CN2591559Y - Contacting potetial attitude measuring apparatus - Google Patents
Contacting potetial attitude measuring apparatus Download PDFInfo
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- CN2591559Y CN2591559Y CN 02294636 CN02294636U CN2591559Y CN 2591559 Y CN2591559 Y CN 2591559Y CN 02294636 CN02294636 CN 02294636 CN 02294636 U CN02294636 U CN 02294636U CN 2591559 Y CN2591559 Y CN 2591559Y
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Abstract
The utility model belongs to a precise automatic measuring device, particularly the device which uses six dimension wrist sensors on arms of a robot and elastic probes for testing geometric external shape of surfaces of workpieces to be tested or the pose of objects. The measuring device replaces traditional visual testing methods. The ideal coordinates of the points of the objects positioned in tool coordinate systems get from the pressing information of the probes and the contacting points of the surfaces of the objects to get the coordinates of the points positioned in base coordinate systems of the robot by the conversion of the coordinate through robot kinematics, and then, the information gets from the six dimension wrist sensors is used for controlling the end movements of the robot. The probes fine contact the surfaces to be tested and move. A series of the information of positioning coordinates of the points of the surfaces of the objects are tested to determine the pose of the objects positioned in the base coordinate systems of the robot or the geometric external shape of the surfaces. Single camera can also be used for observing the information of the surfaces of the objects, and then, the probes are used for testing the positioning information of the feature points of the surfaces of the objects, quickly generating the geometric shape of the surfaces to be tested or the pose of the objects. The testing methods of the geometric shape of the surfaces of the workpieces or the detecting methods of the pose of the objects are easy to carry out, the amount of calculation is less, and the precision is high.
Description
Technical field
The utility model is a kind of system and its implementation of carrying out the object pose detection by robot, sextuple wrist force sensor, elastic probe, computing machine.It relates to subjects such as robotics, the mechanics of materials, computing machine.
Background technology
Robotics is widely used at industrial circle, and for example assembling is automatically welded automatically, sprayed paint, the inspection of mechanical component and measurement etc.In these were used, the measurement of complex-curved workpiece and the detection of object pose were the important prerequisites that realizes automated job.Existing measurement and detection method generally all are to utilize binocular vision to realize, but the data volume that this method need be handled is very big, the image matching algorithm in the binocular vision, and also perfect not to the utmost, error is bigger.
The utility model content
In order to overcome the deficiency of said method, the utility model proposes a kind of new object pose detection or the method for measurement of curved surface.Move by the control robot arm, the elastic probe that is contained in the arm end is well contacted with measured surface, only need the information of the contact force of collection wrist force sensor, stressed according to elastic probe and be out of shape mapping relations, carry out data processing through computing machine, just can realize the measurement of surface of the work and the detection of object pose.Content comprises: the object pose detection system that (1) is made up of robot, sextuple wrist force sensor, elastic probe and computing machine.(2) proposed sextuple wrist force sensor and elastic probe combination, utilized sextuple wrist force sensor information to determine the algorithm of surface of the work geometric shape or object pose and designed corresponding process software.
The technical scheme that its technical matters that solves the utility model adopts is: a kind of contact type object pose measuring apparatus, form by robot, sensor, probe, computing machine, sextuple wrist force sensor is installed in the end of robot arm, elastic probe is installed on the sextuple wrist force sensor, sextuple wrist force sensor is linked to each other with force information capture card in the computing machine by data line, and robot is linked to each other with computing machine by control bus.
Described measurement mechanism is detected or the required information acquisition unit of measurement of curved surface by a sextuple wrist force sensor and an elastic probe constituent posture.
Described measurement mechanism, the pose of inspected object or curve form only need be gathered the sextuple contact force information of wrist force sensor, obtain the position of contact in tool coordinates system on probe end and the body surface by the mapping relations of sextuple contact force and probe deformations, and then obtain the spatial positional information of check point in basis coordinates system of robot on the object by coordinate transform.
Described measurement mechanism by the position coordinates that detects the body surface series of points that obtains, obtains the pose of testee or the geometric configuration on surface.
Described measurement mechanism can obtain the testee surface information at CCD gamma camera of the parallel installation of robot wrist, and the depth information of adding the resulting unique point of probe can improve the efficient of detection.
Described measurement mechanism, probe are the three dimensional elasticity rigid materials, contact with the testee surface flexible.Well contact with measured surface and move according to the sextuple contact force information control probe of wrist force sensor by the robots arm, realize detecting automatically.
Described measurement mechanism can be measured the object surfaces shape based on curved surface.
As shown in Figure 1, sextuple wrist force sensor 1 and elastic probe 2 are fixed on the wrist and the end of robot 5 successively.The information of sextuple wrist force sensor 1 acquisition probe and testee 3 contact forces, and pass in the computing machine 6 by data line 7, by processing to force information, as shown in Figure 2, can obtain the elastic deformation of probe end, thereby can determine that 1 P on the object is a coordinate among the OXYZ in tool coordinates, this coordinate can finally be learned in the basis coordinates system that be transformed into robot by manipulator motion.For improving detection speed, generally can a cameras view be installed by means of macroscopical place or wrist, only need the positional information of the unique point of probe measurement body surface, just can obtain object in the robot basis coordinates is attitude or obtain its surperficial geometric shape.
