existence conditions.

Summary of the invention: the utility model provides a kind of trailing type robot measurement, and the measure error that this robot has solved existing measurement mechanism existence is big, measurement category is narrow, complex structure and other problems.The utility model comprises the I joint A that produces 360 ° of corners, the II joint B, the arm C that link to each other with I joint A, produces III joint D and the IV joint E and the code-disc G of 360 ° of corners respectively in orthogonal two planes; The supporter 3 of II joint B is fixedly connected on the end of the rotating shaft 1 of I joint A; The two ends of the rotating shaft 4 of the II joint B vertical with rotating shaft 1 and supporter 3 form and are rotationally connected; The joint body 5 of the II joint B that is connected with arm C is fixedly connected in the rotating shaft 4 of II joint B, and the rotating shaft 6 of the III joint D that is connected with the arm C other end and the joint body of III joint D 7 form and be rotationally connected; The rotating shaft 8 of the IV joint E of fixedlying connected with the joint body 7 of III joint D and the joint body of the 4th joint E 9 form and are rotationally connected; The joint body 9 of the 4th joint E connects another root arm C or end interface flange F; A code-disc G who measures the joint motions angle is installed in the end of the rotating shaft in each joint.The II joint B of robot measurement of the present utility model can have 180 ° corner, and other joint can reach 360 ° corner, has increased the range of movement of robot so greatly.Each joint all is equipped with angle measurement element (code-disc G), is used to detect the joint motions angle, through calculating the pose that the robot end is ordered.This robot measurement version is optimized, and makes it compact conformation, and good looking appearance is easy to operate, has improved its labor aptitude, and by the analysis to its space, selects suitable rod member parameter to increase the space test specification of robot measurement.This robot measurement has certainty of measurement height, simple in structure, portable advantage.It can be used in 3D solid surface measurement, aircraft, the detection of automobile three-dimensional modeling and the reverse Engineering Technology, also can be used for other industrial robot and Mechatronic Systems are carried out kinetic characteristic test or demarcation.

Description of drawings: Fig. 1 is the general structure schematic diagram of the robot measurement of the specific embodiment, and Fig. 2 is the structural representation of III joint D and IV joint E, and Fig. 3 is the structural representation of I joint A and II joint B.