The position of spatial point generally needs two width of cloth images, determines with the intersection point of two projection lines.The method that the utility model proposes then can be subjected to force information can determine the position of spatial point with probe contact.
Compare with binocular vision, the utility model has fundamentally avoided because caused uncertainty of images match and error.After contact stressed determined, its coordinate in tool coordinates system just can obtain by simple calculating.Binocular vision then will be carried out images match earlier, and then asks the intersection point of projection line.Obviously the utility model has significantly reduced calculated amount, has improved detection speed.The utility model is compared more simple and practical with other measurement with detection method.
Description of drawings
Fig. 1: object pose measuring system structure diagram
Fig. 2: detect elastic probe contacts caused distortion with testee principles illustrated
Embodiment
As shown in Figure 1, sextuple wrist force sensor 1 and elastic probe 2 are fixed on the wrist and sextuple wrist force sensor 1 end of robot 5 successively.Testee 3 is placed on the worktable 4, the information of sextuple wrist force sensor 1 acquisition probe and testee 3 contact forces, and pass in the computing machine 6 by data line 7, by processing, can obtain probe at x, y to force information, z three is axial stressed, and around three moment.As shown in Figure 2, AO is the position that probe does not deform, the position after AB deforms when being the probe actual measurement.Physical characteristics according to probe, can obtain probe end prolong three elastic deformation Δ x, Δ y, Δ z, with the angle α of probe end tangent line and three coordinate axis, beta, gamma, thereby can determine that 1 P on the object is a coordinate among the OXYZ in tool coordinates, this coordinate can finally be learned in the basis coordinates system that be transformed into robot by manipulator motion.For improving detection speed, generally can a cameras view be installed by means of macroscopical place or wrist, only need the positional information of the unique point of probe measurement body surface, just can obtain object in the robot basis coordinates is attitude or obtain its surperficial geometric shape.
The utility model belongs to accurate self-operated measuring unit, and particularly robots arm, sextuple wrist power sensing and elastic probe detect the pose of measured workpiece surface geometry profile or object.This measurement mechanism has replaced traditional binocular vision detection method, its technical scheme is: the force information that is subjected to by probe and body surface contact point obtains the ideal coordinates of point in tool coordinates system on the object, and then try to achieve this coordinate in robot basis coordinates system by coordinate transform by the robot kinematics, the motion of information Control robot end by sextuple wrist force sensor then, probe is well contacted with measured surface and move, record the location coordinate information of body surface series of points, thereby determine pose or the surface geometry profile of object in basis coordinates system of robot.Also can be by means of single gamma camera observed objects surface information, survey the positional information of body surface unique point again with probe, thereby can generate the geometric configuration of measured surface fast or record the pose of object.This surface of the work geometric shape measuring or object pose detection method are simple, and calculated amount is little, and precision is higher.
Claims (7)
1. contact type object pose measuring apparatus, form by robot, sensor, probe, computing machine, it is characterized in that: sextuple wrist force sensor (1) is installed in the end of robot (5) arm, elastic probe (2) is installed on the sextuple wrist force sensor (1), sextuple wrist force sensor (1) is linked to each other with force information capture card in the computing machine (6) by data line (7), and robot (5) is linked to each other with computing machine (6) by control bus (8).
2. measurement mechanism according to claim 1 is characterized in that: detected or the required information acquisition unit of measurement of curved surface by a sextuple wrist force sensor (1) and an elastic probe (2) constituent posture.
3. measurement mechanism according to claim 1, it is characterized in that: the pose of inspected object or curve form only need be gathered the sextuple contact force information of wrist force sensor, obtain the position of contact in tool coordinates system on probe end and the body surface by the mapping relations of sextuple contact force and probe deformations, and then obtain the spatial positional information of check point in basis coordinates system of robot on the object by coordinate transform.
4. according to claim 1,3 described measurement mechanisms, it is characterized in that:, obtain the pose of testee or the geometric configuration on surface by the position coordinates that detects the body surface series of points that obtains.
5. measurement mechanism according to claim 1 is characterized in that: can obtain the testee surface information at CCD gamma camera of the parallel installation of robot wrist, the depth information of adding the resulting unique point of probe can improve the efficient of detection.
6. measurement mechanism according to claim 1 is characterized in that: probe is the three dimensional elasticity rigid material, contacts with the testee surface flexible.Well contact with measured surface and move according to the sextuple contact force information control probe of wrist force sensor by the robots arm, realize detecting automatically.