The specific embodiment: consult Fig. 1, Fig. 2 and Fig. 3, the robot measurement of present embodiment is by I joint A, II joint B, big arm C ₁, forearm C ₂, two groups of III joint D and IV joint E, code-disc G, end interface flange F form.The rotating shaft 1 of I joint A forms with its joint body 2 and is rotationally connected; The supporter 3 of II joint B is fixedly connected on the upper end of the rotating shaft 1 of I joint A; The two ends of the rotating shaft 4 of the II joint B vertical with rotating shaft 1 and supporter 3 form and are rotationally connected; The joint body 5 of II joint B is fixedly connected in the rotating shaft 4 of II joint B; Joint body 5 and big arm C ₁The lower end fixedly connected, rotating shaft of III joint D 6 and big arm C ₁The upper end fixedly connected; The rotating shaft 6 of III joint D and the joint body of III joint D 7 form and are rotationally connected; The rotating shaft 8 of the IV joint E of fixedlying connected with the joint body 7 of III joint D and the joint body of the 4th joint E 9 form and are rotationally connected; The joint body 9 of the 4th joint E is connected forearm C ₂The lower end, forearm C ₂The upper end connect another and organize III joint D and IV joint E, this is organized the III joint D and is connected end interface flange F with the IV joint E.Also being set with the torsionspring 10 that is used for balancing a survey robot own wt in the rotating shaft 4 of II joint B, fixedlys connected with supporter 3 with joint body 5 respectively in the two ends of torsionspring 10.Below joint body 5, also be provided with the damper 11 that produces vibrations when being used to reduce motion.This robot measurement adopts modularized design, designs three pairs of cradle heads, and six-freedom degree is processed, installed and removed conveniently altogether.Adopt parallel-axis type structure, promptly big arm C on the structure ₁With forearm C ₂Axis misalignment, and lay respectively in two planes parallel to each other, couple together by a pair of cradle head between the big forearm.Its advantage is that all joints can reach maximum rotational angle (II joint B is 180 °, and other joint is near 360 ° or bigger), has increased the range of movement of robot greatly.Each joint all is equipped with angle measurement element (code-disc), is used to detect the joint motions angle, through calculating the pose that the robot end is ordered.Light in order to operate, there is bascule to be used for the weight of balancing a survey robot self at the robot measurement joint, make the operator can drive the spatial movement that robot measurement is done to be needed like a cork.Whether the balance of robot measurement own wt does not directly influence certainty of measurement, but can influence man-machine effect, and it is light that the operator is operated, indefatigability.The utility model adopts the spring balancing method, promptly in B inside, II joint suitable torsionspring is housed, and comes the weight of the big forearm of partial equilibrium.Because torsion spring is installed in inside, joint, makes the entire machine people seem succinctly attractive in appearance.Consider the appearance of whole robot measurement, adopt the form of inner cabling, the joint body, rotating shaft and the arm that are each joint of robot all are designed to hollow-core construction, code-disc is also selected cartridge type for use, all code-disc lines can be passed by the joint order successively by robot interior like this, are aggregated into the robot base place at last and draw.This robot measurement successful Application in the robot testing system of suit joint damping torque.The requirement of determining to satisfy range of movement of robot rod member parameter, and unlikely long.Because of joint length and angle measurement element resolution ratio and precision are two important parameters of decision robot measurement resolution ratio and certainty of measurement.When desired certainty of measurement one timing, the joint is long more, and angle measurement element resolution ratio that needs and precision are just high more.In order to satisfy required precision and to consider the cost of robot measurement, select two high accuracy code-discs for use, be used for the measurement of I joint A, II joint B angle, the umber of pulse of this high accuracy code-disc is 25000, be that resolution ratio is 52 ", after this pulse signal segmented, its resolution ratio was 13 ".It is 2048 encoder that umber of pulse is adopted in the measurement of four joint angles in back, promptly resolution ratio be 10.5 ', it is carried out four segmentations after, resolution ratio is brought up to 2.6 '.Design big arm C ₁Long is 500mm, forearm C ₂Length also is 500mm, and the wrist of end interface flange F is long to be 108mm, and the diameter of arm is 60mm.Its space measurement scope is the spherical space of radius 1.1m.Certainty of measurement can reach 0.5mm.

Claims

1, robot measurement is characterized in that it comprises the I joint A that produces 360 ° of corners, the II joint B, the arm C that link to each other with I joint A, produces III joint D and the IV joint E and the code-disc G of 360 ° of corners respectively in orthogonal two planes; The supporter (3) of II joint B is fixedly connected on the end of the rotating shaft (1) of I joint A; The two ends of the rotating shaft (4) of the II joint B vertical with rotating shaft (1) and supporter (3) form and are rotationally connected; The joint body (5) of the II joint B that is connected with arm C is fixedly connected in the rotating shaft (4) of II joint B, and the rotating shaft (6) of the III joint D that is connected with the arm C other end forms with the joint body (7) of III joint D and is rotationally connected; The rotating shaft (8) of the IV joint E of fixedlying connected with the joint body (7) of III joint D forms with the joint body (9) of the 4th joint E and is rotationally connected; The joint body (9) of the 4th joint E connects another root arm C or end interface flange F; A code-disc G who measures the joint motions angle is installed in the end of the rotating shaft in each joint.

2, robot measurement according to claim 1 is characterized in that the joint body (9) of the 4th joint E connects forearm C ₂The lower end, forearm C ₂The upper end connect another and organize III joint D and IV joint E, this is organized the III joint D and is connected end interface flange F with the IV joint E.

3, robot measurement according to claim 1 and 2, it is characterized in that also being set with in the rotating shaft (4) of II joint B the torsionspring (10) that is used for balancing a survey robot own wt, fixedlys connected with supporter (3) with joint body (5) respectively in the two ends of torsionspring (10).

4, robot measurement according to claim 1 and 2 is characterized in that also being provided with the damper (11) that produces vibrations when being used to reduce motion below joint body (5).

5, robot measurement according to claim 1 and 2 is characterized in that joint body, rotating shaft and the arm in each joint all is designed to hollow-core construction.

6, robot measurement according to claim 2 is characterized in that big arm C ₁With forearm C ₂Axis misalignment, and lay respectively in two planes that are parallel to each other.