7. measurement mechanism according to claim 1 is characterized in that: can measure the object surfaces shape based on curved surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02294636 CN2591559Y (en) | 2002-12-30 | 2002-12-30 | Contacting potetial attitude measuring apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02294636 CN2591559Y (en) | 2002-12-30 | 2002-12-30 | Contacting potetial attitude measuring apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN2591559Y true CN2591559Y (en) | 2003-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 02294636 Expired - Lifetime CN2591559Y (en) | 2002-12-30 | 2002-12-30 | Contacting potetial attitude measuring apparatus |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1322961C (en) * | 2004-04-07 | 2007-06-27 | 发那科株式会社 | Metering mechanism |
| CN101758499A (en) * | 2008-12-17 | 2010-06-30 | 库卡机器人有限公司 | Hand-held device and method for determining the spatial position of an operating point of a manipulator |
| CN101630409B (en) * | 2009-08-17 | 2011-07-27 | 北京航空航天大学 | Hand-eye vision calibration method for robot hole boring system |
| CN101277794B (en) * | 2005-09-16 | 2011-08-10 | Abb公司 | An industrial robot |
| CN103273497A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive control system and method for manipulator |
| CN102439462B (en) * | 2008-11-13 | 2015-07-22 | 布鲁克纳米公司 | Method and apparatus of operating a scanning probe microscope |
| CN107185211A (en) * | 2017-07-03 | 2017-09-22 | 哈尔滨体育学院 | A kind of perimeter security apparatus for evaluating and method for ice and snow sports |
| CN107650149A (en) * | 2017-08-21 | 2018-02-02 | 北京精密机电控制设备研究所 | A kind of contact and non-contact Fusion Measurement System and method based on series connection mechanical arm |
| US9995765B2 (en) | 2008-11-13 | 2018-06-12 | Bruker Nano, Inc. | Method and apparatus of using peak force tapping mode to measure physical properties of a sample |
| CN110631479A (en) * | 2019-09-27 | 2019-12-31 | 北京航空航天大学 | Spatial pose measurement method based on multi-microsphere vision probe |
| US10845382B2 (en) | 2016-08-22 | 2020-11-24 | Bruker Nano, Inc. | Infrared characterization of a sample using oscillating mode |
| CN112325775A (en) * | 2020-11-03 | 2021-02-05 | 北京卫星环境工程研究所 | Geometric measurement device and method for special-shaped curved surface of aircraft |
| CN112763751A (en) * | 2020-12-16 | 2021-05-07 | 北京理工大学 | Shape recognition method and system based on passive whisker sensor |
-
2002
- 2002-12-30 CN CN 02294636 patent/CN2591559Y/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1322961C (en) * | 2004-04-07 | 2007-06-27 | 发那科株式会社 | Metering mechanism |
| CN101277794B (en) * | 2005-09-16 | 2011-08-10 | Abb公司 | An industrial robot |
| US9995765B2 (en) | 2008-11-13 | 2018-06-12 | Bruker Nano, Inc. | Method and apparatus of using peak force tapping mode to measure physical properties of a sample |
| CN102439462B (en) * | 2008-11-13 | 2015-07-22 | 布鲁克纳米公司 | Method and apparatus of operating a scanning probe microscope |
| US9810713B2 (en) | 2008-11-13 | 2017-11-07 | Bruker Nano, Inc. | Method and apparatus of operating a scanning probe microscope |
| CN101758499A (en) * | 2008-12-17 | 2010-06-30 | 库卡机器人有限公司 | Hand-held device and method for determining the spatial position of an operating point of a manipulator |
| CN101758499B (en) * | 2008-12-17 | 2014-11-19 | 库卡机器人有限公司 | Hand-held device and method for determining the spatial position of an operating point of a manipulator |
| CN101630409B (en) * | 2009-08-17 | 2011-07-27 | 北京航空航天大学 | Hand-eye vision calibration method for robot hole boring system |
| CN103273497A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive control system and method for manipulator |
| CN103273497B (en) * | 2013-06-06 | 2015-08-19 | 山东科技大学 | Man-machine interactive manipulator control system and control method thereof |
| US10845382B2 (en) | 2016-08-22 | 2020-11-24 | Bruker Nano, Inc. | Infrared characterization of a sample using oscillating mode |
| CN107185211A (en) * | 2017-07-03 | 2017-09-22 | 哈尔滨体育学院 | A kind of perimeter security apparatus for evaluating and method for ice and snow sports |
| CN107650149A (en) * | 2017-08-21 | 2018-02-02 | 北京精密机电控制设备研究所 | A kind of contact and non-contact Fusion Measurement System and method based on series connection mechanical arm |
| CN110631479A (en) * | 2019-09-27 | 2019-12-31 | 北京航空航天大学 | Spatial pose measurement method based on multi-microsphere vision probe |
| CN112325775A (en) * | 2020-11-03 | 2021-02-05 | 北京卫星环境工程研究所 | Geometric measurement device and method for special-shaped curved surface of aircraft |
| CN112763751A (en) * | 2020-12-16 | 2021-05-07 | 北京理工大学 | Shape recognition method and system based on passive whisker sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| C20 | Patent right or utility model deemed to be abandoned or is abandoned |